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ID : 4589

HMS-4070*/HMS-4A70*

Item

Specifications

Model name of robot set (Note 1)

HMS-4070* HMS-4A70*

Model name of robot unit

HMS-4070*M HMS-4A70*M

Overall arm length

350(J1: 1st axis) + 350 (J2: 2nd axis) = 700 mm

Motion angle and stroke

J1 (1st axis)

±165°

J2 (2nd axis)

±145°

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

9,570 mm/s

Z 2,760 mm/s
T 2220°/s 1540°/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), Brake for Z axis (3rd axis)

Brake releasing

Enter a brake release command with the teach pendant or mini-pendant.

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. 54 kg (121 lbs) (See the name plate on each model.)

Note: Overhead-mount type robots cannot be installed on the floor to work facing upward.

(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 : 4589

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