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臂长的规格有600mm, 700mm, 850mm, 1000mm。
水平多关节机器人系列动画介绍
在原有最大搬运重量为10Kg规格的基础上，又增加了20Kg规格的机型。
最大允许惯性力矩：最大搬运重量是10Kg时0.25kgm2(2.55 kgfcms2) 20Kg时0.45Kgm2(0.459kgfcms2)，从而增加了手的设计空间和使用空间
根据需求可以选择具有防尘防水功能的机型。
| 项目 | 标准 | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| 系统型号(注1) | HM-4060* | HM-4A60* | HM-4070* | HM-4A70* | HM-4085* | HM-4A85* | HM-40A0* | HM-4AA0* | ||
| 单元型号 | HM-4060*M | HM-4A60*M | HM-4070*E/M | HM-4A70*M | HM-4085*M | HM-4A85*M | HM-40A0*M | HM-4AA0*M | ||
| 机械臂全长 | 250（J1: 第1臂）+ 350 （J2: 第2臂）= 600mm | 350（J1: 第1臂）+ 350 （J2: 第2臂）= 700mm | 350（J1: 第1臂）+ 500 （J2: 第2臂）= 850mm | 500（J1: 第1臂）+ 500 （J2: 第2臂）= 1,000mm | ||||||
| 运动角度和行程 | J1（第1轴） | ±165° | ||||||||
| J2（第2轴） | ±143° | ±147° | ||||||||
| Z（第3轴）(*) | *=2:200mm, *=3:300mm, *=4:400mm | |||||||||
| T（第4轴） | ±360° | |||||||||
| 轴组合 | J1（第1轴）+J2（第2轴）+Z（第3轴）+T（第4轴） | |||||||||
| 最大可搬质量 | 10kg | 20kg | 10kg | 20kg | 10kg | 20kg | 10kg | 20kg | ||
| 最大合成速度 | 臂先端 | 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 | ||
| 位置重复精度 （周围温度一 定） | J1+J2 | ±0.02mm | ±0.025mm | |||||||
| Z | ±0.01mm | |||||||||
| T | ±0.005° | |||||||||
| 最大压入力（向下方向） | 98N（1秒钟以内） | |||||||||
| 最大容许惯性力矩 (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) | ||
| 位置检测方式 | 绝对编码器 | |||||||||
| 驱动电机和制动器 | 各轴AC伺服电机 Z轴、T轴：配备制动器. | |||||||||
| 制动器释放操作 | （1）仅限直接模式下接通制动器释放开关释放制动器 （2）利用TP、MP操作释放制动器 | |||||||||
| 用户用气压布管 | 4 系统 （φ6） | |||||||||
| 用户用信号线 | 24芯（接近传感器等信号线） | |||||||||
| 气源 | 工作压力 | 0.05～0.35MPa | ||||||||
| 许用最大压力 | 0.59MPa | |||||||||
| 重量 | 约 50kg（注：参见各型号的铭牌） | |||||||||
RC8
| Group | Item | Q'ty |
| Robot & Accessories | Robot unit | 1 |
| Motor & encoder cable (option) | 1 | |
| Sheet of direction indicator labels | 1 | |
| Connector set for hand control signals (for CN20 and CN21) | 1set | |
| Dowel pins (internally threaded positioning pin and diamond-shaped pin) | 1set | |
| Air regulator (excluding the splash-proof type) | 1 | |
| Controller & Accessories | Robot controller | 1 |
| Power cable (5 m) | 1 | |
| Pendantless connector (Dummy connector) | 1 | |
| Software etc | WINCAPS III trial version installer disk | 1 |
| Manuals ("Manual Pack disk" and "Safety Precautions") | 1set | |
| Warning label | 1 |
RC7
| Group | Item | Q'ty |
| Robot & Accessories | Robot unit | 1 |
| Motor & encoder cable (option) | 1 | |
| Sheet of direction indicator labels | 1 | |
| Connector set for hand control signals (for CN20 and CN21) | 1set | |
| Dowel pins (internally threaded positioning pin and diamond-shaped pin) | 1set | |
| Air regulator (excluding the splash-proof type) | 1 | |
| Controller & Accessories | Robot controller | 1 |
| Power cable (5 m) | 1 | |
| Pendantless connector (Dummy connector) | 1 | |
| Spare fuses for robot controller | 3 | |
| Spare output IC for robot controller | 1 | |
| Short sockets for robot controller 2 | 2 | |
| Software etc | WINCAPS III trial version installer disk | 1 |
| Manuals ("Manual Pack disk" and "Safety Precautions") | 1set | |
| Warning label | 1 |
| Type | Item | Part No. | ||
| I/O cables | Standard I/O cable set | Consisting of 8-m I/O cables for "Mini I/O" and "HAND I/O." | 4101490940 | |
| Consisting of 15-m I/O cables for "Mini I/O" and "HAND I/O." | 4101490950 | |||
| I/O cable for "Mini I/O" (68 pins) | 8 m | 410141-2700 | ||
| 15 m | 410141-2710 | |||
| I/O cable for "HAND I/O" (20 pins) | 8 m | 410141-1740 | ||
| 15 m | 410141-1750 | |||
| I/O cable for "Parallel I/O board" (96 pins) | 8 m | 410141-3050 | ||
| 15m | 410141-3060 | |||
| Operation devices | Teach pendant | With 4 m cable | 410100-1760 | |
| With 8 m cable | 410100-1770 | |||
| With 12 m cable | 410100-1780 | |||
| Mini-pendant kit (Incl. WINCAPS III Light version) | With 4 m cable | Japanese language version | 410109-0393 | |
| English language version | 410109-0403 | |||
| With 8 m cable | Japanese language version | 410109-0413 | ||
| English language version | 410109-0423 | |||
| With 12 m cable | Japanese language version | 410109-0433 | ||
| English language version | 410109-0443 | |||
| Pendant extension cable | 4 m | For TP / MP | 410141-3711 | |
| 8 m | For TP / MP | 410141-3721 | ||
| ForVS | Externalbatteryextensionunit | With4mcable | 410076-0360 | |
| With8mcable | 410076-0370 | |||
| With12mcable | 410076-0380 | |||
| Brakereleaseunit | With4mcable | 410191-0060 | ||
| With8mcable | 410191-0070 | |||
| With12mcable | 410191-0080 | |||
| Airpurgeunit | Onlyforprotectedtyperobots(IP67) | 410690-0050 | ||
SecondarmcoverR(withtappedholes) for VS-050/060 | Onlyforstandardtyperobots(IP40) | 411040-0950 | ||
SecondarmcoverR(withtappedholes) for VS-068/087 | Onlyforstandardtyperobots(IP40) | 411040-0500 | ||
StopperboltM8forJ2mechanicalends for VS-050/060 | Forthe2ndaxis | 410813-0970 | ||
StopperboltM5forJ3mechanicalends for VS-050/060 | Forthe3rdaxis | 410813-0950 | ||
StopperboltM10forJ2/J3mechanicalends for VS-068/087 | Forthe2ndand3rdaxes | 410813-0930 | ||
| ForHM | Flangekit | For20kgpayload | 410329-0080 | |
| For10kgpayload | 410329-0070 | |||
| ForHS | Flangekit | ForHS | 410329-0060 | |
| ForXR | Valveassembly 4-stationmanifoldvalve | Singleshipment(supplypart) | 410640-0230 | |
| Valveassembly 4-stationmanifoldvalve | Robotmountingshipping | 410640-0330 | ||
| Handcontrolcablingkit | 410879-0470 | |||
| Handcontrolcable | 2m | 410870-3350 | ||
| Full-rangestand | 411759-0010 | |||
| Half-rangestand | 411759-0020 | |||
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