The ZEKEEP ZKG4C42L1 is a 4-axis closed-loop stepper desktop industrial robot arm with a 1 kg rated payload, 560 mm maximum working radius and ±0.05 mm repeatability. Featuring four 42 hybrid servo stepper motors, an integrated drive and control architecture, end-effector rotation, teach pendant operation and 10 DI / 10 DO interfaces, it is designed for precision picking, workpiece positioning, angle adjustment, automated assembly, inspection and compact industrial automation workstations.
Payload
1 KG
Reach
560mm
Repeatability
±0.05mm
End Speed
800mm/s
Closed-Loop Drive × High-Precision Control × End-Effector Rotation — A Compact Solution for Lightweight Automation
The ZEKEEP ZKG4C42L1 4-Axis Closed-Loop Stepper Desktop Industrial Robot Arm is a compact industrial robot designed for lightweight automation applications. It features a 4-DOF joint structure, a hybrid servo stepper drive system, precision reduction mechanisms and an integrated drive and control architecture. Within a limited installation footprint, it provides robot motion control, end-effector positioning and automated operation capabilities.
The robot arm offers a rated payload of 1 kg, a maximum working radius of 560 mm and repeatability of ±0.05 mm. Its maximum TCP point-to-point speed is 1200 mm/s, while its maximum linear speed is 800 mm/s. The fourth-axis end-effector rotation mechanism can adjust the rotational orientation of tools and workpieces, accommodating different picking, positioning and placement angles.
For its power system, the robot uses 42 hybrid servo stepper motors, together with a harmonic drive reducer and helical gear reduction mechanisms. The A1 axis uses a high-precision harmonic drive reduction mechanism combined with a high-torque drive system to improve transmission rigidity and motion stability.
For safety protection, the robot is equipped with a three-axis braking system. In situations such as sudden power loss, the brakes can provide holding protection for the corresponding joints, helping reduce the risk of the robot arm dropping under its own weight or workpieces falling from the end effector.
For operation and control, the product supports both teach pendant operation and hand-guided teaching. Basic tasks can be deployed through teaching point recording, motion trajectory configuration and motion sequence creation. The system also supports joint and world coordinate systems, along with point-to-point, linear, circular arc, offset and palletizing motion functions, allowing users to create robot motion sequences according to actual tasks.
In addition, the product features an integrated drive and control architecture, eliminating the need for a separate control cabinet. Its compact structure makes it suitable for installation on desktop workbenches and within small automation equipment. The robot is equipped with 10 digital inputs (DI) and 10 digital outputs (DO), enabling signal interaction with peripheral sensors, actuators and automation equipment.
Compared with conventional large industrial robot arms, the ZKG4C42L1 places greater emphasis on space utilization, deployment flexibility and overall cost considerations in lightweight applications. It is suitable for small precision component picking, positioning assembly, automated inspection and desktop industrial workstation applications.
Hybrid servo stepper drive technology enhances robot motion control.
The product uses four 42 hybrid servo stepper motors, combined with precision reduction mechanisms and closed-loop drive control to coordinate movement across the robot joints.
Compared with conventional open-loop stepper drive configurations, closed-loop control helps improve control performance under changing loads and during movement. This makes the robot suitable for lightweight automation tasks that require consistent positioning and stable operation.
Accurate positioning for small workpiece picking and repetitive tasks.
The robot arm has repeatability of ±0.05 mm and can be used for repetitive picking, positioning and placement of small components.
Combined with its stable mechanical structure and motion control system, this helps improve consistency in repetitive operations.
High-rigidity reduction mechanisms balance torque output and motion stability.
The power system incorporates harmonic and helical gear reduction mechanisms, with a high-precision harmonic drive configuration on the A1 axis.
Combined with the hybrid servo stepper drive system, this configuration helps improve transmission backlash characteristics and motion stability while meeting the transmission requirements of different joints.
Three-axis braking helps reduce the risk of the robot arm dropping after sudden power loss.
The product features a three-axis braking system. In situations such as sudden power loss, the corresponding joint brakes can help hold the robot arm in position, reducing the impact of arm movement on the end effector and workpiece.
This configuration is suitable for automation applications where power-loss protection and workpiece retention need to be considered.
The 4-axis motion structure expands end-effector orientation adjustment capabilities.
Compared with a 3-axis structure, the ZKG4C42L1 adds an end-effector rotation degree of freedom, allowing the rotational angle of the gripper and workpiece to be adjusted according to operating requirements.
It is suitable for picking from different directions, workpiece angle adjustment, positioning and placement, and basic orientation-dependent assembly tasks.
Complete basic motion teaching without relying on complex programming.
The robot supports both teach pendant operation and hand-guided teaching. Users can select the motion type, adjust the robot arm position, record teaching points and generate motion sequences.
For basic picking, transfer and placement tasks, this approach can reduce the need for complex coordinate calculations and program writing, improving equipment deployment and operating efficiency.
Highly integrated structure saves installation space.
The product uses an integrated drive and control architecture, with the relevant control components integrated into the robot arm base. No additional conventional separate control cabinet is required.
With reference dimensions of 245 × 240 × 544 mm, the robot is suitable for desktop workbenches and compact automation workstations.
Point-to-point, linear, circular arc and palletizing motion cover common automation tasks.
The robot supports point-to-point, linear, joint offset, linear offset, circular arc and palletizing motion trajectories.
Combined with joint and world coordinate systems, users can configure different motion methods according to process requirements for picking, positioning, handling and array placement tasks.
10 DI / 10 DO interfaces expand compact automation integration capabilities.
The robot is equipped with 10 digital inputs and 10 digital outputs, and supports serial communication.
It can be connected to external sensors, relays and actuators for signal interaction, enabling basic connectivity and control between the robot arm and peripheral equipment.
Compact deployment helps reduce space and cost pressures in small-scale automation.
Compared with large industrial robot arms, the ZKG4C42L1 places greater emphasis on structural integration, space utilization and deployment flexibility for lightweight operations.
Provided that the actual payload, working range and accuracy requirements are met, it can be used in compact automation units, laboratory equipment and lightweight industrial workstations.
The ZKG4C42L1 is a 4-axis model in the ZEKEEP closed-loop stepper desktop industrial robot series. It features hybrid servo stepper drive technology, an integrated drive and control architecture, and an end-effector rotation function. It is suitable for lightweight automation operations.
The ZKG4C42L1 has a rated payload of 1 kg. It is suitable for picking, positioning and placement of small workpieces that meet its payload and operating requirements.
The product specification table lists a maximum working radius of 560 mm. The actual working envelope is also affected by the posture and movement range of each joint.
The product specifications list repeatability of ±0.05 mm. This supports lightweight picking and positioning applications that require consistent repetitive positioning.
The robot uses 42 hybrid servo stepper motors, with four motors configured across the four axes. It also incorporates a harmonic drive reducer and helical gear reduction mechanisms to provide closed-loop motion control.
The product is equipped with a three-axis braking system. In situations such as sudden power loss, the brakes can provide holding protection for the corresponding joints, helping reduce the risk of the robot arm dropping.
Yes. Users can adjust the robot arm position through hand-guided teaching and record motion points through the teach pendant to quickly establish basic motion sequences.
The robot supports point-to-point, linear, joint offset, linear offset, circular arc and palletizing motion trajectories, as well as joint and world coordinate systems.
Yes. The robot is equipped with 10 digital inputs (DI) and 10 digital outputs (DO), and supports serial communication. It can connect to peripheral equipment according to the actual control configuration.
The 4-axis ZKG4C42L1 features an end-effector rotation degree of freedom, with a rated payload of 1 kg and a maximum working radius of 560 mm. The 3-axis ZKG3C42L2 is designed for higher-payload applications, with a rated payload of 2 kg and a maximum working radius of 520 mm.
Choose the 4-axis version when end-effector angle and workpiece orientation adjustment are required. Choose the 3-axis version when payload capacity is the main priority.
No. The product uses an integrated drive and control architecture, with the relevant control components integrated into the robot arm base. This reduces the space occupied by peripheral control cabinets and makes desktop deployment more convenient.
It is suitable for lightweight automation, precision picking, small-part positioning, basic assembly, automated inspection, palletizing and laboratory robotics research. Actual suitability should be determined according to workpiece weight, end effector, cycle time and working space.
To match the robot configuration to actual application requirements, we recommend clarifying the following information before selection:
Workpiece Information: Workpiece dimensions, weight, shape, material and gripping method.
Operating Requirements: Picking, handling, positioning, angle adjustment, assembly or palletizing.
Accuracy Requirements: Required repeatability and actual positioning accuracy for the process.
Space Requirements: Working radius, installation position, base dimensions and potential interference with surrounding equipment.
Control Requirements: Teach pendant operation, hand-guided teaching, serial communication and external DI/DO connectivity.
End-Effector Configuration: Whether an electric gripper, vacuum suction cup or other customized end effector is required.
Safety Requirements: Brake protection, peripheral safety protection and emergency stop interlocking requirements.
System Integration: Whether connection to sensors, PLCs, conveyors and other automation systems is required.
Based on workpiece payload, working range and operating methods, the robot model, end effector, control interfaces and peripheral equipment can be further specified to develop a desktop industrial automation solution that meets actual production requirements.
| Parameter | Specification / Details |
|---|---|
| Product Name | 4-Axis Closed-Loop Stepper Desktop Industrial Robot Arm |
| Model | ZKG4C42L1 |
| Product Type | 4-Axis Desktop Industrial Robot Arm |
| Degrees of Freedom (DOF) | 4 DOF |
| Rated Payload | 1 kg |
| Maximum Working Radius | 560 mm |
| Repeatability | ±0.05 mm |
| Robot Arm Weight | Approximately 17 kg |
| Maximum TCP Point-to-Point Speed | 1200 mm/s |
| Maximum Linear Speed | 800 mm/s |
| Control Method | Teach Pendant + Hand-Guided Teaching |
| Motion Control Method | Closed-Loop Hybrid Servo Stepper Control |
| Drive and Control Architecture | Integrated Drive and Control |
| Mounting Method | Desktop Mounting |
| Operating Characteristics | High precision, compact design and suitability for low-payload industrial automation applications |
| Joint Axis | Moving Component | Maximum Speed |
|---|---|---|
| J1 Axis | Base Rotation | 230°/s |
| J2 Axis | Upper Arm Rotation | 200°/s |
| J3 Axis | Forearm Rotation | 200°/s |
| J4 Axis | Forearm End Rotation | 230°/s |
The J4 end-effector rotation axis is a key feature of the 4-axis version. It allows the robot to adjust the rotational angle of the end effector during picking and placement operations, accommodating different workpiece orientations and directional requirements.
| Parameter | Specification / Details |
|---|---|
| Drive Motor Type | 42 hybrid servo stepper motors |
| Number of Motors | 4 |
| Control Method | Closed-Loop Hybrid Servo Stepper Control |
| A1 Axis Transmission | 1 × Harmonic Drive Reducer |
| Other Transmission Mechanisms | 2 × Helical Gear Reducers |
| Brake System | Three-axis braking configuration |
| Drive and Control Architecture | Integrated Drive and Control Design |
| Power System Characteristics | High torque, high precision, high rigidity and stable output |
| Key Advantages | Reduces the space occupied by separate control cabinets and external drive equipment |
The A1 axis uses a high-precision harmonic drive reduction mechanism combined with a high-torque hybrid servo stepper system to improve transmission rigidity and operating stability.
The remaining joints use helical gear reduction mechanisms, working together with the closed-loop drive system to coordinate movement across the axes.
| Parameter | Specification / Details |
|---|---|
| Point-to-Point Motion | Supported |
| Linear Motion | Supported |
| Joint Offset | Supported |
| Linear Offset | Supported |
| Circular Arc Motion | Supported |
| Palletizing Motion | Supported |
| Joint Coordinate System | Supported |
| World Coordinate System | Supported |
| Maximum TCP Point-to-Point Speed | 1200 mm/s |
| Maximum Linear Speed | 800 mm/s |
| Position Teaching | Supported |
| Hand-Guided Teaching | Supported |
| Motion Recording | Supports creating motion sequences through teaching |
| Task Deployment | Supports rapid deployment of basic teaching-based tasks |
| Parameter | Specification / Details |
|---|---|
| Control Method | Teach Pendant + Hand-Guided Teaching |
| Point-to-Point Operation | Supported |
| Linear Motion Operation | Supported |
| Circular Arc Operation | Supported |
| Joint Offset | Supported |
| Linear Offset | Supported |
| Palletizing Function | Supported |
| Position Adjustment | Supports adjusting target positions through teaching operations |
| Motion Recording | Supported |
| Basic Program Operation | Supports creating motion sequences through teaching |
Basic task deployment can be completed through the teach pendant by selecting a motion type, adjusting the robot arm position, setting teaching points and automatically recording movements. This lowers the learning curve for beginners performing basic robot operations.
| Parameter | Specification / Details |
|---|---|
| Communication Interface | Serial Port |
| Digital Inputs (DI) | 10 channels |
| Digital Outputs (DO) | 10 channels |
| External Signal Control | Supported |
| Device Connectivity | Enables interaction with peripheral devices through I/O signals |
| Application Areas | Sensor signal input, actuator control and automation system integration |
The 10 DI / 10 DO digital I/O interfaces provide signal communication channels for external sensors, relays and automation equipment, making it easier to integrate the robot arm into compact automation workstations.
| Parameter | Specification / Details |
|---|---|
| Drive and Control Architecture | Integrated Drive and Control |
| Separate Control Cabinet | No separate control cabinet required |
| Reference Length | 245 mm |
| Reference Width | 240 mm |
| Reference Height | 544 mm |
| Robot Arm Weight | Approximately 17 kg |
| Mounting Method | Desktop Mounting |
| Deployment Characteristics | Compact structure, space-saving design and easy integration |
Maximum Working Radius: 560 mm
Rated Payload: 1 kg
Repeatability: ±0.05 mm
Maximum TCP Point-to-Point Speed: 1200 mm/s
Maximum Linear Speed: 800 mm/s
Reference Length: 245 mm
Reference Width: 240 mm
Reference Height: 544 mm
Robot Arm Weight: Approximately 17 kg
The integrated drive and control design eliminates the additional space required for a conventional separate control cabinet, enabling a more compact desktop deployment configuration.
Suitable for picking, positioning and placing electronic components, small structural parts, connectors and other lightweight components.
With its 4-axis movement and end-effector rotation function, the robot can adjust gripper orientation according to workpiece direction, meeting different angular picking, placement and positioning requirements.
Suitable for automatic loading and unloading, positioning assembly and coordinated operations involving small components.
Using point-to-point, linear and circular arc motion trajectories, users can configure robot movement sequences according to assembly processes. Combined with external sensors and I/O signals, the robot can coordinate with other workstation equipment.
Suitable for inspection-related loading and unloading, classified picking and designated-position placement of lightweight workpieces.
When integrated with vision systems and external inspection equipment, the robot can support applications such as target localization, angle adjustment and classified material handling according to the actual configuration.
Suitable for research into robot control algorithms, motion trajectory planning, closed-loop drive commissioning and robotic application development.
Through the teach pendant and hand-guided teaching functions, users can quickly establish basic motion sequences. The serial port and I/O interfaces can also be used for external control and system integration experiments.
Suitable for practical training in industrial robotics, mechatronics, automation and smart manufacturing.
Students can learn about closed-loop stepper drive systems, joint motion, trajectory control, robot teaching and external I/O integration, building a foundation in robot control and automation applications.
Suitable for automated workstations with limited space, relatively light payloads and flexible deployment requirements.
The compact integrated drive and control architecture eliminates the need for a separate control cabinet. The robot can be integrated according to workbench and equipment layouts, making it suitable for compact automation units and flexible workstations.
Use the teach pendant to control the robot joints, adjust positions and record movements, learning the relationship between the four joints from J1 to J4.
Focus on understanding basic 4-axis robot motion control and end-effector rotation operations.
Use the fourth-axis rotation capability to adjust the rotational angle of the gripper and workpiece.
This function is suitable for picking and placing direction-sensitive workpieces, adjusting workpiece angles and performing designated-position placement tasks.
Set the robot's starting position, pickup position and target placement position, then record the corresponding motion steps.
Use point-to-point motion to perform workpiece picking, transfer and placement, establishing a basic automated workflow.
Use linear and circular arc motion functions to configure the movement path of the robot arm's end effector.
By adjusting positions and motion trajectories, users can learn how different path types are applied in automation tasks.
Use joint offset and linear offset functions to modify existing movement positions or trajectories.
These functions help users understand different coordinate control methods and how motion offsets affect robot movement.
Use the built-in palletizing trajectory function to configure workpiece arrangement patterns and placement positions.
The robot can perform continuous picking and array placement of multiple workpieces, making it suitable for regular palletizing tasks involving small components.
Adjust the robot arm position through teach pendant operation and hand-guided teaching, record teaching points and establish motion sequences.
This reduces beginners' reliance on complex programming and coordinate calculations, helping them quickly learn basic robot operation.
Use the 10 DI and 10 DO interfaces to perform external input signal detection and output control experiments.
Together with sensors, relays and peripheral actuators, the robot can perform basic signal interaction with external equipment.
Study the basic functions of closed-loop drive control and mechanical braking through the hybrid servo stepper drive system and three-axis braking configuration.
Understand the relationship between motor control, motion status and power-loss protection.
Combine robot motion control, end-effector rotation, I/O signal interaction and teaching-based trajectories to design complete picking, positioning and placement tasks.
According to actual process requirements, the system can be further integrated with peripheral sensors, grippers and automation equipment.
Leave your contact information and requirements. Based on the product specifications and application scenarios, we will provide preliminary selection and solution advice.
