4-Axis (Scara) Robots

Description of the main specification of DENSO Robots, Teaching pendants, Off-line software.

4-Axis (Scara) Robots
Model nameHS-
4535*G
HS-4545*GHS4555*GHM-4060*GHM-4A60*GHM-4070*GHM-4A70*GHM-
4085*G
HM-4A85*GHM-40A0*GHM-4AA0*G
Axes 4
Maximum arm reach(mm) 350 450 550 600 700 850 1000
First arm reach (mm) 125 225 325 250 350 350 500
Second arm reach (mm) 225 350 350 500 500
Range of
motion(°)
J1 ±155 ±165
J2 ±145 ±143 ±147
Z
(mm)
200、320 200、300、400
T ±360 ±360
Minimum motion area(mm) 143 136 191 213 199 281 284
Maximum payload(Kg) 5 10 20 10 20 10 20 10 20
Total hyou approx. 20kg approx. 50kg
Footprint(mm) 150 × 150 220 × 220
Cycle time(sec.) 0.35(with 2kg weight) 0.29(with 2kg weight) 0.31(with 2kg weight)
Max
composite
speed
At the
end of
the robot
arm
(mm/s)
7200 6300 7100 8800 9700 11000 11500
J1
(°/s)
720 450 450 453.5 412.3 378.6
J2
(°/s)
720 673.1 611.9 561.9
Z
(mm/s)
2000 2764.6
T
(°/s)
2400 2229.9 1544.5 2229.9 1544.5 2229.9 1544.5 2229.9 1544.5
Repeatability(1) J1
+J2(mm)
±0.015 ±0.02 ±0.02 ±0.025
Z(mm) ±0.01 ±0.01
T(°) ±0.005 ±0.005
Maximum pressure
(1 sec. or less) (N)
98 98
Max. allowable
inertia moment(kgm2)
0.1
(with 5kg)
0.25
(with 10kg)
0.45
(with 20kg)
0.25
(with 10kg)
0.45
(with 20kg)
0.25
(with 10kg)
0.45
(with 20kg)
0.25
(with 10kg)
0.45
(with 20kg)
User signal line 19 24
User air piping 4 systems (φ4x2,φ6x2) 4 systems (φ6)
Dust & Mistproof model IP65
Cleanroom model ○(class10[0.1μm])(2) - - - - - - - -
Overhead mount - - - - -
UL listed (3) (3)
  1. Position repeatability is the value at constant ambient temperature.
  2. Only for floor-mounted.
  3. Only for basic model, which is floor-mounted only.