{"id":"denso-robotics-hm-4a70","model_id":"HM-4A70*","name":"DENSO Robotics HM-4A70*","summary":"The DENSO Robotics HM-4A70* is a four-axis SCARA robot with a 700 mm reach and a 20 kg payload. It uses absolute encoders and AC servomotors on all joints, with a Z-axis brake and air-balanced cylinder. J1+J2 repeatability is ±0.02 mm.","study_notes":["Z-axis stroke is selected by the asterisk in the model name: *1 = 100 mm, *A = 150 mm, *2 = 200 mm, *3 = 300 mm, *4 = 400 mm; 100 mm and 150 mm are special specifications.","Maximum allowable inertia moment is 0.45 kgm².","Approximate weight is 53–56 kg."],"safety_notes":["ANSI and CE compliant.","Z-axis brake is provided."],"sources":[{"url":"https://www.densorobotics.com/products/4-axis/hm-series/","title":"HM Series 4-axis SCARA Robots | DENSO Robotics","accessed":"2026-10-26"}],"verification":{"status":"source_checked","checked_at":"2026-10-26","values":17,"method":"llm_source_check"},"updated_at":"2026-10-26","type":"hardware","spec":{"category":"scara_robot","manufacturer":"denso-robotics","controllers":[],"axes":4,"payload_kg":20,"reach_mm":700,"repeatability_mm":0.02,"max_tcp_speed_mm_s":9570,"ip_rating":"IP20","joints":[{"name":"J1","range_min_deg":-165,"range_max_deg":165},{"name":"J2","range_min_deg":-147,"range_max_deg":147},{"name":"T","range_min_deg":-360,"range_max_deg":360,"max_speed_deg_s":1540}],"protocols":[],"standards":[],"error_codes":[]},"url":"https://machineschema.com/hardware/denso-robotics-hm-4a70","license":"https://creativecommons.org/licenses/by/4.0/"}