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ID : 5914
HM-40A0*-W-UL/HM-4AA0*-W-UL
Item |
Specifications |
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Model name of robot set (Note 1) |
HM-40A0*-W-UL | HM-4AA0*-W-UL | |||
Model name of robot unit |
HM-40A0*M-W-UL | HM-4AA0*M-W-UL | |||
Overall arm length |
500 (J1: 1st arm) + 500 (J2: 2nd arm) = 1,000 mm |
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Motion angle and stroke |
J1 (1st axis) |
±165° |
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J2 (2nd axis) |
±147° |
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Z (3rd axis) |
200 mm if * = 2 300 mm if * = 3 400 mm if * = 4 |
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T (4th axis) |
±360° |
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Axis combination |
J1 (1st axis) + J2 (2nd axis) + Z (3rd axis) + T (4th axis) |
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Maximum payload |
10 kg | 20 kg | |||
Composite speed |
At the center of the hand mounting flange | 10,960 mm/s |
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| Z | 1,322 mm/s | ||||
| T | 2,220°/s | 1,540°/s | |||
Position repeatability |
J1+ J2 | ±0.025 mm | |||
| Z | ±0.01 mm | ||||
| T | ±0.005° | ||||
Maximum force-fit |
98N (one second or less) |
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Maximum allowable moment of inertia around T axis |
0.25 kgm2 (with 10 kg) | 0.45 kgm2 (with 20 kg) | |||
Position detection |
Absolute encoder |
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Drive motor and brake |
AC servomotors for all axes, Brake for Z axis (3rd axis) |
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Brake releasing |
|
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User air piping |
4 systems (φ6) |
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User signal lines |
24 (for proximity sensor signals, etc.) |
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Air source |
Operating pressure |
0.05 to 0.35 MPa |
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Maximum allowable pressure |
0.59 MPa |
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Degree of protection |
IP65 |
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Airborne noise (A-weighted equivalent continuous sound pressure level) |
80 dB or less |
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Weight |
Approx. 60 kg (132 lbs) (See the name plate on each model.) |
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(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 : 5914