Chapter 3 Specifications Of The Robot Unit; Robot Specifications (Hm/Hms-G Series) - Denso Faber HM-G Series General Information Manual

Chapter 3
3.1

Robot Specifications (HM/HMS-G series)

The table below lists the specifications of the HM/HMS-G series of robot units.
(1) HM-G Series Robot Unit (Floor-mount, Standard type)
Item
Model name of robot set
(Note 1)
Model name of robot unit
Overall arm length
J1 (1st axis)
J2 (2nd axis)
Motion angle
Z (3rd axis)
and stroke
Vertical stroke
T (4th axis)
Wrist rotation
Axis combination
Maximum payload
At the center of
the hand
mounting flange
Composite
speed
Z
T
J1 + J2
Position
repeatability Z
(Note 2)
T
Maximum force-fit
Maximum allowable moment of
inertia around T axis
Position detection
Drive motor and brake
Brake releasing
User air piping
User signal lines
Operating pressure
Air source Maximum allowable
pressure
Airborne noise (A-weighted
equivalent continuous sound
pressure level)
Weight
(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
Specifications of the Robot Unit
HM-4060* HM-4A60* HM-4070*
G G G
HM-4060* HM-4A60* HM-4070*
E/GM E/GM E/GM
250(J1: 1st axis) + 350(J1: 1st axis) +
350 (J2: 2nd axis) 350 (J2: 2nd axis)
= 600 mm = 700 mm
165
143
100 mm if * = 1, 150 mm if * = A, 200 mm if * = 2, 300 mm if * = 3, 400 mm if * = 4
360
J1 (1st axis) + J2 (2nd axis) + Z (3rd axis) + T (4th axis)
10 kg 20 kg 10 kg
8,780 mm/s 9,570 mm/s
2220/s 1540/s 2220/s
0.02 mm
0.01 mm
0.005
98N (one second or less)
2 2
0.25 kgm 0.45 kgm 0.25 kgm
(with 10 kg) (with 20 kg) (with 10 kg)
Absolute encoder
AC servomotors for all axes
Air balanced cylinder for Z axis (3rd axis)
Brake for Z axis (3rd axis)
Enter a brake release command with the teach pendant or mini-pendant.
4 systems (6)
24 (for proximity sensor signals, etc.)
0.05 to 0.35 MPa
0.59 MPa
80 dB or less
Approx. 53 kg (117 lbs) (See the name plate on each model.)
9

Chapter 3 Specifications of the Robot Unit

Specifications
HM-4A70* HM-4085* HM-4A85*
G G G
HM-4A70* HM-4085* HM-4A85*
E/GM E/GM E/GM
350(J1: 1st axis) +
500 (J2: 2nd axis)
= 850 mm
147
20 kg 10 kg 20 kg
11,450 mm/s
2,760 mm/s
1540/s 2220/s 1540/s
2 2 2
0.45 kgm 0.25 kgm 0.45 kgm
(with 20 kg) (with 10 kg) (with 20 kg)
HM-40A0* HM-4AA0*
G G
HM-40A0* HM-4AA0*
E/GM E/GM
500(J1: 1st axis) +
500 (J2: 2nd axis)
= 1000 mm
10 kg 20 kg
11,390 mm/s
2220/s 1540/s
0.025 mm
2 2 2
0.25 kgm 0.45 kgm
(with 10 kg) (with 20 kg)