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Basic

Item Basic model
Model name of robot set (Note 1) HM-4060 *G HM-4A60 *G HM-4070 *G HM-4A70 *G HM-4085 *G HM-4A85 *G HM-40A0 *G HM-4AA0 *G
Model name of robot unit HM-4060 *GM HM-4A60 *GM HM-4070 *GM HM-4A70 *GM HM-4085 *GM HM-4A85 *GM HM-40A0 *GM HM-4AA0 *GM
Overall arm length 250 (J1:first arm) + 350 (J2:second arm) = 600mm 350 (J1:first arm) + 350 (J2:second arm) = 700mm 350 (J1:first arm) + 500 (J2:second arm) = 850mm 500 (J1:first arm) + 500 (J2:second arm) = 1000mm
Motion angle and stroke J1 (1st axis) ±165°
J2(2nd sxis) ±143° ±147°
Z(3rd axis)(*) *=2:200mm, *=3:300mm , *=3:400mm
T(4th axis) ±360°
Axis combination J1 (1st axis) + J2 (2nd axis) + Z (3rd axis) + T (4th axis)
Maximum payload 10kg 20kg 10kg 20kg 10kg 20kg 10kg 20kg
Maximum composite speed At the center of the hand mounting flange 8,780 mm/s 9,570 mm/s 11,450 mm/s 11,390 mm/s
Z ±0.01 mm
T ±0.005°
Maximum force-fit 98N (one second or less)
Maximum allowable inertia moment (payload) 0.25kgm (10kg) 0.45kgm (20kg) 0.25kgm (10kg) 0.45kgm (20kg) 0.25kgm (10kg) 0.45kgm (20kg) 0.25kgm (10kg) 0.45kgm (20kg)
Position detection Absolute encoder
Drive motor and brake AC servomotors for all axes, Air balance 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 line 24 (for proximity sensor signals, ets.)
Air source Operating pressure 0.05 to 0.35 MPa
Maximum allowable pressure 0.59 MPa
Weight Approx. 50 kg (110 lbs) (Note 2)

Basic UL-Listed

Item Basic model / UL-listed
Model name of robot set (Note 1) HM-4060 *G-UL HM-4A60 *G-UL HM-4070 *G-UL HM-4A70 *G-UL HM-4085 *G-UL HM-4A85 *G-UL HM-40A0 *G-UL HM-4AA0 *G-UL
Model name of robot unit HM-4060 *GM-UL HM-4A60 *GM-UL HM-4070 *GM-UL HM-4A70 *GM-UL HM-4085 *GM-UL HM-4A85 *GM-UL HM-40A0 *GM-UL HM-4AA0 *GM-UL
Overall arm length 250 (J1:first arm) + 350 (J2:second arm) = 600mm 350 (J1:first arm) + 350 (J2:second arm) = 700mm 350 (J1:first arm) + 500 (J2:second arm) = 850mm 500 (J1:first arm) + 500 (J2:second arm) = 1,000mm
Motion angle and stroke J1 (1st axis) ±165°
J2 (2nd sxis) ±143° ±147°
Z (3rd axis)(*) *=2:200mm, *=3:300mm , *=3:400mm
T(4th axis) ±360°
Axis combination J1 (1st axis) + J2 (2nd axis) + Z (3rd axis) + T (4th axis)
Maximum payload 10kg 20kg 10kg 20kg 10kg 20kg 10kg 20kg
Maximum composite speed At the center of the hand mounting flange 8,780mm/s 9,570mm/s 11,450mm/s 11,390mm/s
Z 2,760mm/s
T 2,200°/s 1,540°/s 2,200°/s 1,540°/s 2,200°/s 1,540°/s 2,200°/s 1,540°/s
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) 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, Air balance cylinder for Z axis (3rd axis), Brakes for J1, J2, Z-axes
Brake releasing (1) Press the brake release switch when the controller power is ON.
(2) The teach pendant or mini-pendant cannot release the brakes.
User air piping 4systems (φ6)
User signal line 24 (for proximity sensor signals, ets.)
Air source Operating pressure 0.05 to 0.35MPa
Maximum allowable pressure 0.59MPa
Weight Approx. 54kg (119 lbs) (Note 2)

Basic Overhead Mount

Item Basic model / Overhead-mount
Model name of robot set (Note 1) HMS-4070*G HMS-4A70*G HMS-4085*G HMS-4A85*G
Model name of robot unit HMS-4070*GM HMS-4A70*GM HMS-4085*GM HMS-4A85*GM
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 sxis) ±145° ±142°
Z(3rd axis)(*) *=2:200mm, *=3:300mm , *=4:400mm
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 9,570mm/s 11,450mm/s
Z 2,760mm/s
T 2,200°/s 1,540°/s 2,200°/s 1,540°/s
Position repeatability (at the constant 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, Air balance cylinder for Z axis (3rd axis), Brakes for Z axis (3rd axis).
Brake releasing Enter a brake release command with the teach pendant or mini-pendant.
User air piping 4systems (φ6)
User signal line 24 (for proximity sensor signals, ets.)
Air source Operating pressure 0.05 to 0.35MPa
Maximum allowable pressure 0.59MPa
Weight Approx. 52kg (115 lbs) (Note 2)

Dust & Mistproof

Item Dust & Mistproof model
Model name of robot set(Note 1) HM-4060 *G-W HM-4A60 *G-W HM-4070 *G-W HM-4A70 *G-W HM-4085 *G-W HM-4A85 *G-W HM-40A0 *G-W HM-4AA0 *G-W
Model name of robot unit HM-4060 *GM-W HM-4A60 *GM-W HM-4070 *GM-W HM-4A70 *GM-W HM-4085 *GM-W HM-4A85 *GM-W HM-40A0 *GM-W HM-4AA0 *GM-W
Overall arm length 250 (J1:first arm) + 350 (J2:second arm) = 600mm 350 (J1:first arm) + 350 (J2:second arm) = 700mm 350 (J1:first arm) + 500 (J2:second arm) = 850mm 500 (J1:first arm) + 500 (J2:second arm) = 1,000mm
Motion angle and stroke J1 (1st axis) ±165°
J2 (2nd sxis) ±140° ±146° ±147°
Z (3rd axis)(*) *=2:200mm, *=3:300mm , *=4:400mm
T (4th axis) ±360°
Axis combination J1 (1st axis) + J2 (2nd axis) + Z (3rd axis) + T (4th axis)
Maximum payload 10kg 20kg 10kg 20kg 10kg 20kg 10kg 20kg
Maximum composite speed At the center of the hand mounting flange 8,780mm/s 9,570mm/s 11,450mm/s 11,390mm/s
Z 1,322mm/s
T 2,200°/s 1,540°/s 2,200°/s 1,540°/s
Position repeatability (at the constant 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) 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,  Brakes 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 model, pressing the brake release switch in the direct teaching mode can release the brake.
User air piping 4systems (φ6)
User signal line 24 (for proximity sensor signals, etc.)
Air source Operating pressure 0.05 to 0.35MPa
Maximum allowable pressure 0.59MPa
Weight Approx. 54kg (119 lbs) (Note 2)

Dust & Mistproof Overhead

Item Dust & Mistproof model / Overhead-mount
Model name of robot set (Note 1) HMS-4070*G-W HMS-4A70*G-W HMS-4085*G-W HMS-4A85*G-W
Model name of robot unit HMS-4070*GM-W HMS-4A70*GM-W HMS-4085*GM-W HMS-4A85*GM-W
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 sxis) ±142°
Z (3rd axis)(*) *=2:200mm, *=3:300mm , *=4:400mm
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 9,570 mm/s 11,450 mm/s
Z 1,322 mm/s
T 2,200°/s 1,540°/s 2,200°/s 1,540°/s
Position repeatability (at the constant temperature) J1+J2 ±0.02 mm ±0.025 mm
Z ±0.01 mm
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,  Brakes 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 model, pressing the brake release switch in the direct teaching mode can release the brake.
User air piping 4systems (φ6)
User signal line 24 (for proximity sensor signals, etc.)
Air source Operating pressure 0.05 to 0.35MPa
Maximum allowable pressure 0.59MPa
Degree of protection IP65
Weight Approx. 54kg (119 lbs) (Note 2)