HM SERIES 6001000 MM

The DENSO HM-Series robots offer a longer reach and higher payload HM-4A70*G HM-4A85*G
capacity than the HS-Series models. Their outstanding features include:

z Exceptional repeatability of 0.02 to 0.025 mm

z Fast cycle times from 0.31 to 0.29 sec.
HM-4AA0*G
z Large payloads up to 20 kg
z Long reaches from 600 to 1,000 mm
z High maximum allowable moment of inertia
z Compact design saves floor space, facilitates integration
CEILING-MOUNT OPTION
z Floor- or ceiling-mount, with no special hardware needed
z Operation in dusty and wet environments
(optional IP65 configuration)
z ANSI and CE compliance allows global deployment
z UL models available for the US and Canada

HM- HM- HM- HM- HM- HM- HM- HM-

4060*G 4A60*G 4070*G 4A70*G 4085*G 4A85*G 40A0*G 4AA0*G
Number of axes 4
Maximum arm reach (mm) 600 700 850 1000
First-arm reach (mm) 250 350 350 500
Second-arm reach (mm) 350 350 500 500
J1 165
Range of J2 143 147
motion () Z (mm) 200, 300, 400
T 360
Position detection Absolute encoder
Minimum motion area (mm) 213 199 281 284
Maximum payload (kg) 10 20 10 20 10 20 10 20
Weight, approx. (kg) 53
Footprint (mm) 220 220
Cycle time (sec.) 0.29 (with 2-kg weight) 0.31 (with 2-kg weight)
Maximum composite speed (mm/sec.) 8,780 9,570 11,480 11,390
J1 (/sec.) 450
Maximum joint J2 (/sec.) 667
speed Z (mm/sec.) 2,780
T (/sec.) 2,220 for 10-kg models or 1,540 for 20-kg models
J1+J2 (mm) 0.02 0.025
Repeatability1 Z (mm) 0.01
T () 0.005
Maximum force fit (1 sec. or less, N) 98
0.25 (with 0.45 (with 0.25 (with 0.45 (with 0.25 (with 0.45 (with 0.25 (with 0.45 (with
Maximum allowable moment of inertia (kgm 2) 10-kg 20-kg 10-kg 20-kg 10-kg 20-kg 10-kg 20-kg
weight) weight) weight) weight) weight) weight) weight) weight)
Wiring (in-arm integrated) 24 lines (max. 1 A per line)
Air piping (in-arm integrated) 4 systems (6)
Protection class Standard: IP40; option: IP65 (dust- and mistproof)
Ceiling-mount - - - -
Scan this QR Code
UL specifications2
for more information
* Placeholder for Z-stroke value. 1. At constant ambient temperature. 2. Floor-mount only.
 3N9 -0.029

HM SERIES 6001000 MM

(24.5)
20.5

8.5
G-G
G G

38
R
27

8 10
2X
w
70 C B 95 17
Base mounting dimensions (viewed from top) (19) Detailed drawing of hand mounting face
60
(22h7) (viewed from E)
2X8H7 ( +0.015
0 ) (26h7)
(reference hole) 220

100
E 175
600.05
3N9 ( -0.029 )
-0.004

R2000
4-R20 4X14.3

(24.5)
450

20.5

8.5
G G

340

38
346
S

R
27

8 10
2X
G-G

2000.05
70 C B 95 17

175
220
(19)
60
R2000
181

(22h7)
L3

188 (26h7)
128 190 (cabling space)
L1

workable space
2X8H7 ( +0.015
0 )
(reference hole) 220 3N9 ( -0.029
-0.004
)
100

E 175
600.05

R2000
4-R20 4X14.3

(24.5)
20.5
450
464

G-G
L2

340
346
S

2000.05
181

175
220
R2000
L1
L3

188 2X8H7 ( +0.015

0 )
128 190 (cabling space) Unit: mm (reference hole) 220
100

workable space E 175

600.05

R2000
4-R20 4X14.3

450
464

S L1 L2 L3 Type A B C D F
L2

340
346

HM-4060*G, HM-4A60*G 600 250 350 213 286

S

Z-axis stroke 10 kg 20 kg
HM-4070*G, HM-4A70*G 700 350 350 199 294

2000.05
100 755 749 350 250

175
220
150 805 799 350 200 HM-4085*G, HM-4A85*G 850 350
R2000
500 281 294
L3

188 HM-40A0*G, HM-4AA0*G 1000 500 500 284 294

200 855 849 350 150 128 190 (cabling space)
workable space
300 955
330 949 350 50
4002 1055 1049 350 -50
Flange (option) mounting face2
F
1. With Z-axis stroke of 400 mm, bottom of Z axis
may reach below base mounting face.
40 58
( 36.5 )
6.5

( 50h7)
2

34h7
A

0
33
70 (95)
.0 2)

0 .0
2
28 8 0

12
0
(3

- -
02.

workable space F
(working space) (working space)

40 58
4-5.5
(4-6.5) 5H7 ( +0.012
0 )
6H7 ( +0.012
0 )
( 36.5 )
6.5

( 50h7)
2

34h7
A

(8 0
60 )

70 (95)
6
0)

45
(8

45
0

.0 2)

0 .0
2
28 8 0

12
0
(3

- -
. 02

workable space (working space) (working space)

2. Values denote dimensions for 10-kg payload models (HM

40**G); values in parentheses denote dimensions for 20-kg
4-5.5
payload models(4-6.5)
(HM-4A**G). 5H7 ( +0.012
0 )
6H7 ( +0.012
0 )

DENSO ROBOTICS
3900 Via Oro Avenue, Long Beach, Caliornia 90810, U.S.A
Tel: 888-4-ROBOTX (888-476-2689) | Fax: (310) 952-7502 | info@densorobotics.com
(8 0
60 )

6
0)

45
(8

45
0

2014 DENSO Corporation

Information subject to change without notice
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