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/UL listed

Item Basic model / UL-listed
Model name of robot set(Note 1) HM-4060*G-UL HM-4A60*G-UL HM-4070*G-UL HM-4A70*G-UL HM-4085*G-UL HM-4A85*G-UL HM-40A0*G-UL HM-4AA0*G-UL
Model name of robot unit HM-4060*GM-UL HM-4A60*GM-UL HM-4070*GM-UL HM-4A70*GM-UL HM-4085*GM-UL HM-4A85*GM-UL HM-40A0*GM-UL HM-4AA0*GM-UL
Overall arm length 250(J1:first arm) +
350(J2:second arm) = 600mm 		350(J1:first arm) +
350(J2:second arm) = 700mm 		350(J1:first arm) +
500(J2:second arm) = 850mm 		500(J1:first arm) +
500(J2:second arm) = 1,000mm
Motion angle
and stroke 		J1(1st axis) ±165°
J2(2nd axis) ±143° ±147°
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 10kg 20kg 10kg 20kg
Maximum composite speed At the center of the hand mounting flange 8,800mm/s 9,700mm/s 11,000mm/s 11,500mm/s
Z 2,760mm/s 2,300mm/s 2,110mm/s
T 2,220°/s 1,540°/s 2,220°/s 1,540°/s 2,200°/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) 		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), Brakes for J1, J2, Z-axes
Brake releasing (1) Press the brake release switch when the controller power is ON.
(2) The teach pendant or mini-pendant cannot release the brakes.
User air piping 4systems(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. 54kg (119 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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