| 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 lb)(Note 2) | |||||