4-Axis (Scara) Robots:HM-G Series
Model name
  • HM-4060*G / HM-4A60*G
  • HM-4070*G / HM-4A70*G
  • HM-4085*G / HM-4A85*G
  • HM-40A0*G / HM-4AA0*G
Arm length
  • Approx.600mm / 700mm
  • Approx.850mm / 1000mm
Max. payload 10 - 20kg
Cycle time 0.29 - 0.31sec.
Robot
Basic Spec. Dimensions
Basic/UL listed Spec. Dimensions
Basic/Overhead-mount Spec. Dimensions
Dust & Mistproof Spec. Dimensions
Dust & Mistproof/Overhead Spec. Dimensions
RC7M Controller
Basic Spec. Dimensions

Spec

Spec:Basic/Overhead-mount

Item Basic model / Overhead-mount
Model name of robot set(Note 1) HMS-4070*G HMS-4A70*G HMS-4085*G HMS-4A85*G
Model name of robot unit HMS-4070*GM HMS-4A70*GM HMS-4085*GM HMS-4A85*GM
Overall arm length 350(J1:first arm) + 350(J2:second arm) = 700mm 350(J1:first arm) + 500(J2:second arm) = 850mm
Motion angle
and
stroke 		J1(1st axis) ±165°
J2(2nd axis) ±145° ±142°
Z(3rd axis) (*) *=2:200mm, *=3:300mm, *=4:400mm
T(4th axis) ±360°
Axis combination J1(1st axis)+J2(2nd axis)+Z(3rd axis)+T(4th axis)
Maximum payload 10kg 20kg 10kg 20kg
Maximum composite speed At the center of the hand
mounting flange 		9,700mm/s 11,000mm/s
Z 2,760mm/s 2,300mm/s 2,110mm/s
T 2,220°/s 1,540°/s 2,220°/s 1,540°/s
Position repeatability
(at the constant ambient
temperature) 		J1+J2 ±0.02mm ±0.025mm
Z ±0.01mm
T ±0.005°
Maximum force-fit 98N(one second or less)
Maximum allowable inertia moment
(payload)) 		0.25kgm2
(10kg) 		0.45kgm2
(20kg) 		0.25kgm2
(10kg) 		0.45kgm2
(20kg)
Position detection Absolute encoder
Drive motor and brake AC servomotors for all joints, Air balance cylinder for Z-axis (3rd axis), Brake for Z-axis (3rd axis).
Brake releasing Enter a brake release command with the teach pendant or mini-pendant.
User air piping 4 systems(φ6)
User signal line 24(for proximity sensor signals, etc.)
Air source Operating pressure 0.05 to 0.35MPa
Maximum allowable pressure 0.59MPa
Weight Approx. 52kg (115 lbs)(Note 2)
  1. Note 1 : The model name of robot set refers to the model name of a complete set including a robot unit, controller.
    An asterisk * in model names denotes the Z-axis stroke.
  2. Note 2 : See the plate on each model.

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