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ID : 4584

HM-40A0*-W/HM-4AA0*-W

Item

Specifications

Model name of robot set (Note 1)

 HM-40A0*-W HM-4AA0*-W

Model name of robot unit

 HM-40A0*M-W HM-4AA0*M-W

Overall arm length

500(J1: 1st arm) + 500 (J2: 2nd arm) = 1000 mm

Motion angle and stroke

J1 (1st axis)

±165°

J2 (2nd axis)

±147°

Z (3rd axis)

200 mm if * = 2

300 mm if * = 3

400 mm if * = 4

T (4th axis)

±360°

Axis combination

J1 (1st axis) + J2 (2nd axis) + Z (3rd axis) + T (4th axis)

Maximum payload

 10 kg 20 kg

Composite speed

 At the center of the hand mounting flange

11,390 mm/s
Z 1,322 mm/s
T 2,220°/s 1,540°/s

Position repeatability
(Note 2)

 J1+ J2 ±0.025 mm
Z ±0.01 mm
T ±0.005°

Maximum force-fit

98N (one second or less)

Maximum allowable moment of inertia around T axis

 0.25 kgm2 (with 10 kg) 0.45 kgm2 (with 20 kg)

Position detection

Absolute encoder

Drive motor and brake

AC servomotors for all axes, 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 type, pressing the brake release switch in the direct teaching mode can release the brake.

User air piping

4 systems (φ6)

User signal lines

24 (for proximity sensor signals, etc.)

Air source

Operating pressure

0.05 to 0.35 MPa

Maximum allowable pressure

0.59 MPa

Degree of protection

IP65

Airborne noise (A-weighted equivalent continuous sound pressure level)

80 dB or less

Weight

Approx. 56 kg (124 lbs) (See the name plate on each model.)

(Note 1) The model name of robot set refers to the model of a complete set including a robot unit and robot controller. An asterisk (*) in model names denotes the Z-axis stroke.

(Note 2) Value at the constant ambient temperature

ID : 4584

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