Overview
- Outstanding speed and repeatability
- Reach 600 - 1000 mm
- High payload capacity up-to 20Kg
- High maximum moment of inertia (0.1 kgm²) allows wide range of end effectors and applications
- Cycle Time 0.29-0.31 Sec
HS-A1 Series compact
The HM Series 4-axis SCARA robots offer outstanding speed and repeatability. Although these small industrial robots have a compact, space saving design, they can handle 20 kg payloads. In addition, their maximum allowable moment of inertia of 0.45 kgm² is six times larger than that of conventional robots, permitting a wide variety of applications. All HM Series robots are available in standard or dust- and mistproof (IP65) configurations.
High-Speed Motion
Improved high-speed motion results in more cycles per minute (CPM) and therefore higher productivity.
Flexible Mounting Configuration
The HSR robot is available in both floor- and ceiling-mount models.
Optimum Layout
A large-capacity motor is integrated into the base unit. Weight reduction of the arm and an optimized arm design allow the robot to achieve its continuous high-speed performance.
| Model name *1 | HM-4060* | HM-4A85* | HM-4AA0* | |
| No. of axes | 4 | 4 | 4 | |
| Position detection | Absolute encoder | Absolute encoder | Absolute encoder | |
| Drive motor | AC servomotors for all joints | AC servomotors for all joints | AC servomotors for all joints | |
| Air-balanced cynder | Air balanced cylinder for Z axis | Air balanced cylinder for Z axis | Air balanced cylinder for Z axis | |
| Brakes | Brake for Z axis | Brake for Z axis | Brake for Z axis | |
| Overall arm length (first arm+second arm) | 600mm (250mm+350mm) | 850mm (350mm+500mm) | 1,000mm (500mm+500mm) | |
Motion angle and stroke | J1 (1st Axis) | ±165° | ±165° | ±165° |
| J2 (2nd Axis) | ±143° | ±147° | ±147° | |
| Z (3rd Axis) * | *1:100mm *A:150mm *2:200mm *3:300mm *4:400 *4 | *1:100mm *A:150mm *2:200mm *3:300mm *4:400 *4 | *1:100mm *A:150mm *2:200mm *3:300mm *4:400 *4 | |
| T (4th Axis) | ±360° | ±360° | ±360° | |
| Maximum payload | 10kg | 20kg | 20kg | |
Maximum composite speed | At the center of an end-effector mounting face | 8,780mm/sec | 11,450mm/sec | 11,390mm/sec |
| Z | 2.760mm/sec | 2.760mm/sec | 2.760mm/sec | |
| T | 2,220°/sec | 1,540°/sec | 1,540°/sec | |
| Cycle time *2 | 0.2 sec | 0.2 sec | 0.2 sec | |
Position repeatability (at the center of an end-effector mounting face) *3 | J1+J2 | ±0.02mm | ±0.02mm | ±0.02mm |
| Z | ±0.01mm | ±0.01mm | ±0.01mm | |
| T | ±0.005° | ±0.005° | ±0.005° | |
| Maximum force-fit | 98N (download, 1 sec or less) | 98N (download, 1 sec or less) | 98N (download, 1 sec or less) | |
| Maximum allowable inertia moment(Inertia) | 0.25kgm² | 0.45kgm² | 0.45kgm² | |
| User air piping | 4 systems (φ6) | 4 systems (φ6) | 4 systems (φ6) | |
| User signal line | 24 (for proximity sensor signals, etc.) | 24 (for proximity sensor signals, etc.) | 24 (for proximity sensor signals, etc.) | |
Air source | Operating pressure | 0.05 – 0.35 MPa | 0.05 – 0.35 MPa | 0.05 – 0.35 MPa |
| Maximum allowable pressure | 0.59 MPa | 0.59 MPa | 0.59 MPa | |
| Noise | <80 dB(A) | <80 dB(A) | <80 dB(A) | |
| Approximate weight | 53 – 56kg | 53 – 56kg | 53 – 56kg | |
| *1 An asterisk [*] in a model name indicates Z-axis stroke. | ||||
| *2 Time required for a robot to move a 2kg payload between two points 300mm apart at a height of 25mm. | ||||
| *3 Position repeatability is the precision at constant ambient temperature. | ||||
| *4 Z (3rd axis) 100mm, 150mm is specially spec. Please contact us for details. | ||||
