HM-40**/4A**

The HM Series have the longest arm reach and carry the greatest payload among 4-axis (SCARA) robots. The lineup offers a variety of models.

Total arm length｜600 to 1,000mm
Vertical stroke(Z)｜100・150・200･300･400mm
Maximum payload｜10･20kg
Cycle time｜ 0.29 / 0.31 sec

  • Features
  • Spec
  • Dimensions
  • Standard Components
  • Option

Excellent speed performance

Thanks to its high-power AC servo motor and improved controllability, the standard cycle time is the highest level in its class. With a minimum location repeatability accuracy of ±0.02 mm, these products allow precision work and quick micromachining. Overwhelmingly high speed and accurate operation dramatically improves productivity.

High rigidity achieved due to originally designed Z axis

A rack-and-pinion mechanism and a gravity-balanced air cylinder are adopted for the vertical axis, demonstrating outstanding performance when heavy loads are conveyed.

Standard equipment includes: air piping for tools (4 lines) and electric wiring (24 core wires).

Maximum payload of 20 kg

Maximum payload can be selected from 10 kg or 20 kg, enabling conveyance of heavy loads.

A wide choice of options is offered.

The dust-proof, mist-proof type, which can be used under severe use conditions; the overhead-mounted type, which allows construction of space-saving facility environments; and the UL-listed configuration model, which meets the UL standards in the U.S., are offered.

  1. 1. Interference may not be detected depending on workpiece and hand type and operation status. 
  2. 2. The UL-listed configuration model is floor-standing only.

Legend

Standard type

Item Unit Specifications
Model name of robot unit(*1) - HM-4060* HM-4A60* HM-4070* HM-4A70* HM-4085* HM-4A85* HM-40A0* HM-4AA0*
Axes - 4
Position detection - Absolute encoder
Drive motor and brake - AC servomotors for all joints / Air balanced cylinder for Z axis / Brake for Z axis
Overall arm length(first arm + second arm) mm 600(250+350) 700(350+350) 850(350+500) 1,000(500+500)
Motion angle and stroke J1(1st-Axis) ° ±165
J2(2nd-Axis) ±143 ±147
Z(3rd-Axis)(*) mm *=1:100、*=A:150、*=2:200、*=3:300、*=4:400(*4)
T(4th-Axis) ° ±360
Maximum payload kg 10 20 10 20 10 20 10 20
Maximum composite speed(at the center of an end-effector mounting face) At the center of the hand mounting flange mm/sec 8,780 9,570 11,450 11,390
Z 2,760
T °/sec 2,220 1,540 2,220 1,540 2,220 1,540 2,220 1,540
Cycle time(*2) sec Approx. 0.2 Approx. 0.3
Position repeatability(at the center of an end-effector mounting face)(*3) J1+J2 mm ±0.02 ±0.025
Z ±0.01
T ° ±0.005
Maximum force-fit N 98(downward、１second or less)
Maximum allowable inertia moment(Inertia) kgm2 0.25 0.45 0.25 0.45 0.25 0.45 0.25 0.45
User air piping - 4 systems(φ6)
User signal line - 24(for proximity sensor signals, etc.)
Air source Operating pressure Mpa 0.05 - 0.35
Maximum allowable pressure 0.59
Airborne noise(A-weighted equivalent continuous sound pressure level) dB 80 or less
Weight kg Approx. 53 - 56
  1. *1.An asterisk [*] in a model name indicates Z-axis stroke.
  2. *2.Time required for a robot to move a 2 kg payload between two points 300 mm apart at a height of 25 mm.
  3. *3.Position repeatability is the precision at constant ambient temperature.
  4. *4.Z (3rd axis) 100 mm, 150 mm is specially spec. Please contact us for details.

Standard type / UL

Item Unit Standard type / UL
Model name of robot unit(*1) - HM-4060*
-UL		 HM-4A60*
-UL		 HM-4070*
-UL		 HM-4A70*
-UL		 HM-4085*
-UL		 HM-4A85*
-UL		 HM-40A0*
-UL		 HM-4AA0*
-UL
Axes - 4
Position detection - Absolute encoder
Drive motor and brake - AC servomotors for all joints / Air balanced cylinder for Z axis / Brake for Z axis
Overall arm length(first arm + second arm) mm 600(250+350) 700(350+350) 850(350+500) 1,000(500+500)
Motion angle and stroke J1(1st-Axis) ° ±165
J2(2nd-Axis) ±143 ±147
Z(3rd-Axis)(*) mm *=1:100、*=A:150、*=2:200、*=3:300、*=4:400(*4)
T(4th-Axis) ° ±360
Maximum payload kg 10 20 10 20 10 20 10 20
Maximum composite speed(at the center of an end-effector mounting face) At the center of the hand mounting flange mm/sec 8,780 9,570 11,450 11,390
Z 2,760
T °/sec 2,220 1,540 2,220 1,540 2,220 1,540 2,220 1,540
Cycle time(*2) sec Approx. 0.2 Approx. 0.3
Position repeatability(at the center of an end-effector mounting face)(*3) J1+J2 mm ±0.02 ±0.025
Z ±0.01
T ° ±0.005
Maximum force-fit N 98(downward、１second or less)
Maximum allowable inertia moment(Inertia) kgm2 0.25 0.45 0.25 0.45 0.25 0.45 0.25 0.45
User air piping - 4 systems(φ6)
User signal line - 24(for proximity sensor signals, etc.)
Air source Operating pressure Mpa 0.05 - 0.35
Maximum allowable pressure 0.59
Airborne noise(A-weighted equivalent continuous sound pressure level) dB 80 or less
Weight kg Approx. 53 - 56
  1. *1.An asterisk [*] in a model name indicates Z-axis stroke.
  2. *2.Time required for a robot to move a 2 kg payload between two points 300 mm apart at a height of 25 mm.
  3. *3.Position repeatability is the precision at constant ambient temperature.
  4. *4.Z (3rd axis) 100 mm, 150 mm is specially spec. Please contact us for details.

Standard type / Overhead-mount

Item Unit Standard type / Overhead-mount
Model name of robot unit(*1) - HMS-4070* HMS-4A70* HMS-4085* HMS-4A85*
Axes - 4
Position detection - Absolute encoder
Drive motor and brake - AC servomotors for all joints / Air balanced cylinder for Z axis / Brake for Z axis
Overall arm length(first arm + second arm) mm 700(350+350) 850(350+500)
Motion angle and stroke J1(1st-Axis) ° ±165
J2(2nd-Axis) ±143 ±147
Z(3rd-Axis)(*) mm *=1:100、*=A:150、*=2:200、*=3:300、*=4:400(*4)
T(4th-Axis) ° ±360
Maximum payload kg 10 20 10 20
Maximum composite speed(at the center of an end-effector mounting face) At the center of the hand mounting flange mm/sec 9,570 11,450
Z 2,760
T °/sec 2,220 1,540 2,220 1,540
Cycle time(*2) sec Approx. 0.2 Approx. 0.3
Position repeatability(at the center of an end-effector mounting face)(*3) J1+J2 mm ±0.02 ±0.025
Z ±0.01
T ° ±0.005
Maximum force-fit N 98(downward、１second or less)
Maximum allowable inertia moment(Inertia) kgm2 0.25 0.45 0.25 0.45
User air piping - 4 systems(φ6)
User signal line - 24(for proximity sensor signals, etc.)
Air source Operating pressure Mpa 0.05 - 0.35
Maximum allowable pressure 0.59
Airborne noise(A-weighted equivalent continuous sound pressure level) dB 80 or less
Weight kg Approx. 53 - 56
  1. *1.An asterisk [*] in a model name indicates Z-axis stroke.
  2. *2.Time required for a robot to move a 2 kg payload between two points 300 mm apart at a height of 25 mm.
  3. *3.Position repeatability is the precision at constant ambient temperature.
  4. *4.Z (3rd axis) 100 mm, 150 mm is specially spec. Please contact us for details.

Dust- & splash-proof type

Item Unit Dust- & splash-proof type
Model name of robot unit(*1) - HM-4060*
-W		 HM-4A60*
-W
HM-4070*
-W
 HM-4A70*
-W
HM-4085*
-W
HM-4A85*
-W
 HM-40A0*
-W		 HM-4AA0*
-W
Axes - 4
Position detection - Absolute encoder
Drive motor and brake - AC servomotors for all joints / Air balanced cylinder for Z axis / ZBrake for Z axis
Overall arm length(first arm + second arm) mm 600(250+350) 700(350+350) 850(350+500) 1,000(500+500)
Motion angle and stroke J1(1st-Axis) ° ±165
J2(2nd-Axis) ±140 ±146 ±147
Z(3rd-Axis)(*) mm *=1:100、*=A:150、*=2:200、*=3:300、*=4:400(*4)
T(4th-Axis) ° ±360
Maximum payload kg 10 20 10 20 10 20 10 20
Maximum composite speed(at the center of an end-effector mounting face) At the center of the hand mounting flange mm/sec 8,780 9,570 11,450 11,390
Z 1,322
T °/sec 2,220 1,540 2,220 1,540 2,220 1,540 2,220 1,540
Cycle time(*2) sec Approx. 0.2 Approx. 0.3
Position repeatability(at the center of an end-effector mounting face)(*3) J1+J2 mm ±0.02 ±0.025
Z ±0.01
T ° ±0.005
Maximum force-fit N 98(downward、１second or less)
Maximum allowable inertia moment(Inertia) kgm2 0.25 0.45 0.25 0.45 0.25 0.45 0.25 0.45
User air piping - 4 systems(φ6)
User signal line - 24(for proximity sensor signals, etc.)
Air source Operating pressure Mpa 0.05 - 0.35
Maximum allowable pressure 0.59
Airborne noise(A-weighted equivalent continuous sound pressure level) dB 80 or less
Degree of protection - Dust- & splash-proof type：IP65(option)
Weight kg Approx. 53 - 56
  1. *1.An asterisk [*] in a model name indicates Z-axis stroke.
  2. *2.Time required for a robot to move a 2 kg payload between two points 300 mm apart at a height of 25 mm.
  3. *3.Position repeatability is the precision at constant ambient temperature.
  4. *4.Z (3rd axis) 100 mm, 150 mm is specially spec. Please contact us for details.

Dust- & splash-proof type / Overhead-mount

Item Unit Dust- & splash-proof type / Overhead-mount
Model name of robot unit(*1) - HMS-4070*
-W		 HMS-4A70*
-W		 HMS-4085*
-W		 MS-4A85*
-W
Axes - 4
Position detection - Absolute encoder
Drive motor and brake - AC servomotors for all joints / Air balanced cylinder for Z axis / Brake for Z axis
Overall arm length(first arm + second arm) mm 700(350+350) 850(350+500)
Motion angle and stroke J1(1st-Axis) ° ±165
J2(2nd-Axis) ±142
Z(3rd-Axis)(*) mm *=1:100、*=A:150、*=2:200、*=3:300、*=4:400(*4)
T(4th-Axis) ° ±360
Maximum payload kg 10 20 10 20
Maximum composite speed(at the center of an end-effector mounting face) At the center of the hand mounting flange mm/sec 9,570 11,450
Z 1,322
T °/sec 2,220 1,540 2,220 1,540
Cycle time(*2) sec Approx. 0.2 Approx. 0.3
Position repeatability(at the center of an end-effector mounting face)(*3) J1+J2 mm ±0.02 ±0.025
Z ±0.01
T ° ±0.005
Maximum force-fit N 98(downward、１second or less)
Maximum allowable inertia moment(Inertia) kgm2 0.25 0.45 0.25 0.45
User air piping - 4 systems(φ6)
User signal line - 24(for proximity sensor signals, etc.)
Air source Operating pressure Mpa 0.05 - 0.35
Maximum allowable pressure 0.59
Airborne noise(A-weighted equivalent continuous sound pressure level) dB 80 or less
Degree of protection - Dust- & splash-proof type：IP65(option)
Weight kg Approx. 53 - 56
  1. *1.An asterisk [*] in a model name indicates Z-axis stroke.
  2. *2.Time required for a robot to move a 2 kg payload between two points 300 mm apart at a height of 25 mm.
  3. *3.Position repeatability is the precision at constant ambient temperature.
  4. *4.Z (3rd axis) 100 mm, 150 mm is specially spec. Please contact us for details.
  Standard type Dust- & splash-proof type Clean room type Standard type/UL Dust- & splash-proof type/UL
Floor-mount Download Download Download Download Download
Overhead-mount Download Download - Download Download

RC8

Group Item Q'ty
Robot & Accessories Robot unit 1
Motor & encoder cable (option) 1
Sheet of direction indicator labels 1
Connector set for hand control signals (for CN20 and CN21) 1set
Dowel pin (Internally-threaded positioning pin & diamond shaped pin) 1set
Air regulator (exclude splash-proof type) 1
Controller & Accessories Robot controller 1
Power cable (5 m) 1
Pendantless connector (Dummy connector) 1
Cable clamp 1
Software etc WINCAPS III trial version installer disc 1
Manuals ("Manual Pack disc" and "Safety Precautions") 1set
Warning label 1
Type Item
I/O cables Standard I/O cable set Consisting of 8-m I/O cables for
"Mini I/O" and "HAND I/O."
Consisting of 15-m I/O cables for
"Mini I/O" and "HAND I/O."
I/O cable for "Mini I/O" (68 pins) 8 m
15 m
I/O cable for "HAND I/O" (20 pins) 8 m
15 m
I/O cable for "Parallel I/O board" (96 pins) 8 m
15m
Operation devices Teaching pendant With 4 m cable
With 8 m cable
With 12 m cable
Mini-pendant kit
(Incl. WINCAPS III Light version)		 With 4 m cable Japanese language version
English language version
With 8 m cable Japanese language version
English language version
With 12 m cable Japanese language version
English language version
Pendant extension cable 4 m For TP / MP
8 m For TP / MP
For VS External battery unit With 4 m cable
With 8 m cable
With 12 m cable
Brake release unit With 4 m cable
With 8 m cable
With 12 m cable
Air purge unit Only for protected type robots
Second arm cover R (with tapped holes)
for VS-050 / 060		 Only for standard type robots(IP40)
Second arm cover R (with tapped holes)
for VS-068 / 087		 Only for standard type robots(IP40)
Stopper bolt M8 for J2 mechanical ends
for VS-050 / 060		 For the 2nd axis
Stopper bolt M5 for J3 mechanical ends
for VS-050 / 060		 For the 3rd axis
Stopper bolt M10 for J2 / J3 mechanical ends
for VS-068 / 087		 For the 2nd and 3rd axes
For HM Flange kit For 20 kg payload
For 10 kg payload
For HS Flange kit For 5 kg payload
For XR Valve assembly
4-station manifold valve		 Single shipment (supply part)
Robot mounting shipping
Hand control cabling kit -
Hand control cable 2m
Item / Specifications
VM/VP/HM/HS/XR Series
Standard cable
(for standard type)		 Straight 2 m
4 m
6 m
12 m
20 m
Angle 2 m
4 m
6 m
12 m
20 m
VM/VP/HM/HS/XR Series
Splash-proof cable
(for dust- & splash-proof type and cleanroom type)		 Straight 2 m
4 m
6 m
12 m
20 m
Angle 2 m
4 m
6 m
12 m
20 m
For VS-050/VS-060/
VS-068/VS-087		 Straight 2 m
4 m
6 m
12 m
20 m
Angle 2 m
4 m
6 m
12 m
20 m
Type Item
Optional boards for
the robot controller RC8 series		 Parallel I/O board
(PCI board)		 NPN type I/O Shipped after mounted on the controller
(With license)
Shipped separately as a spare part
(With license)
Shipped separately as a spare part
(Without license)
License certificate only
PNP type I/O Shipped after mounted on the controller
(With license)
Shipped separately as a spare part
(With license)
Shipped separately as a spare part
(Without license)
License certificate only
DeviceNet slave board
(PCI Express board)		 Mobile unit Shipped after mounted on the controller
(With license)
Shipped separately as a spare part
(With license)
Shipped separately as a spare part
(Without license)
License certificate only
CC-Link remote device board
(PCI Express board)		 Shipped after mounted on the controller(With license)
Shipped separately as a spare part(With license)
Shipped separately as a spare part(Without license)
License certificate only
PROFIBUS slave board
(PCI Express board)		 Shipped after mounted on the controller(With license)
Shipped separately as a spare part(With license)
Shipped separately as a spare part(Without license)
License certificate only
EtherNet/IP Adapter board
(PCI Express board)		 Shipped after mounted on the controller(With license)
Shipped separately as a spare part(With license)
Shipped separately as a spare part(Without license)
License certificate only
Electric Gripper Control board
(PCI board)		 Shipped after mounted on the controller(With license)
Shipped separately as a spare part(With license)
Shipped separately as a spare part(Without license)
License certificate only
VGA option for RC 8 VGA junction cable set*1 VGA junction cable
VGA connector is mounted on the controller before shipping.
Options for Installation Stay set for wall-mount Wall-mount / Floor-mount
  1. *1.Choose this option when ordering the controller, if needed.
Item / Specifications
For HS·HM·VM·VP·XR Series
VS-6556·VS-6577
Standard cable
(for standard type)		 Straight 2 m
4 m
6 m
12 m
20 m
Angle 2 m
4 m
6 m
12 m
20 m
For HS·HM·VM·VP·XR Series
VS-6556·VS-6577
Splash-proof cable
(for dust- & splash-proof type and cleanroom type)		 Straight 2 m
4 m
6 m
12 m
20 m
Angle 2 m
4 m
6 m
12 m
20 m
XYC Series
Standard cable		 Straight 4 m
6 m
For VS-050/VS-060/
VS-068/VS-087		 Straight 2 m
4 m
6 m
12 m
20 m
Angle 2 m
4 m
6 m
12 m
20 m
  • Features
  • Spec
  • Dimensions
  • Standard Components
  • Option

Related Products

Sample Implementation

  • Network Camera
    Network Camera New solution with robots and network cameras
  • Network Cameras
    Network Cameras New solution with robots and network cameras
  • Network Camera
    Network Camera New solution with robots and a network cameras
  • Network Camera
    Network Camera New solution with robots and network cameras
  • Servo Press and Nut Runner
    Servo Press and Nut Runner
  • Network Camera
    Network Camera New solution with robots and a network cameras
  • Servo Press and Nut Runner
    Servo Press and Nut Runner
  • Servo Press and Nut Runner
    Servo Press and Nut Runner
  • Servo Press and Nut Runner
    Servo Press and Nut Runner

Contact us

DENSO ROBOT MEMBER

  • ID
  • PW

If you have forgotten your password, click here.

If you have not registered

The services on this member site are available only for registered customers.

New member reg.

close
PAGETOP
Contact us