Application Examples Machine Loading Picking Packing/Casing Assembling Deburring Finishing Inspection Sealing ●The specifications are subject to changes without notice. ●In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Control Law. Please go through careful investigation and necessary formalities for export. CATALOG NO. R7702E 2013.08.U-ABE-ABE www.nachi.com Tokyo Head Office Shiodome Sumitomo Bldg. 17F 1-9-2 Higashi-shinbashi, Minato-ku, Tokyo 105-0021, JAPAN Tel: +81-(0)3-5568-5245 Fax: +81-(0)3-5568-5236 Toyama Head Office 1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, JAPAN Tel: +81-(0)76-423-5111 Fax: +81-(0)76-493-5211 NACHI ROBOTIC SYSTEMS INC. 22285 Roethel Drive, Novi, Michigan, 48375, U.S.A. Tel: +1-248-305-6545 Fax: +1-248-305-6542 URL: http://www.nachirobotics.com/ E-mail:[email protected]NACHI BRASIL LTDA. SAO PAULO BRANCH Av. Paulista, 453, Primeiro Andar, Conj, 11, 12, 12 e 14, Cerqueira Cesar, Sao Paulo-SP, CEP: 01311-000, BRASIL Tel: +55-11-3284-9844 Fax: +55-11-3284-1751 NACHI EUROPE GmbH Bischofstrasse 99, 47809, Krefeld, GERMANY 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 PT.NACHI INDONESIA JI.H.R.Rasuna Said Kav.X-O Kuningan, Jakarta 12950, INDONESIA Tel: +62-021-527-2841 Fax: +62-021-527-3029 NACHI-FUJIKOSHI CORP. KOREA REPRESENTATIVE OFFICE 3F A-Youn Digital Tower, 314-37, Seongsu-dong 2-ga, Seongdong-gu, Seoul,133-120, Korea Tel: +82-(0)2-469-2254 Fax: +82-(0)2-469-2264 NACHI KG TECHNOLOGY INDIA PTE. LTD. Unit No.207,Sewa Corporate Park,MG Road,Iffco Chowk,Gurgaon-122001, INDIA Tel: +91-124-450-2900 Fax: +91-124-450-2910 NACHI (AUSTRALIA) PTY. LTD. Unit 1, 23-29 South Street, Rydalmere, N.S.W, 2116, AUSTRALIA Tel: +61-(0)2-9898-1511 Fax: +61-(0)2-9898-1678 URL: http://www.nachi.com.au/ NACHI SINGAPORE PTE. LTD. No.2 Joo Koon Way, Jurong Town, Singapore 628943, SINGAPORE Tel: +65-65587393 Fax: +65-65587371 Ultra High Speed and compact MZ07 CATALOG
4
Embed
Ultra High Speed and compact - NACHI Robotics Sheet_PDF/MZ07 Catalog... · Avoids cable interference from machine ① avoids interference with peripheral equipment ② allows the
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
Application Examples
Machine Loading Picking Packing/Casing
Assembling Deburring Finishing
Inspection Sealing
●The specifications are subject to changes without notice.●In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Control Law. Please go through careful investigation and necessary formalities for export.
CATALOG NO. R7702E
2013.08.U-ABE-ABE
www.nachi.com
Tokyo Head OfficeShiodome Sumitomo Bldg. 17F 1-9-2 Higashi-shinbashi, Minato-ku, Tokyo 105-0021, JAPANTel: +81-(0)3-5568-5245 Fax: +81-(0)3-5568-5236
Toyama Head Office1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, JAPANTel: +81-(0)76-423-5111 Fax: +81-(0)76-493-5211
DeviceNet and EtherNet/IP is a trademark of ODVA (Open DeviceNet Vender Association, Inc.).CC-Link is a trademark of CC-Link Partner Association : CLPA.PROFIBUS and PROFINET is a trademark of PROFIBUS & PROFINET International.
Field bus Option
User Graphical Interface Flex-GUI Option
Software Built-in PLC standard
FD on Desk LightOffline Simulation Tool
standard
Wiring and tubing inside arm
Standard Specifications
Wrist dimensions
Controller dimensionsRobot dimensions and Working envelope
Service Taps
Robot base dimensions
Basic specifications of robot
J1
J2
J3
J4*3
J5
J6
J1
J2
J3
J4*3
J5
J6
J4*3
J5
J6
J4*3
J5
J6
Swivel
Forward/Backward
Upward/Downward
Rotation 2
Bend
Rotation 1
Swivel
Forward/Backward
Upward/Downward
Rotation 2
Bend
Rotation 1
Rotation 2
Bend
Rotation 1
Rotation 2
Bend
Rotation 1
Item
Robot Model
Structure
Number of Axes
Drive System
Position Repeatability*2
Ambient Temperature
Installation
Robot Mass
Maximum Reach
Max. Operating Area
Max. Velocity
Max. Payload
Allowable Static Loading Torque
Max. Allowable Moment of Inertia *1
Wrist
Arm
Wrist
Arm
Wrist
490
173
369
front view
level view right side view
rear view
Controller options
1[rad]=180/π[°], 1[N・m]=1/9.8[kgf・m]
*1: Note that the allowable moment of inertia of wrist varies with the wrist load conditions.
*2: JIS B 8432 compliant.
*3: MZ07P-01 and MZ07LP-01 don’t have J4 axis.
Basic specifications of controller
(*) Another box is necessary.
Robot type MZ07□-01-□□□-CFD-0000
1249(
1602) 330(410)
345
45
50340(440)73
495(646)
723(912)
228(266) 618(806)
165
MZ07L dimensions shown in ( )
Frame
interference
radius
R150170°
170°
221.4110.7
189.
5
160
4-φ11
95.5
±0.
194
160
190.5
95.5±0.1 198
10-AWG22
60.5
2-M4 depth 8
2×2-M4 depth 8
2×2-M4 depth 8
2×2-M4 depth 8
2×2-M6 depth 10
80 25
44.9
25
(45)
10.2
31
3434
1515
25
3.7
18
193.
1
65
6161
AW
G25×6p
AW
G25×6p
2-φ4×2.5
φ6×4 AIR1(φ6)
CNR010
AIR(φ6)PURGE AIR(φ6)
φ6×4
10-AWG23
CN
10A
Po
rt7
CN61
A
CN62
A
CN60
A
CN60
B
Po
rt1
Air outletSignal cable output
(for transporting jig)
4-M5 depth 7(P.C.D.60)
φ23
(Diameter of wire hole)
(P.C.D.60)
φ72
h7
φ45
h7
83
73
23
2-φ5 H7 depth 7
14
Air inlet
Signal cable input
Wire hole(same as opposite side)
Specifications
Articulated
6 (5)
AC Servodrive
±2.97 rad (±170°)
-2.36~+1.40 rad (-135°~ +80°)
±3.32 rad (±190°)
±2.09 rad (±120°)
±6.28 rad (±360°)
9.60 rad/s (550°/s)
9.60 rad/s(550°/s)
17.5 rad/s (1000°/s)
7kg
16.6 N・m
16.6 N・m
9.4 N・m
0.47 kg・m2
0.47 kg・m2
0.15 kg・m2
0~45
Floor / Wall / Tilted / Inverted mount
7.85 rad/s (450°/s)
6.63 rad/s (380°/s)
9.08 rad/s (520°/s)
MZ07-01 (MZ07P-01)
30 kg
723 mm
±0.02 mm
5.24 rad/s (300°/s)
4.89 rad/s (280°/s)
6.28 rad/s (360°/s)
32 kg
912 mm
±0.03 mm
MZ07L-01 (MZ07LP-01)
Connection variationMark
0
B
Specification
Rear connection
Bottom connection
Notes
Robot to controller cable is connected at robot rear
Robot to controller cable is connected at robot bottom
When ISO flange option is mounted, hollow size is reduced from φ23 to φ20
Adjustable stopper
IP67 set
Solenoid valves(1 pcs/ 2 pcs /3 pcs)
Solenoid valveUp to (3) valves
Vision sensor
Brake release switch
I/O harness(L=2.5m,5.5m,10.5m,15.5m,20.5m,25.5m)
MotorEncoder harness(L=2m,5m,10m,15m,20m)
Motor/Encoder additional harness(L=5m,10m,15m)
Floor surface connection specifications(included in the robot body)
Floor surface connection specifications(included in the robot body)
Robot monitoring unit
Transfer jig
Tools
CFD controller
Controllerprotection Box Connector for
Power Cable(Standard)
CE marking Specification
Power Cable(Prepared by customer)
Power Cable(Prepared by customer)
Teach Pendant additional cable(L=5m,10m)
Smart TP(Cable L=4m)
Compact TP(Cable L=4m)
Standard gripper (Parallel gripper/Three fingers)
*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.
Mini I/O board
TP shortin
g
plug
External sa
fety
signal
(Prepared by
customer)
EtherNetI/P board
DeviceNet board
Digital I/O
board (NPN/PNP)
CC-Link boardPROFIBUS boardPROFINET b
oard Conveyor Tr
acking I/F
Force sensor I/
F
ISO flange(P.C.D.31.5)
Wires clamp
CNRO10(connector included
in the I/O harness option)
CN10A
MZ07*-01
I/O cable on robot arm(L=1.5m)
I/O connector on robot arm
Offline Program SimulationFDonDESK Light (Standard)FDonDESK Pro (Option)
USB memory (1GB)
10-AWG22
7-φ4×2.5
AIR1(φ6)
CNR010
AIR(φ6)PURGE AIR(φ6)
AW
G25×6p
AW
G25×6p
φ6×4φ6×4
CN
10A
10-AWG23
CN61
A
CN62
A
CN60
A
CN60
B
Po
rt7
Po
rt1(
SO
L1A)
Po
rt1(
SO
L1B)
Po
rt1(
SO
L2A)
Po
rt1(
SO
L2B)
Po
rt1(
SO
L3A)
Po
rt1(
SO
L3B)
Exhaust (silencer)
Air outlet
Signal output
2-φ5 H7 depth 6
2-φ5 depth 7
φ72
h7
φ40
h8
φ72
h7
φ45
h7
φ20* H7 penetrated
(hole size for wiring hollow)
4-M5 depth 7
22.5°22.5°
(P.C.D. 31.5)
(P.C.D. 60 balanced)
4-M5 depth 7
(P.C.D. 60 balanced)
7-φ4
(tube clamp hole)
φ7
(wiring clamp hole)
88
93
100
7
7
95
(P.C.D. 31.5)
Air inlet
Signal input
Wiring and tubing in Robot arm (when SOL installed in arm)
Red mark
Blue mark
selectable essential option
Specifications
Restriction of axis 1 to 3 working envelope
Common for crane transporting, ceiling and wall mount