The DPRK fired a ballistic missile on Tuesday morning, according to the South Korean military.

The missile was launched at around 9:40 a.m. local time (0040 GMT) from Banghyon, a western area of the DPRK near the border with China, into the Sea of Japan.

US Pacific Command said the land-based, intermediate range missile was tracked for 37 minutes before it landed in the Sea of Japan. It flew about 930 kilometers (580 miles), according to South Korea's Office of the Joint Chiefs of Staff.

A South Korean soldier watches a television report showing file footage of a DPRK missile launch, at a railway station in Seoul on July 4, 2017.

The Japanese government said that the missile landed in Japan's Exclusive Economic Zone (EEZ), adding that it had strongly protested what it called a clear violation of UN resolutions.

It was the fourth ballistic missile to be launched by the DPRK since South Korean President Moon Jae-in took office in May, vowing to use dialogue as well as pressure to bring Pyongyang's nuclear and missile programs under control.

Timing of launch

In his meeting with Moon last week in Washington, Trump called for a determined response to the DPRK, stressing the importance of the alliance between the two countries.

US President Donald Trump and South Korean President Moon Jae-in shake hands in Washington on June 30, 2017. /VCG Photo‍

The DPRK has in the past launched ballistic missiles timed to coincide with key diplomatic events and meetings of leaders.

The previous missile launches were in early June, and Tuesday's launch came ahead of the G20 Summit on July 7-8 in Hamburg, Germany, where China, the United States, Japan and South Korea are expected to discuss efforts to rein in the DPRK's nuclear and missile programs.

Japanese Prime Minister Shinzo Abe (C) speaks to the media at his official residence in Tokyo on July 4, 2017, after a ballistic missile was launched by the DPRK. /VCG Photo

Pyongyang has been working on developing a nuclear-tipped missile capable of hitting the United States, and has conducted missile-related activities at an unprecedented pace since the start of last year.

Earlier this week, the DPRK was a key topic in phone calls between Chinese President Xi Jinping and the leaders of the US and Japan. Leaders of both Asian countries reaffirmed their commitment to a denuclearized Korean Peninsula.

Tuesday's missile launch also comes ahead of July 4 Independence Day celebrations in the United States. DPRK has previously fired missiles around this US holiday.

(With inputs from Reuters)