DENSO 機器手臂 HS-40xx/4Axx

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◆超強力
◆超高速高精度
◆小巧外形

◆超強力
◇最大搬運重量 10kg。
◇最大允許慣性力矩: 最大搬運重量是10Kg時0.25kgm2,增加了手的設計空間和應用空間。
◆超高速高精度
◇最大工作範圍︰1000mm 
◇標準週期︰0.31 sec
◇重複定位精度︰+/-0.025mm 
◆小巧外形
◇機械手的基座僅220mm*220mm,減少了對周邊環境的影響。   

Spec:Basic
Item Basic model
Model name of robot set(※1)

HM-

4060*

HM-

4A60*

HM-

4070*

HM-

4A70*

HM-

4085*

HM-

4A85*

HM-

40A0*

HM-

4AA0*

Model name of robot unit

HM-

4060*GM

HM-

4A60*GM

HM-

4070*E/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)

= 1,000mm

Motion angle
and stroke
J1(1st axis) ±165°
J2(2nd axis) ±143° ±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)
Weight 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 2,220°/s 1,540°/s 2,220°/s 1,540°/s 2,220°/s 1,540°/s 2,220°/s 1,540°/s
Position repeatability
(at the constant ambient 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 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 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. 50kg(115lbs)(※2)

※1 : The model name of robot set refers to the model name of a complete set including a robot unit, controller.
An asterisk * in model names denotes the Z-axis stroke.
※2 : See the plate on each model.