NACHI Handling Robot MZ01 : High Speed and High Precision 1kg Compact Robot
Robots
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Compact Robot MZ01
Basic Specification of Robot
| Robot type | MZ01-02 | |
|---|---|---|
| Structure | Articulated | |
| Number of axis | 6 | |
| Drive system | AC servo motor | |
| Max. working envelope |
J1 | ±2.97rad (±170°) |
| J2 | -1.57 to 1.48rad (-90 to 85°) | |
| J3 | -0.87 to 1.57rad (-50 to 90°) | |
| J4 | ±2.53rad (±145°) | |
| J5 | ±2.18rad (±125°) | |
| J6 | ±6.28rad (±360°) | |
| Max. speed*1 | J1 | 5.59rad/s (320°/s) |
| J2 | 5.59rad/s (320°/s) | |
| J3 | 6.54rad/s (375°/s) | |
| J4 | 10.47rad/s (600°/s) | |
| J5 | 10.47rad/s (600°/s) | |
| J6 | 10.47rad/s (600°/s) | |
| Max. payload*2 | Wrist | 1.0kg rated |
| Arm 1 | max. 0.25kg | |
| Allowable static load torque |
J4 | 0.9N·m |
| J5 | 0.9N·m | |
| J6 | 0.78N·m | |
| Allowable moment of inertia*3 |
J4 | 0.008kg·m2 |
| J5 | 0.008kg·m2 | |
| J6 | 0.006kg·m2 | |
| Position repeatability*4 | ±0.02mm | |
| Max. reach | 350mm | |
| Air piping | IN : Ø6×2, OUT : Ø4×2 | |
| Application signal line | 12 wires | |
| Installation | Floor/Inverted | |
| Ambient conditions | Temperature : 0 to 40C°*5 Humidity : 20 to 85%RH (No dew condensation) Vibration to the installation face : 0.5G (4.9m/s2) or less |
|
| Dust-proof Drip-proof performance*6 |
Robot only IP40 equivalent | |
| Cleanliness*7 | ISO 14644-1 CLASS5 equivalent | |
| Noise level*8 | 70dB | |
| Robot mass | 10kg | |
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
* Explosion-proof version is not available.
*1 The "Max. speed" in this table is the available maximum value and will change depending on the work-program and the wrist load condition.
*2 When no load is on arm 1 (arm of axis 3), the max. wrist load is 1.0kg. However, when a 0.25kg load is on arm 1, the wrist load can only go up to 0.75kg.
*3 The allowable moment of inertia of wrist changes with load conditions.
*4 Based on JIS B8432
*5 Permitted installation is less than 1,000m above sea level.
Allowable operating temperature dependent on installation height.
Allowable operating temperature dependent on installation height.
*6 Limit use in applications where liquids, such as, organic compound, acidity, alkalinity, chlorine, gasoline and/or cutting fluids. These could deteriorate seal material.
Wire harness is IP65 equivalent, controller is IP20 equivalent.
Wire harness is IP65 equivalent, controller is IP20 equivalent.
*7 To ensure a cleanliness, install the robot in a down-flow type cleanroom.
The robot's packaging is not dust proof. Before bringing the robot into a cleanroom, you must clean the robot by wiping it off or by removing dust and fine particles from it.
The robot's packaging is not dust proof. Before bringing the robot into a cleanroom, you must clean the robot by wiping it off or by removing dust and fine particles from it.
*8 A-weighted equivalent level of sound measured according to JIS Z 8737-1 (ISO 11201), while operating at max. Speed with the rated load.