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Ultra High Speed and Compact: Application Examples
Ultra High Speed and Compact: Application Examples
Ultra High Speed and Compact: Application Examples
Examples
MZ07
Machine Loading Picking Packing/Casing
CATALOG
Inspection Sealing
www.nachi.com
Tokyo Head Office PT.NACHI INDONESIA
Shiodome Sumitomo Bldg. 17F 1-9-2 Higashi-shinbashi, Minato-ku, Tokyo 105-0021, JAPAN JI.H.R.Rasuna Said Kav.X-O Kuningan, Jakarta 12950, INDONESIA
Tel: +81-(0)3-5568-5245 Fax: +81-(0)3-5568-5236 Tel: +62-021-527-2841 Fax: +62-021-527-3029
Toyama Head Office NACHI-FUJIKOSHI CORP. KOREA REPRESENTATIVE OFFICE
1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, JAPAN 3F A-Youn Digital Tower, 314-37, Seongsu-dong 2-ga, Seongdong-gu, Seoul,133-120, Korea
Tel: +81-(0)76-423-5111 Fax: +81-(0)76-493-5211 Tel: +82-(0)2-469-2254 Fax: +82-(0)2-469-2264
NACHI ROBOTIC SYSTEMS INC. NACHI KG TECHNOLOGY INDIA PTE. LTD.
22285 Roethel Drive, Novi, Michigan, 48375, U.S.A. Unit No.207,Sewa Corporate Park,MG Road,Iffco Chowk,Gurgaon-122001, INDIA
Tel: +1-248-305-6545 Fax: +1-248-305-6542 Tel: +91-124-450-2900 Fax: +91-124-450-2910
URL: http://www.nachirobotics.com/ E-mail:Marketing@NachiRobotics.com NACHI (AUSTRALIA) PTY. LTD.
NACHI BRASIL LTDA. SAO PAULO BRANCH Unit 1, 23-29 South Street, Rydalmere, N.S.W, 2116, AUSTRALIA
Av. Paulista, 453, Primeiro Andar, Conj, 11, 12, 12 e 14, Cerqueira Cesar, Sao Paulo-SP, Tel: +61-(0)2-9898-1511 Fax: +61-(0)2-9898-1678
CEP: 01311-000, BRASIL URL: http://www.nachi.com.au/
Tel: +55-11-3284-9844 Fax: +55-11-3284-1751 NACHI SINGAPORE PTE. LTD.
NACHI EUROPE GmbH No.2 Joo Koon Way, Jurong Town, Singapore 628943, SINGAPORE
Bischofstrasse 99, 47809, Krefeld, GERMANY Tel: +65-65587393 Fax: +65-65587371
Tel: +49-(0)2151-65046-0 Fax: +49-(0)2151-65046-90 URL: http://www.nachi.de/
NACHI TECHNOLOGY (THAILAND) CO., LTD. BANGKOK SALES OFFICE
Unit 23/109(A),Fl.24th Sorachai Bldg., 23 Sukhumvit 63 Road(Ekamai), Klongtonnua,
Wattana, Bangkok 10110, THAILAND Tel: +66-2-714-0008 Fax: +66-2-714-0740
Top Perform High Speed Compact & Flexible Installation Compact cabinet Various application
Maximum speed of each axis is the top in this class Available to all-round mounting ■ Only 369mm in width Vision Sensor NV-Pro Option
■ Contributing to improvement of productivity by high speed ■ Could be installed ■ Operation by using teach pendant, high speed precessing
Max speed
inside robot raiser ■ Various application available by 2D and 3D vision sensing,
dimension measurement and parts type districting
Axis MZ07-01 Conventional model
J1 450°/s 263°/s
Floor mount Inverted mount Wall mount Tilted mount
J2 380°/s 240°/s
J6 1000°/s 480°/s
Cable connection
from bottom side
Option
User frendly functions
Standard Cycle Time Evaluation (go and back) *1 190.5
■ More compact installation Software Built-in PLC standard Force Sensor Option
300mm ■ Robot can be installed close to ■ Control peripheral equipment by robot controller ■ Assembling (inserting, following, phasing), polishing, deburring
189.5
behind wall
■ Simplifies system configuration to reduce cost
■ Cables can be stored inside Application example for finishing process.
robot riser
25mm
0.31sec.
*1 Payload is 1kg. This may vary according to the robot program and installation.
Basic specifications of robot Robot dimensions and Working envelope Basic specifications of controller Controller dimensions
Item Specifications Item Specifications
170°
Robot Model MZ07-01 (MZ07P-01) MZ07L-01 (MZ07LP-01) Controlled Axes 6-Axes
Structure Articulated Maximum Control Axes 7-Axes
Number of Axes 6 (5) Safety Features PLd Category-3
Drive System AC Servodrive Teach / Playback
Teaching Method
Fra r f
J1 Swivel ±2.97 rad (±170°) Robot Language
int diu
m ere
ra
e
rear view
e nc
Arm J2 Forward/Backward -2.36∼+1.40 rad (-135°∼ +80°) Program Number 9,999 programs
R1
170°
s
50
Max. -2.37∼+4.71rad -2.43∼+4.71rad 256MB
e
J3 Upward/Downward Memory Capacity
Operating (-136°∼270°) (-139°∼270°) (2,560,000 program steps equivalent)
221.4 340
Area J4*3 Rotation 2 ±3.32 rad (±190°) 110.7 73 (440) 50
Smart TP 5.7” Color LCD Touch Panel, Cable Length: 4m
Wrist J5 Bend ±2.09 rad (±120°)
45 Monochrome, 20 characters x 4 lines Display,
J6 Rotation 1 ±6.28 rad (±360°) Teach Pendant Compact TP
Cable Length: 4m
490
(1602)
J1 Swivel 7.85 rad/s (450°/s) 5.24 rad/s (300°/s) (410)
330
Common 3 Position Enable SW, Emergency Stop Button
Arm J2 Forward/Backward 6.63 rad/s (380°/s) 4.89 rad/s (280°/s) Operation SW Emergency Stop, Mode select switch (teach/playback)
1249
Max. J3 Upward/Downward 9.08 rad/s (520°/s) 6.28 rad/s (360°/s) External Emergency Stop, Safety Plug,
Velocity J4*3 Rotation 2 9.60 rad/s (550°/s)
345 Exclusive Safety Input
External Enable, Protective Stop
Wrist J5 Bend 9.60 rad/s(550°/s) level view right side view
Network Ethernet
J6 Rotation 1 17.5 rad/s (1000°/s) 165
External Memory Device USB Port
Max. Payload Wrist 7kg
228 External Dimension 369mm(W)×490mm(D)×173mm(H)
J4*3 Rotation 2 16.6 N・m (646)
495 (266) (806)
618
Weight Approx. 17kg
173
Allowable Static
J5 Bend 16.6 N・m
Loading Torque (912)
723 3-Phase AC200-230V ±10%
J6 Rotation 1 9.4 N・m Power Specification
Single Phase AC200-230V ±10% front view
Max. Allowable J4*3 Rotation 2 0.47 kg・m2 MZ07L dimensions shown in ( )
Power Consumption 0.4KVA 369
Moment of J5 Bend 0.47 kg・m2
Dust Proof, Drip Proof IP20
Inertia *1 J6 Rotation 1 0.15 kg・m2
Ambient Temperature 0∼40
Position Repeatability*2 ±0.02 mm ±0.03 mm Service Taps
Ambient Humidity 20∼85%(Non-condensing)
Ambient Temperature 0∼45
60.5
Installation Floor / Wall / Tilted / Inverted mount
Controller options Wiring and tubing inside arm
15
Robot Mass 30 kg 32 kg
61
1[rad]=180/π[°], 1[N・m]=1/9.8[kgf・m]
One additional axis is possible
*1: Note that the allowable moment of inertia of wrist varies with the wrist load conditions. Additional Axis Signal cable output Air outlet
15
CN10A
DeviceNet, Ethernet/IP, PROFIBUS,
Port7
Port1
Fieldbus 10-AWG22
80 25 2×2-M4 depth 8 PROFINET, CC-Link
25
2-φ4×2.5
Up to 2pcs of 32point/32point I/O Board
CN61A
CN62A
Wrist dimensions Robot base dimensions Digital I/O 8 photo coupler input and 8 transistor output or
CN60A
10-AWG23
2×2-M4 depth 8
8 photo coupler input and 8 relay contact output
CN60B
10.2 44.9
External Memory USB Memory
3.7
95.5±0.1 198
(45) Vision Sensor (*) NV−Pro
190.5 Robot Monitoring Unit (*) Category 4, SIL 3
4-φ11
193.1
depth 7 (same as
65
160
23 31 25 Air inlet
95.5 ±0.1
φ72 h7
φ45 h7
14 φ6×4
AW
AW 5×6p
2×2-M6 depth 10 AIR1(φ6)
φ6×4
G2
G2
(φ6)
AIR
(for transporting jig)
5×6
(φ6)
PURGE AIR
p
φ23 73
18
CNR010
(Diameter of wire hole) 83
Signal cable input
34 34
Option List
Options No. Item Specifications Parts No. Notes
① Adjustable stopper Restriction of axis 1 to 3 working envelope OP-S5-022
② Transfer jig Common for crane transporting, ceiling and wall mount OP-S2-042
Power Cable
⑯ Conveyor Tracking I/F RS422 Differential input encoder counter CFD-OP47-A Occupies (1) slot
(Prepared by customer) Offline Program Simulation ⑰ Force sensor I/F Force sensor unit for CFD (another box) CFD-OP152-A Occupies (1) slot
FDonDESK Light (Standard) ⑱ Vision sensor Vision sensor unit for CFD (another box) CFD-OP139-A
FDonDESK Pro (Option)
⑲ Robot monitoring unit Robot monitoring unit for CFD (another box) CFD-OP145-A
⑳ Brake release switch Brake release switch (portable type) FD11-OP90-E
TP=Teach Pendant
Controller protection BOX Upgraded to IP54 equivalent by preparing dust-proof and drip-proof box CFD-OP133-A
UL specification Some parts are replaced to conform to UL standard CFD-UL-A
CE marking specification Some parts are replaced to conform to European CE marking CFD-CE-A
Wiring and tubing in Robot arm (when SOL installed in arm) Wrist dimensions KCs specification Some parts are replaced to conform to Korean KCs standard CFD-KCS-A
Smart TP *2 Cable length 4m CFDTP-10-04M
Compact TP *2 Cable length 4m MINITP-10-04M These are selectable options. One of them must be selected.
Air outlet ISO flange option ⑦ When ISO flange option is mounted,
hollow size is reduced from φ23 to φ20 TP shorting plug *2 To disconnect teach pendant CFD-OP153-A
(SOL1A)
(SOL2A)
(SOL3A)
CFDTP-RC05M
(SOL1B)
(SOL2B)
(SOL3B)
Signal output Teach Pendant extention cable 5m Only one cable can be added.
φ72 h7
φ40 h8
10-AWG22 5m Z101C-J1-05-A
4-M5 depth 7
7-φ4×2.5 (P.C.D. 31.5) 10m Z101C-J1-10-A Harness between robot and controller
CN61A
CN62A
Solenoid valves 15m Z101C-J1-15-A These are selectable option. One of them must be selected.
CN60A
Exhaust (silencer) Only one cable can be added. Total length is 25m
(hole size for wiring hollow) 7 88 10m Z102C-00-10-A
at maximum. Both side is connector
95 15m Z102C-00-15-A
I/O harness 2.5m IOCABLE-10-02M
Wrist clamp option ⑥ 5.5m IOCABLE-10-05M
I/O cable between robot and controller.
22
10.5m IOCABLE-10-10M
.5° .5° Controller side is separate cable.
22 15.5m IOCABLE-10-15M Manufacturing needs to be done by customer.
φ72 h7
φ45 h7
2-φ5 depth 7
20.5m IOCABLE-10-20M
(P.C.D. 60 balanced) 25.5m IOCABLE-10-25M
Air inlet 4-M5 depth 7 I/O cable on robot arm 1.5m IOCABLE-20-01M Tool side is separate cable.
φ6×4 (P.C.D. 60 balanced) Manufacturing needs to be done by customer.
AW
AW 5×6p
AIR1(φ6)
φ6×4 I/O connector on robot arm Connector only IOCABLE-20-00 This is connector only.
G2
G2
(φ6)
AIR
5×6
(φ6)
PURGE AIR 7-φ4 Soldering type Manufacturing needs to be done by customer.
p
*1 Grip force may vary according to the supplied air pressure (0.3 to 0.5 MPa) and finger length. *2 “TP” means teach pendant.
● All option is shipped with robot by kit (sub assembly). Please install it by customer after reading option install procedure.