The ZEKEEP ZKG4V60L1 is a 4-axis industrial servo high-speed robot arm with a 1 kg rated payload, 592 mm maximum working radius and ±0.05 mm repeatability. Featuring four servo motors, high-precision helical gear reducers, end-effector rotation, a 7-inch touchscreen teach pendant, 5 independent programs and 10 DI / 10 DO interfaces, it is designed for precision picking, machine loading and unloading, lightweight material handling, palletizing, labeling and vision-guided automation applications.
Payload
1 KG
Reach
592mm
Repeatability
±0.05mm
End Speed
850mm/s
High-Speed Motion for 1 kg Payloads × 4-Axis End-Effector Rotation × ±0.05 mm Repeatability — Designed for Precision Picking and Flexible Automation
The ZEKEEP ZKG4V60L1 4-Axis 60H Industrial Servo High-Speed Robot Arm is a compact 4-axis robot designed for lightweight industrial automation applications. It uses a four-joint configuration consisting of the base, upper arm, forearm and end-effector rotation axis. Combined with servo motors, high-precision helical gear reduction mechanisms and a three-axis braking system, the robot is primarily designed for automated tasks such as small workpiece picking, handling, loading and unloading, angle adjustment and palletizing.
The robot arm has a rated payload of 1 kg, a maximum working radius of 592 mm and repeatability of ±0.05 mm. Its maximum TCP point-to-point speed is 1600 mm/s, while its maximum linear speed is 850 mm/s. The fourth-axis end-effector rotation mechanism can adjust tool and workpiece orientation according to operating requirements, making it suitable for picking and placement processes that involve changes in posture and angle.
For its power system, the product uses servo motors with different power ratings: 400W, 100W and 50W. The four moving joints are driven separately to control the base, upper arm, forearm and end-effector rotation. Combined with four sets of high-precision helical gear reduction mechanisms, customized belt-drive transmission and precision bearing structures, the system balances motion stability, mechanical rigidity and repetitive operating performance.
For its mechanical structure, the equipment uses an integrated aluminum alloy die-cast body, together with customized cross-roller bearings and a three-axis braking system. Its compact base design allows the robot to be installed on a desktop workbench or integrated into industrial automation equipment. The robot arm itself weighs approximately 16 kg.
For its control system, the robot is equipped with a 7-inch touchscreen teach pendant. It supports world and joint coordinate systems, as well as point-to-point, linear, circular arc, offset and palletizing motion functions. The system supports 5 independent programs, with up to 200 points per program, and provides 3 sets of user recipes for creating separate operating sequences for different workpieces and processes.
For automation integration, the ZKG4V60L1 provides 10 digital inputs (DI) and 10 digital outputs (DO), and features an open low-level motion control serial communication protocol. Depending on project requirements, it can be connected to PLCs, sensors, air pumps, grippers and industrial vision systems. With Hikvision vision systems or OpenCV camera development solutions, the robot can further support object recognition, dimension assessment, position acquisition and vision-guided handling.
For automation processes involving lightweight payloads that also require end-effector rotation, relatively high motion speeds and flexible system integration, the ZKG4V60L1 provides a compact 4-axis servo robot solution. It is suitable for applications in 3C electronics, precision components, automated assembly, machine loading and unloading, and vision-guided picking.
Adds end-effector rotation capability beyond basic picking operations.
The ZKG4V60L1 features a four-joint motion structure consisting of the base, upper arm, forearm and end-effector rotation axis.
The fourth axis adjusts the orientation of the end-effector tool and workpiece according to task requirements. It is suitable for picking from different angles, directional placement, labeling and orientation adjustment tasks.
High-speed servo motion for continuous handling of lightweight workpieces.
The robot arm has a maximum TCP point-to-point speed of 1600 mm/s and a maximum linear speed of 850 mm/s.
Combined with 4-axis motion control, it can be used in automation processes that require rapid movement between target positions and repetitive picking operations.
Suitable for lightweight component operations that require consistent repeated positioning.
The robot arm has repeatability of ±0.05 mm and can be used for repetitive picking, positioning and placement of small workpieces.
Combined with servo drive technology and high-precision transmission mechanisms, this helps maintain positioning consistency during repetitive operations.
400W + 100W × 2 + 50W, with a dedicated drive configuration for the four axes.
The product uses a combination of a 400W base servo motor, two 100W arm servo motors and a 50W end-effector servo motor.
The different motor power ratings correspond to the motion requirements of each joint. Combined with four sets of high-precision helical gear reduction mechanisms, the system coordinates the movements of the base, upper arm, forearm and end-effector joint.
Braking protection for key moving joints adds another layer of equipment protection.
The robot arm uses 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 or the end-effector workpiece falling unexpectedly.
Joint-focused mechanical design supports long-term operating performance.
The product uses customized cross-roller bearings and precision bearing structures, combined with high-precision helical gear reduction mechanisms and customized belt-drive transmission.
The product specifications describe the design as offering heat resistance, oil-leak-free operation and suitability for short-duration high-speed operation, helping improve stability during repetitive tasks.
Approximately 16 kg robot arm weight for flexible workstation layouts.
The robot arm uses an integrated aluminum alloy die-cast body and weighs approximately 16 kg.
Together with its compact base and matching control cabinet, the equipment can be installed on a desktop or on the floor according to process requirements. It is suitable for compact automation workstations and integration into production equipment.
7-inch touchscreen + hand-guided teaching for quick setup of motion sequences.
The robot is equipped with a 7-inch touchscreen teach pendant, supporting world coordinates, joint coordinates, manual control and point recording.
Hand-guided teaching is also supported. Operators can establish motion sequences by physically adjusting the robot arm, reducing the difficulty of basic operation and program deployment.
5 independent programs, with up to 200 points per program.
The system supports 5 independent operating programs, each with up to 200 points, and provides 3 sets of user recipes.
Separate motion sequences can be created for different workpieces and processes, making subsequent program management and task switching more convenient.
Extends standalone robot control to external system integration.
The product provides an open low-level motion control serial communication protocol and is equipped with 10 DI / 10 DO digital I/O interfaces.
According to project requirements, it can be integrated with Hikvision vision systems, OpenCV camera development solutions and other peripheral automation equipment. Supported application development can include object size recognition, spatial position acquisition, vision interaction, picking and handling.
Point-to-point, linear, offset, circular arc and palletizing motion for different process paths.
The robot supports point-to-point, linear, joint offset, linear offset, circular arc and palletizing motion, together with world and joint coordinate systems.
Users can configure different motion sequences according to actual operating requirements for workpiece handling, machine loading and unloading, position adjustment and regular product arrangement.
The ZKG4V60L1 is a ZEKEEP 4-axis industrial servo high-speed robot arm. It uses a 4-DOF joint structure and servo motor drive technology. It is primarily designed for lightweight workpiece picking, handling, machine loading and unloading, palletizing and vision-guided operations.
The rated payload is 1 kg. It is suitable for picking and transferring lightweight workpieces that meet the rated payload, gripper weight and actual operating conditions.
The technical specification table lists a maximum working radius of 592 mm. Actual reachable positions are also affected by joint motion ranges, installation orientation and end-effector structure.
The repeatability is ±0.05 mm. This supports precision picking, positioning and placement tasks that require consistent repeated positioning.
The maximum TCP point-to-point speed is 1600 mm/s, and the maximum TCP linear speed is 850 mm/s. Actual operating speed should be configured according to payload, trajectory distance and process requirements.
The 4-axis structure adds an independent end-effector rotation joint. This allows the robot to adjust the tool's rotational angle while positioning the target, making it suitable for operations that require specific workpiece orientations and placement angles.
It uses a combination of 400W × 1, 100W × 2 and 50W × 1 servo motors, together with four sets of high-precision helical gear reduction mechanisms, to coordinate the movements of the four joints.
The robot arm uses 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 or the end-effector workpiece falling.
It supports point-to-point, linear, joint offset, linear offset, circular arc and palletizing motion, as well as world and joint coordinate systems.
The system supports 5 independent programs, with up to 200 points per program, and provides 3 sets of user recipes for managing motion sequences for different products and processes.
Yes. It supports integration with Hikvision vision systems and OpenCV camera development solutions through the open serial communication protocol. An external vision system can provide object size and position information for vision-guided picking and handling. Actual vision capabilities depend on the camera, algorithms and coordinate calibration solution.
Yes. The robot provides 10 digital inputs (DI) and 10 digital outputs (DO), and supports serial and USB serial communication. It can be connected to PLCs, sensors, air pumps, grippers and other peripheral devices according to the actual control solution.
It is suitable for 3C electronic component picking, automated machine loading and unloading, lightweight workpiece handling, palletizing, labeling, positioning adjustment and vision-guided sorting.
The ZKG4V60L1 is a 1 kg payload model with a 592 mm working radius. It uses a combination of 50W, 100W and 400W servo motors and has a robot arm weight of 16 kg.
The ZKG4V90L3 is a 3 kg payload model with a 717 mm working radius. It uses a 100W, 400W and 750W servo motor configuration and has a robot arm weight of 37 kg.
The former is more suitable for high-speed picking and placement of lightweight workpieces, orientation adjustment and compact automation workstations. The latter is designed for industrial handling tasks that require a higher payload and a larger working range.
Before selecting the ZKG4V60L1, we recommend evaluating the following requirements according to the actual process:
Workpiece Specifications: Product dimensions, weight, shape and gripping position.
Payload Requirements: Whether the combined weight of the workpiece and end-effector gripper meets the 1 kg rated payload limit.
Orientation Requirements: Whether end-effector rotation, angle adjustment and workpiece placement from different directions are required.
Working Range: Pickup position, placement position, installation height and available robot movement space.
Speed and Cycle Time: Single-movement distance, target cycle time and continuous operating requirements.
End Effector: Whether an electric gripper, vacuum suction cup, pneumatic gripper or other customized tool is required.
Control Requirements: Whether 10 DI / 10 DO, serial communication and peripheral device integration are required.
Vision Requirements: Whether an industrial camera, target dimension recognition, position calculation or vision-guided picking is required.
Installation Conditions: Desktop or floor mounting, as well as the available space for the control cabinet and teach pendant.
Based on workpiece dimensions, payload, motion paths and vision requirements, the end-effector gripper, control method and automation integration solution can be further specified to ensure that the robot arm matches the actual production process.
| Parameter | Specification / Details |
|---|---|
| Product Name | 4-Axis Industrial Servo High-Speed Robot Arm (1 kg Payload) |
| Model | ZKG4V60L1 |
| Product Type | 4-Axis Industrial Servo High-Speed Robot Arm |
| Degrees of Freedom (DOF) | 4 DOF |
| Rated Payload | 1 kg |
| Maximum Working Radius | 592 mm |
| Repeatability | ±0.05 mm |
| Robot Arm Weight | 16 kg |
| Maximum TCP Point-to-Point Speed | 1600 mm/s |
| Maximum TCP Linear Speed | 850 mm/s |
| Control Method | Touchscreen Teach Pendant + Hand-Guided Teaching |
| Drive Method | Servo Motor Drive |
| Reduction Mechanisms | 4 × High-Precision Helical Gear Reducers |
| Brake System | Three-Axis Braking System |
| Joint Configuration | Base, upper arm, forearm and end-effector rotation |
| Mounting Method | Desktop Mounting / Floor Mounting |
| Body Material | Aluminum Alloy |
| Main Applications | Precision picking, machine loading and unloading, industrial material handling, palletizing, labeling and vision-guided operations |
| Joint Axis | Moving Component | Maximum Motion Range | Maximum Joint Speed |
|---|---|---|---|
| J1 Axis | Base | -162° to +162° | 280°/s |
| J2 Axis | Shoulder / Upper Arm | -115° to 0° | 240°/s |
| J3 Axis | Elbow / Forearm | -115° to 0° | 200°/s |
| J4 Axis | End-Effector Rotation | -162° to +162° | 162°/s |
The fourth axis adjusts the rotational orientation of the end effector and workpiece according to the actual operating requirements.
Compared with a 3-axis robot arm, this configuration adds an independent end-effector rotation degree of freedom, making it suitable for tasks that require orientation adjustment and picking or placement from different angles.
| Parameter | Specification / Details |
|---|---|
| Drive Type | Servo Motors |
| Total Number of Motors | 4 |
| Base Motor | 400W × 1 |
| Left and Right Arm Motors | 100W × 2 |
| End-Effector Motor | 50W × 1 |
| Reduction Mechanisms | 4 × High-Precision Helical Gear Reducers |
| Brake System | Three-Axis Braking System |
| Transmission Structure | Customized Belt-Drive Transmission |
| Joint Bearings | Customized Precision Cross-Roller Bearings and Other Structures |
| Robot Body Structure | Integrated Aluminum Alloy Die-Cast Structure |
| Power-Loss Protection | Three-Axis Braking System |
| Motion Control | Servo Drive Control |
| Product Characteristics | High precision, wear resistance and compact structure |
The robot arm uses servo motors with different power ratings to drive its four joints. Combined with four sets of high-precision helical gear reduction mechanisms, the system coordinates the movements of the base, upper arm, forearm and end-effector joint.
The base uses a customized cross-roller bearing structure, described as offering heat resistance, oil-leak-free operation and suitability for short-duration high-speed operation. The joint sections use precision bearing structures to balance mechanical rigidity and motion stability.
| Parameter | Specification / Details |
|---|---|
| Point-to-Point Motion | Supported |
| Linear Motion | Supported |
| Joint Offset | Supported |
| Linear Offset | Supported |
| Circular Arc Motion | Supported |
| Palletizing Motion | Supported |
| World Coordinate System | Supported |
| Joint Coordinate System | Supported |
| Maximum TCP Point-to-Point Speed | 1600 mm/s |
| Maximum TCP Linear Speed | 850 mm/s |
| Position Teaching | Supported |
| Hand-Guided Teaching | Supported |
| Manual Joint Control | Supported |
| Manual World Coordinate Control | Supported |
| Number of Programs | 5 independent programs |
| Maximum Points per Program | 200 |
| User Recipes | 3 sets |
| DI / DO Control | Supported |
| Air Pump On/Off Control | Supports corresponding control commands |
| Gripper On/Off Control | Supports corresponding control commands |
The motion control system supports a range of common industrial motion functions. Users can create motion sequences through teaching, including point-to-point, linear, circular arc, offset and palletizing movements.
Both world and joint coordinate systems are supported, allowing users to select different robot control methods according to process requirements.
| Parameter | Specification / Details |
|---|---|
| Teach Pendant Type | Touchscreen Teach Pendant |
| Screen Size | 7 inches |
| User Interface | Graphical User Interface |
| Control Method | Teach Pendant + Hand-Guided Teaching |
| Coordinate Display | Real-Time Coordinate Display |
| Motion Control | Point-to-Point, Linear, Circular Arc, Offset and Palletizing |
| Speed Adjustment | Supported |
| Point Recording | Supported |
| User Recipes | 3 sets |
| Independent Programs | 5 |
| Points per Program | Up to 200 |
| Manual Control | Supports X, Y and Z axis movement, as well as joint control |
| External Signal Control | Supports DI / DO operation |
The teach pendant features a graphical user interface. Basic program deployment can be completed by selecting a motion type, setting target coordinates, adjusting motion speed and recording teaching points.
Hand-guided teaching is also supported. Operators can establish motion sequences by manually adjusting the robot arm to the required positions, reducing the learning curve for basic operation and program setup.
| Parameter | Specification / Details |
|---|---|
| Communication Interface | Serial Communication |
| USB Communication | Supports USB Serial Communication |
| Digital Inputs (DI) | 10 channels |
| Digital Outputs (DO) | 10 channels |
| DI / DO Signal Type | 24V / 0V Digital Signals |
| External Control | Supported |
| Gripper Control | Supports corresponding protocol commands |
| Air Pump Control | Supports corresponding protocol commands |
| Vision System Integration | Supports Hikvision Vision Systems and OpenCV Camera Development |
| External Device Connectivity | Supported |
| Secondary Development | Open Low-Level Motion Control Serial Communication Protocol |
The open serial communication protocol can be used for robot motion control, external device connectivity and secondary development.
The DI / DO interfaces allow the robot to connect to sensors, relays and other peripheral devices, expanding its applications in compact industrial automation systems.
The product also supports integration with Hikvision vision systems and OpenCV camera development solutions. Based on vision recognition results, the system can obtain object dimensions and position information, then control the robot arm to perform corresponding picking and handling operations.
| Parameter | Specification / Details |
|---|---|
| Operating Voltage | AC 220V / 110V |
| Control Power Supply | DC 24V |
| Maximum Power Consumption | 400W |
| Operating Temperature | -10°C to 50°C |
| Robot Arm Material | Aluminum Alloy |
| Mounting Method | Desktop Mounting / Floor Mounting |
| Applicable Environment | Indoor Industrial Environments |
| Environmental Requirements | Avoid flammable or explosive environments and contact with corrosive gases or liquids |
| Electromagnetic Environment | Keep away from electronic noise sources such as plasma equipment |
| Component | Quantity / Specification |
|---|---|
| 4-Axis 60H Servo Robot Arm | 1 unit |
| Matching Control Cabinet | 1 unit |
| 7-Inch Touchscreen Teach Pendant | 1 unit |
| Dedicated Robot Arm Control Cable | 1 set |
| Teach Pendant Connection Cable | 1 cable |
| Servo Drive System | Integrated as a matching system |
| Robot Control System | Matching control system |
| External Expansion Interfaces | 10 DI / 10 DO |
| Packaging | Wooden Crate |
Maximum Working Radius: 592 mm
Rated Payload: 1 kg
Repeatability: ±0.05 mm
Maximum TCP Point-to-Point Speed: 1600 mm/s
Maximum TCP Linear Speed: 850 mm/s
J1 Axis Motion Range: -162° to +162°
J2 Axis Motion Range: -115° to 0°
J3 Axis Motion Range: -115° to 0°
J4 Axis Motion Range: -162° to +162°
Working range illustrations from the side and top views of the robot arm:
Maximum Working Radius: 592 mm
Side-View Working Envelope Height Reference: 475 mm
Top-View Motion Area: Illustrations of the inner and outer motion envelopes are provided
End-Effector Motion Angle: Adjusted through the coordinated movement of all four joints
The actual reachable range may be affected by joint posture, installation position and end-effector dimensions.
| Parameter | Specification / Details |
|---|---|
| Control Cabinet Length | 519 mm |
| Control Cabinet Width | 310 mm |
| Control Cabinet Height | 305 mm |
| Teach Pendant Display Area | 137 × 85 mm |
| Distance from Highest Point of Teach Pendant Screen to Bottom of Control Cabinet | 410 mm |
The equipment is deployed as a coordinated system consisting of the robot arm, control cabinet and touchscreen teach pendant. Installation can be arranged according to workbench height and the layout of on-site equipment.
Suitable for automated picking, positioning and handling of electronic components, connectors, plastic structural parts and small metal components.
The 4-axis structure can adjust the rotational angle of the end-effector gripper, making it suitable for tasks that require specific workpiece placement directions and orientations.
Suitable for picking and placing small components, angle adjustment, positioning and basic assembly tasks.
Through 4-axis motion, teach pendant operation and world coordinate control, users can configure picking and placement orientations according to workpiece positions, meeting the requirements of basic automated assembly.
Suitable for loading and unloading operations involving small processing machines, inspection equipment and automated production units.
By recording pickup points, placement points and motion trajectories, the robot can perform repetitive workpiece transfer tasks and coordinate with other processes through external equipment signals.
Suitable for picking, handling and array palletizing of regularly shaped products, packaged goods and small materials.
The built-in palletizing trajectory function allows users to configure arrangement patterns, placement spacing and target positions for continuous picking and designated-position placement.
Suitable for packaged goods, electronic structural components and other regularly shaped workpieces that require orientation adjustment.
The fourth-axis end-effector rotation function allows the tool orientation to be adjusted according to labeling direction and workpiece placement requirements, improving operating flexibility.
Supports integration with Hikvision vision systems and OpenCV camera development solutions through the open serial communication protocol.
By using an external vision system to obtain target position, size and related information, the robot can use recognition results to perform picking and handling operations, enabling vision-guided placement and sorting.
Suitable for automated production workstations with limited space, lightweight workpieces and requirements for high-speed repetitive operations.
Through its 10 DI / 10 DO interfaces and open serial communication, the robot can connect to peripheral sensors, grippers, air pumps, PLCs and other automation equipment to build a complete compact workstation.
Use the teach pendant to control the four joints from J1 to J4 and learn the movement relationships between the base, upper arm, forearm and end-effector rotation.
Combined with world and joint coordinate systems, users can perform basic robot positioning control and motion commissioning.
Use the fourth-axis end-effector rotation function to adjust the rotational angle of the gripper and workpiece.
Configure the target orientation according to product placement direction and processing requirements, then perform workpiece picking, rotation and designated-position placement.
Set the robot's initial position, target pickup position and final placement position.
Record motion points through teaching and use point-to-point motion to complete workpiece pickup, transfer and placement tasks.
Use linear and circular arc motion functions to configure the robot arm's end-effector movement path.
Adjust different trajectories to accommodate workpiece handling, position transfer and path requirements between different workstations.
Use joint offset and linear offset functions to adjust existing target positions and motion paths.
These functions are suitable for changes in workpiece pickup positions, modifications to placement positions and motion adaptation for different products.
Configure the palletizing starting position, placement spacing, number of rows and columns, and arrangement direction.
Use palletizing motion to perform continuous picking and array placement of multiple workpieces, making it suitable for automated arrangement of small, regularly shaped products.
Select motion methods, adjust joint positions and record motion points through the touchscreen teach pendant.
Combined with hand-guided teaching, operators can establish motion sequences by physically adjusting the robot arm, reducing the need for complex program writing.
Use the configuration of 5 independent programs, with up to 200 points per program, to create motion sequences for different products or processes.
Together with 3 sets of user recipes, the system can save and switch between different operating configurations according to actual tasks.
Use the 10 DI and 10 DO interfaces for input signal detection and output control.
Together with sensors, relays, air pumps and grippers, the robot can exchange signals with other equipment in an automated workstation.
Integrate a Hikvision vision system or an OpenCV camera development solution with the robot control system.
Use external vision software to obtain target object dimensions and position information, then combine coordinate transformation with robot control to perform target picking and handling.
Use the relevant position management functions of the servo system to perform equipment shutdown, recovery and position status checks.
Specific position retention and recovery behavior depends on the servo drive configuration and control program.
Combine the 4-axis robot arm, gripper control, I/O signals and vision system to build a complete workpiece handling workflow.
Applications include precision component picking, automated loading and unloading, labeling, palletizing and vision-guided sorting.
Leave your contact information and requirements. Based on the product specifications and application scenarios, we will provide preliminary selection and solution advice.
