DENSO 4-Axis (SCARA) Robots HM-40A0* / 4AA0*




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DENSO 4-Axis (SCARA) Robots

HM-40A0* / 4AA0*
DENSO 機器手臂 HS-40xx/4Axx
DENSO 機器手臂 HS-40xx/4Axx
Technical Drawings

The HM Series have the longest arm reach and carry the greatest payload among 4-axis (SCARA) robots. The lineup offers a variety of models.

Total arm length: 600 ~ 1,000mm
Vertical stroke(Z): 200 x 300 x 400mm
Maximum payload: 10 / 20kg
Cycle time: 0.29 / 0.31 sec


  • Excellent speed performance
    Thanks to its high-power AC servo motor and improved controllability, the standard cycle time is the highest level in its class. With a minimum location repeatability accuracy of ±0.02mm, these products allow precision work and quick micromachining. Overwhelmingly high speed and accurate operation dramatically improves productivity.
  • High rigidity achieved due to originally designed Z axis
    A rack-and-pinion mechanism and a gravity-balanced air cylinder are adopted for the vertical axis, demonstrating outstanding performance when heavy loads are conveyed.
  • Standard equipment includes: air piping for tools ( 4 lines ) and electric wiring ( 24 core wires ).
  • Maximum payload of 20kg
    Maximum payload can be selected from 10kg or 20kg, enabling conveyance of heavy loads.
  • A wide choice of options is offered.
    The dust-proof, mist-proof type, which can be used under severe use conditions; the overhead-mounted type, which allows construction of space-saving facility environments; and the UL-listed configuration model, which meets the UL standards in the U.S., are offered.
    1. Interference may not be detected depending on workpiece and hand type and operation status. 
    2. The UL-listed configuration model is floor-standing only.
Model name of robot unit(*1)
HM-40A0*GM / HM-4AA0*GM
Position detection
Absolute encoder
Drive motor and brake
AC servomotors for all joints / Air balanced cylinder for Z axis / Brake for Z axis
Overall arm length(first arm + second arm)
Motion angle and stroke
J1(1st-Axis) ±165°
J2(2nd-Axis) ±143
Z(3rd-Axis)(*) mm *=1:100、*=A:150、*=2:200、*=3:300、*=4:400(*4)
T(4th-Axis) ° ±360
Maximum payload
10kg / 20kg
Maximum composite speed(at the center of an end-effector mounting face)
At the center of the hand mounting flange 8,780mm/sec
Z 2,760
T 2,220/1,540°/sec
Cycle time(*2)
Approx. 0.2sec
Position repeatability(at the center of an end-effector mounting face)(*3)
J1+J2 ±0.02mm
Z ±0.01
T ±0.005°
Maximum force-fit
98(downward、1second or less)N
Maximum allowable inertia moment(Inertia)
User air piping
4 systems(φ6)
User signal line
24(for proximity sensor signals, etc.)
Air source
Operating pressure 0.05 - 0.35Mpa
Maximum allowable pressure 0.59
Airborne noise(A-weighted equivalent continuous sound pressure level)
80dB or less
Approx. 53kg-56kg
Technical Drawings
HM系列DENSO 機器手臂HM-40A0*/4AA0*