| Item | Dust & Mistproof model | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Model name of robot set(Note 1) | HM-4060*G-W | HM-4A60*G-W | HM-4070*G-W | HM-4A70*G-W | HM-4085*G-W | HM-4A85*G-W | HM-40A0*G-W | HM-4AA0*G-W | ||
| Model name of robot unit | HM-4060*GM-W | HM-4A60*GM-W | HM-4070*GM-W | HM-4A70*GM-W | HM-4085*GM-W | HM-4A85*GM-W | HM-40A0*GM-W | HM-4AA0*GM-W | ||
| 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) | ±140° | ±146° | ±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 | 7,900mm/s | 8,700mm/s | 9,900mm/s | 10,300mm/s | |||||
| Z | 1,322mm/s | |||||||||
| T | 2,220°/s | 1,540°/s | 2,220°/s | 1,540°/s | 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) |
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, Brake for Z-axis (3rd axis). | |||||||||
| Brake releasing | (1) Enter a brake release command with the teach pendant or mini-pendant. (2)On the 10 kg payload model, pressing the brake release switch in the direct teaching mode can release the brake. |
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| 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 | |||||||||
| Degree of protection | IP65 | |||||||||
| Weight | Approx. 54kg (119 lbs)(Note 2) | |||||||||