Industrial Robots 4-Axis (Scara) Robots:HM-E2 Series[Specifications] |DENSO

Industrial Robots TOP >> Support >> Previous Lineup[Japan] >> 4-Axis (Scara) Robots:HM-E2 Series[Specifications]

Model name	HM-4060E2 / HM-4A60E2 HMS-4070E2 / HM-4A70E2 HM-4085E2 / HM-4A85E2 HM-40A0E2 / HM-4AA0E2
Arm length	Approx.600mm / 700mm Approx.850mm
Max. payload	10 - 20kg
Cycle time	0.29 - 0.31sec.

RC5 Controller
Basic	Spec.	Dimensions

Item		Basic model / Overhead-mount
Model name of robot set(Note 1)		HMS-4070*E2	HMS-4A70*E2	HMS-4085*E2	HMS-4A85*E2
Model name of robot unit		HMS-4070*E2M	HMS-4A70*E2M	HMS-4085*E2M	HMS-4A85*E2M
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-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
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, 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
Air source	Maximum allowable pressure	0.59MPa
Weight		Approx. 50kg(Note : for the value of each model, refer to the nameplate)

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.

Industrial Controller