4-Axis (Scara) Robots:HM-E2 Series
Model name
  • HM-4060*E2 / HM-4A60*E2
  • HMS-4070*E2 / HM-4A70*E2
  • HM-4085*E2 / HM-4A85*E2
  • HM-40A0*E2 / HM-4AA0*E2
Arm length
  • Approx.600mm / 700mm
  • Approx.850mm
Max. payload 10 - 20kg
Cycle time 0.29 - 0.31sec.
Robot
Basic Spec. Dimensions
Basic/Overhead-mount Spec. Dimensions
Dust & Mistproof Spec. Dimensions
Dust & Mistproof/Overhead Spec. Dimensions
RC5 Controller
Basic Spec. Dimensions

Spec

Spec:Basic

Item Basic model
Model name of robot set(Note 1) HM-4060*E2 HM-4A60*E2 HM-4070*E2 HM-4A70*E2 HM-4085*E2 HM-4A85*E2 HM-40A0*E2 HM-4AA0*E2
Model name of robot unit HM-4060*E2M HM-4A60*E2M HM-4070*E2M HM-4A70*E2M HM-4085*E2M HM-4A85*E2M HM-40A0*E2M HM-4AA0*E2M
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-axis(3rd axis)
vertical stroke(*)		 *=2:200mm, *=3:300mm, *=4:400mm
Wrist rotation angle
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 2,220°/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, Z-axis air balance cylinder, Brake for Z-axis.
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. 50kg(Note : for the value of each model, refer to the nameplate)
  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.

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