The ZEKEEP ZKG4V90L3 is a 4-axis industrial servo high-speed robot arm with a 3 kg rated payload, 717 mm maximum working radius and ±0.05 mm repeatability. Equipped with four absolute encoder servo motors, four high-precision helical gear reducers, an independent end-effector rotation axis, a three-axis braking system, a 7-inch touchscreen teach pendant and 10 DI / 10 DO interfaces, it supports point-to-point, linear, circular, offset and palletizing motion. Designed for metal stamping, machine loading and unloading, precision picking, material handling, palletizing, labeling and vision-guided industrial automation applications.
Payload
3 KG
Reach
717mm
Repeatability
±0.05mm
End Speed
1200mm/s
3 kg Rated Payload × 1600 mm/s High-Speed Motion × ±0.05 mm Repeatability — Supporting Efficient Industrial Automation.
The ZEKEEP ZKG4V90L3 is a four-axis industrial servo high-speed robot arm designed for light-payload industrial automation. It features a four-degree-of-freedom joint structure, combined with absolute encoder servo motors, high-precision reduction mechanisms and an integrated mechanical design. It can perform workpiece picking, material handling, machine loading and unloading, palletizing and vision-guided positioning tasks.
The robot arm has a rated payload of 3 kg, a maximum working radius of 717 mm and a repeatability of ±0.05 mm. Its maximum TCP point-to-point speed is 1600 mm/s, while its maximum TCP linear speed is 1200 mm/s. The fourth-axis end-effector rotation mechanism allows the orientation of the tool and workpiece to be adjusted, making it suitable for picking, positioning and placement operations from different orientations.
The drive system uses absolute encoder servo motors with different power ratings, including 750W, 400W and 100W configurations. These motors drive the base, left and right arm sections, and end-effector joint respectively. The system is equipped with four high-precision helical gear reduction mechanisms. Combined with customized bearings, reinforced belt transmission and an aluminum alloy integrated die-cast body, the design supports motion stability, structural strength and long-term operation.
For motion control, the robot arm is equipped with a 7-inch touchscreen teach pendant. It supports point-to-point, linear, circular, offset and palletizing motion functions, together with world and joint coordinate systems. Users can create independent programs through the teach pendant, with up to 200 teaching points per program, making it suitable for recording and executing multi-process motion sequences.
For system integration, the robot arm provides 10 digital inputs (DI) and 10 digital outputs (DO), together with an open serial communication protocol. It can connect to peripheral sensors, PLCs, conveyor equipment and vision systems. Integration with Hikvision vision systems or OpenCV camera development solutions can support applications such as target recognition, spatial positioning and vision-guided material handling.
In addition, the absolute encoder servo motors feature built-in position memory, which can reduce repeated homing after power recovery. Together with the three-axis full braking system, these functions provide corresponding support for equipment protection and operation recovery.
With high-speed motion, repeatability, a 3 kg payload capacity and an open control architecture, the ZKG4V90L3 is suitable for light-payload industrial automation applications that require a combination of operating efficiency, consistent positioning and system integration capabilities.
Designed for light-payload industrial applications, supporting efficient material handling.
The robot arm has a rated payload of 3 kg and a maximum working radius of 717 mm. It is suitable for workpiece picking, material handling, machine loading and unloading, and palletizing tasks that meet its payload and working envelope requirements.
With different servo motor power configurations across the joints, the robot can perform repetitive industrial operations according to specific application requirements.
High-speed servo motion supports improved operating efficiency.
The maximum TCP point-to-point speed is 1600 mm/s, and the maximum TCP linear speed is 1200 mm/s.
Combined with the four-axis structure and multiple trajectory control functions, the robot can be used in automated processes that require rapid position transfer, workpiece handling and repetitive pick-and-place operations.
High-precision positioning for repeatable industrial tasks.
The robot arm has a repeatability of ±0.05 mm and can be used for small-component picking, positioning, placement and repetitive loading and unloading tasks.
Combined with high-precision reduction mechanisms and servo drive control, the system supports consistent positioning during repeated operation.
Built-in position memory improves the convenience of equipment recovery.
The robot arm uses high-precision absolute encoder servo motors with position memory functionality. After power recovery, the system can use the retained position information to reduce the need for repeated homing, subject to the configured recovery procedure and system status.
Compared with control methods that require the robot to search for its origin again, this can reduce some recalibration and equipment recovery operations.
Four high-precision reduction mechanisms support power output and mechanical transmission.
The robot arm is equipped with four high-precision helical gear reduction mechanisms. Together with the absolute encoder servo motors, they provide power transmission for the motion joints.
Combined with precision-machined joints and customized bearing structures, the system is designed to meet the requirements of high-speed movement and repetitive positioning tasks.
Braking protection is provided at key joints to improve operational safety.
The product uses a three-axis full braking system. In situations such as unexpected power loss, the corresponding joint brakes can provide holding protection and help reduce the risk of the robot arm dropping or the workpiece falling from the end effector.
An integrated structural design balances strength and installation convenience.
The robot arm uses an aluminum alloy integrated die-cast structure with a streamlined appearance and compact overall design. It provides mechanical support while keeping the body structure relatively compact.
Combined with customized bearings and reinforced belt transmission, the structure is designed to support stable long-term operation.
Teaching and hand-guided operation make it easier to establish robot programs.
The robot arm comes with a 7-inch touchscreen teach pendant featuring a graphical user interface. It supports position configuration, motion type selection, speed adjustment and teaching point recording.
The system supports five independent programs, with up to 200 points per program, allowing users to create separate motion sequences for different workpieces and processes.
Open communication interfaces support secondary development and automation connectivity.
The robot arm provides a serial communication protocol and 10 DI / 10 DO digital I/O interfaces for connecting PLCs, sensors and peripheral actuators.
It also supports vision integration solutions such as Hikvision vision systems and OpenCV camera development. Combined with recognition results, these systems can obtain workpiece position and orientation information to support vision-guided picking and material handling.
Point-to-point, linear, circular, offset and palletizing motion support flexible task configuration.
The robot arm supports point-to-point, linear, joint offset, linear offset, circular and palletizing motion, together with world and joint coordinate systems.
Users can configure movement paths according to different production processes to perform workpiece picking, positioning, handling and organized placement.
Supports desktop and floor mounting for automation workstation integration.
The product supports both desktop and floor mounting. The installation method can be selected according to the layout of production equipment, workbenches and automation lines.
It is suitable for compact industrial production units, stamping machine loading and unloading stations, palletizing workstations and vision inspection equipment integration.
The ZKG4V90L3 is a four-axis 90H industrial servo high-speed robot arm from ZEKEEP. It uses a four-degree-of-freedom servo-driven structure, combined with absolute encoder servo motors, high-precision reduction mechanisms and a three-axis full braking system. Its main applications include workpiece picking, material handling, machine loading and unloading, palletizing and vision-guided operations.
The rated payload is 3 kg. It is suitable for light industrial workpiece picking, transfer and placement tasks that meet the specified payload and working envelope requirements.
The maximum working radius is 717 mm. Different motion paths can be configured according to workpiece positions and robot arm orientations.
The specified repeatability is ±0.05 mm, making the robot suitable for picking, handling and positioning tasks that require consistent repeated positioning.
The maximum TCP point-to-point speed is 1600 mm/s, and the maximum TCP linear speed is 1200 mm/s. Actual operating speeds should be configured according to workpiece weight, movement distance, trajectory and safety settings.
It uses absolute encoder servo motors, configured as one 750W motor, two 400W motors and one 100W motor. These drive the base, left and right arm sections, and end-effector joint respectively.
It supports absolute position memory, which can reduce the need to repeatedly search for the mechanical home position. The actual recovery procedure after a power interruption must follow the control system status and on-site safety requirements.
It supports point-to-point, linear, joint offset, linear offset, circular and palletizing motion, together with world and joint coordinate systems.
Yes. The robot arm supports integration with external vision systems through its open serial communication protocol. It can be combined with Hikvision vision systems or OpenCV camera development solutions for object recognition, position acquisition and vision-guided picking.
Actual vision recognition capabilities and accuracy depend on the external camera, algorithms, calibration and system integration solution.
Yes. It provides 10 digital inputs (DI), 10 digital outputs (DO) and a serial communication interface. These can be used to connect the robot to PLCs, sensors and peripheral actuators according to the control architecture.
The robot arm is equipped with a 7-inch touchscreen teach pendant. It supports five independent programs, with up to 200 points per program, for recording and managing different operating tasks.
It is suitable for metal stamping, product handling, automatic machine loading and unloading, palletizing, labeling, vision-guided inspection and loading, and compact industrial production lines.
To select the appropriate robot arm for a production application, it is recommended to clarify the following requirements in advance:
Workpiece information: Product dimensions, weight, shape, material and gripping method.
Operation type: Metal stamping, machine loading and unloading, material handling, palletizing, labeling or vision-guided picking.
Payload requirements: Whether the combined weight of the workpiece and end effector is within the 3 kg rated payload.
Working range: Picking position, placement position, installation height and surrounding equipment layout.
Cycle time requirements: Movement distance per workpiece, target cycle time and continuous operation requirements.
End-effector configuration: Whether an electric gripper, vacuum suction cup, pneumatic gripper or other customized end effector is required.
Vision requirements: Whether an industrial camera, target recognition, dimension assessment or 3D positioning is needed.
Control integration: Whether communication with PLCs, conveyors, sensors and peripheral devices is required.
Installation conditions: Desktop or floor mounting, together with the required safety protection around the equipment.
Based on the product characteristics and actual process requirements, the robot mounting method, end-effector structure, vision solution and control interfaces can be further specified to develop an automation solution suited to the production environment.
| Parameter | Specification |
|---|---|
| Product Name | ZKG4V90L3 4-Axis 90H Servo High-Speed Robot Arm |
| Product Model | ZKG4V90L3 |
| Product Type | 4-Axis Industrial Servo High-Speed Robot Arm (3 kg Payload) |
| Degrees of Freedom (DOF) | 4 DOF |
| Rated Payload | 3 kg |
| Maximum Working Radius | 717 mm |
| Repeatability | ±0.05 mm |
| Robot Arm Weight | 37 kg |
| Maximum TCP Point-to-Point Speed | 1600 mm/s |
| Maximum TCP Linear Speed | 1200 mm/s |
| Control Method | Touchscreen Teach Pendant + Hand-Guided Teaching |
| Drive System | Absolute Encoder Servo Motors |
| Reduction Mechanism | High-Precision Helical Gear Reducers |
| Brake System | Three-Axis Full Braking System |
| Mounting Options | Desktop Mounting / Floor Mounting |
| Body Material | Aluminum Alloy |
| Main Applications | Industrial Material Handling, Machine Loading and Unloading, Palletizing, Metal Stamping, Labeling and Vision-Guided Picking |
| Joint Axis | Moving Section | Maximum Motion Range | Maximum Joint Speed |
|---|---|---|---|
| J1 | Base | -162° to +162° | 280°/s |
| J2 | Shoulder | -115° to 0° | 240°/s |
| J3 | Elbow | -115° to 0° | 200°/s |
| J4 | End Effector | -162° to +162° | 162°/s |
The four-axis structure coordinates the movements of the base, upper arm, forearm and end-effector joint to perform workpiece picking and placement at different positions and orientations.
The fourth axis provides end-effector rotation, allowing the tool and workpiece orientation to be adjusted according to process requirements. This makes the robot suitable for loading and unloading, labeling, positioning and material handling tasks that require angular adjustment.
| Parameter | Specification |
|---|---|
| Drive Type | High-Precision Absolute Encoder Servo Motors |
| Base Motor | 750W × 1 |
| Left and Right Arm Motors | 400W × 2 |
| End-Effector Motor | 100W × 1 |
| Total Number of Motors | 4 |
| Total Motor Power Configuration | 750W + 400W × 2 + 100W |
| Reduction Mechanism | High-Precision Helical Gear Reducers × 4 |
| Brake System | Three-Axis Full Braking System |
| Position Memory | Built-In Position Memory Supported |
| Homing Method | Absolute Encoder Servo; Supports Operation Without Returning to the Mechanical Home Position |
| Power-Off Recovery | Supports Position Memory and Subsequent Operation After Power Recovery |
The robot arm uses absolute encoder servo motors with built-in position memory. Under normal system configurations and recovery procedures, it does not need to search for the mechanical home position every time it starts up, helping reduce adjustment time after downtime.
| Parameter | Specification |
|---|---|
| Point-to-Point Motion | Supported |
| Linear Motion | Supported |
| Joint Offset | Supported |
| Linear Offset | Supported |
| Circular 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 | 1200 mm/s |
| Position Teaching | Supported |
| Hand-Guided Teaching | Supported |
| DI / DO Control | Supported |
| Manual Gripper Control | Supported through corresponding control commands |
| Air Pump On/Off Control | Supported through corresponding control commands |
| Independent Programs | 5 |
| Maximum Points per Program | 200 |
| Parameter | Specification |
|---|---|
| Teach Pendant Type | Touchscreen Teach Pendant |
| Screen Size | 7 inches |
| Control Method | Teach Pendant + Hand-Guided Teaching |
| User Interface | Graphical User Interface |
| Program Management | Supports Creation, Editing and Execution of Independent Programs |
| Program Quantity | 5 Independent Programs |
| Points per Program | Up to 200 |
| Coordinate Display | Real-Time Coordinate Display |
| Motion Control | Point-to-Point, Linear, Circular, Offset and Palletizing |
| Joint Control | Supports Base, Upper Arm, Forearm and End-Effector Axis Control |
| Parameter Settings | Supports Speed and Motion Parameter Adjustment |
| External Signals | Supports DI / DO Control |
The touchscreen graphical interface allows operators to select motion types, set target coordinates, adjust movement speeds and record teaching points.
Users can establish independent programs according to actual process requirements, making it possible to edit and deploy basic automated operating sequences.
| Parameter | Specification |
|---|---|
| Communication Method | Serial Communication |
| USB Communication | USB Serial Communication Supported |
| Digital Inputs (DI) | 10 Channels |
| Digital Outputs (DO) | 10 Channels |
| DI / DO Signal Type | 24V / 0V Digital Signals |
| External Control | Supported |
| Vision System Integration | Supports Expansion Through an Open Communication Protocol |
| External Device Connectivity | Supported |
| Secondary Development | Supports Development Through Serial Communication Protocol |
The open serial communication protocol supports external device connectivity and secondary development. It also enables integration with vision application solutions such as Hikvision vision systems and OpenCV camera development.
When combined with a vision system, the robot can be used in applications involving object recognition, position acquisition and vision-guided material handling.
| Parameter | Specification |
|---|---|
| Operating Voltage | AC 220V / 110V |
| Control Power Supply | DC 24V |
| Maximum Power Consumption | 1000W |
| Operating Temperature | -10°C to 50°C |
| Applicable Environment | Industrial Applications |
| Main Body Material | Aluminum Alloy |
| Mounting Options | Desktop Mounting / Floor Mounting |
| Environmental Requirements | Avoid flammable or explosive environments and contact with corrosive gases or liquids |
| Electromagnetic Environment | Keep away from plasma equipment and other sources of electronic noise |
| Component | Quantity / Specification |
|---|---|
| ZKG4V90L3 4-Axis 90H Servo Robot Arm | 1 unit |
| Control Cabinet | 1 unit |
| 7-Inch Touchscreen Teach Pendant | 1 unit |
| Dedicated Robot Connection Cables | 1 set |
| Teach Pendant Connection Cable | 1 cable |
| Robot Control System | Integrated into the matching control system |
| End Effector | Configured according to actual application requirements |
Maximum working radius: 717 mm
Rated payload: 3 kg
Repeatability: ±0.05 mm
Maximum TCP point-to-point speed: 1600 mm/s
Maximum TCP linear speed: 1200 mm/s
Working envelope references:
Side-view working height: approximately 790 mm
Maximum extension dimension shown in the diagram: approximately 641 mm
Top-view motion envelope: approximately Ø1282 mm
Reference control cabinet dimensions: 519 × 310 × 305 mm
Teach pendant screen size: 7 inches
Mounting options: Desktop Mounting / Floor Mounting
The equipment supports both desktop and floor mounting. The installation method can be selected according to production-line layout, workbench height, workpiece position and the configuration of surrounding equipment.
The robot arm features an integrated aluminum alloy body and a compact control system, making it suitable for integration into compact industrial automation workstations and production equipment.
Suitable for automatic picking, machine loading and unloading, and workpiece transfer in metal stamping and component machining processes.
With four-axis servo motion control, the robot can be configured with picking and placement positions and motion trajectories according to the layout of stamping equipment, enabling automated coordination with peripheral devices.
Suitable for downstream part picking, workpiece handling and product arrangement after injection molding.
Combined with an appropriate end effector and vision positioning solution, the robot can perform part picking, transfer, placement and handover to subsequent production processes.
Suitable for picking and positioning electronic structural components, connectors, plastic parts and other small components.
With ±0.05 mm repeatability and end-effector rotation, the robot can perform workpiece orientation adjustment, fixed-position placement and related automated assembly tasks.
Suitable for picking, handling, array arrangement and automatic palletizing of lightweight products.
The built-in palletizing motion function can be configured according to workpiece dimensions, tray structure and arrangement requirements to perform repetitive placement at multiple positions.
Suitable for fixed-position labeling, angle adjustment and workstation transfer of packaged products, regularly shaped workpieces and other items.
The end-effector rotation axis and position teaching function allow the operating orientation to be adjusted according to different workpiece directions, making the robot suitable for automated processes that require angular control.
The robot supports integration with Hikvision vision systems, OpenCV camera development solutions and other vision systems through its open serial communication protocol.
Based on vision recognition results, the system can obtain object position, dimensions and orientation information and transmit target coordinates to the robot. This supports vision-guided picking, sorting, material handling and placement at designated positions.
Suitable for automated workstations with limited space and workpiece payloads within 3 kg.
Through connectivity with PLCs, sensors, vision systems and peripheral actuators, the robot can be integrated into compact industrial automation units for picking, inspection, handling and placement.
Use the teach pendant to adjust the positions and speeds of the four joints and understand the motion relationships between the base, upper arm, forearm and end-effector rotation axis.
Combine the joint and world coordinate systems to perform basic robot motion control and position configuration.
Use the fourth-axis end-effector rotation function to adjust the angle of the gripper and workpiece.
Configure the end-effector orientation according to product placement direction and processing requirements to perform workpiece picking, rotation and fixed-position placement.
Set the robot's starting position, target picking position and placement position, then record the motion points through teaching.
Use point-to-point motion to complete workpiece picking, movement and placement, establishing a basic automated operating sequence.
Use linear and circular motion functions to configure the end-effector's movement path.
Compare different trajectories and learn how robot motion control can be applied to handling, positioning and more complex path operations.
Adjust joint positions and linear motion offsets to change target positions and movement paths.
This is suitable for adapting actions to different workstations and optimizing picking positions.
Configure the palletizing starting point, arrangement direction, number of rows and columns, and placement spacing through the teach pendant.
Use the palletizing trajectory function to perform continuous picking and array placement of multiple workpieces. This is suitable for organized stacking of small products.
Connect an industrial camera or vision system to the robot control system to obtain visual recognition information about target workpieces.
Convert the vision positioning results into robot coordinates to perform target recognition, spatial position calculation and vision-guided picking.
Use the 10 digital input channels and 10 digital output channels to read signals from peripheral sensors and control external actuators.
Integrate conveyor systems, pneumatic grippers and other automation equipment to coordinate robot operations with production workstations.
Use the corresponding control protocol to operate the gripper and switch the air pump on or off.
Depending on the type of end effector, the robot can perform gripping, suction and release operations.
Use the position memory function of the absolute encoder servo motors to understand robot position management before and after power interruption.
Through normal equipment shutdown and recovery procedures, operators can learn how absolute position memory helps reduce repeated homing and improves the convenience of resuming operation.
Connect vision recognition programs and external automation equipment through the open serial communication protocol.
By reading target information, transmitting coordinates and controlling robot motion, users can build coordinated workflows that combine vision recognition with robot execution.
Combine the four-axis robot arm, teach pendant control, motion trajectories, external I/O and vision systems to build a complete automation task.
Depending on production requirements, integrated applications can include metal stamping machine loading and unloading, workpiece handling, palletizing, labeling and vision-guided picking.
Leave your contact information and requirements. Based on the product specifications and application scenarios, we will provide preliminary selection and solution advice.
