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ID : 4585
HM-4060*-UL/HM-4A60*-UL
| Item | Specifications | ||||
|---|---|---|---|---|---|
| Model name of robot set (Note 1) | HM-4060*-UL | HM-4A60*-UL | |||
| Model name of robot unit | HM-4060*M-UL | HM-4A60*M-UL | |||
| Overall arm length | 250(J1: 1st axis) + 350 (J2: 2nd axis) = 600 mm | ||||
| Motion angle and stroke | J1 (1st axis) | ±165° | |||
| J2 (2nd axis) | ±143° | ||||
| Z (3rd axis) | 200 mm if * = 2 300 mm if * = 3 400 mm if * = 4 |
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| 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 | 8,780 mm/s | |||
| Z | 2,760 mm/s | ||||
| T | 2,220°/s | 1,540°/s | |||
| Position repeatability (Note 2) |
J1 + J2 | ±0.02 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, Air balanced cylinder for Z axis (3rd axis), Brakes for J1, J2 and Z axes | ||||
| Brake releasing |
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| 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 | IP20 | ||||
| Airborne noise (A-weighted equivalent continuous sound pressure level) | 80 dB or less | ||||
| Weight | Approx. 53 kg (117 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 : 4585