# DENSO Robotics HM-4A70*

Hardware · `HM-4A70*` · verification: source checked

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.

## Specification

| Property | Value |
|---|---|
| Category | scara robot |
| Axes | 4 |
| Payload | 20 kg |
| Reach | 700 mm |
| Repeatability | 0.02 mm |
| Max TCP speed | 9570 mm/s |
| IP rating | IP20 |

### Joints

| Name | Range min (°) | Range max (°) | Max speed (°/s) |
|---|---|---|---|
| J1 | -165 | 165 |  |
| J2 | -147 | 147 |  |
| T | -360 | 360 | 1540 |

## Connected

- Manufacturer: [DENSO Robotics](https://machineschema.com/manufacturer/denso-robotics.md)

## Safety

- ANSI and CE compliant.
- Z-axis brake is provided.

## 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.

## Sources

1. [HM Series 4-axis SCARA Robots | DENSO Robotics](https://www.densorobotics.com/products/4-axis/hm-series/) (accessed 2026-10-26)

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