Vous êtes sur la page 1sur 4

Application

Examples

Machine Loading Picking Packing/Casing


Ultra High Speed and compact

MZ07
CATALOG

Assembling Deburring Finishing

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

●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-2


2013.09.U-ABE-ABE
Characteristics
Robot body Controller

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 processing

Max speed
inside robot riser ■ 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

J3 520°/s 300°/s Compact installation space


J4 550°/s 300°/s ■ Small bottom design enables
compact installation
J5 550°/s 300°/s

J6 1000°/s 480°/s
Cable connection
from bottom side
Option
User friendly 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.

175mm moving direction

*1 Payload is 1kg. This may vary according to the robot program and installation.

Smart Cable Routing force direction


Cable and tubes can be routed through hollow wrist

Offline Simulation Tool Robot Monitoring Unit (RMU) Option


standard
FD on Desk Light
Cable routing ■ Safety unit to monitor robot position and speed
improved ■ Best simulator of first for primary study ■ Reducing cost and space saving
Pneumatic Valves inside Robot Arm Option
① avoids interference
with peripheral ● Offline Programming
■ Up to 3 solenoid valves can be installed inside robot arm
equipment ● Robot Layout Investigation
(Max 3 valve available) Option
② allows the arm to ● Cycle Time Simulation User Graphical Interface Flex-GUI
enter tight spaces ● PLC Ladder Editing
③ improved reliability ● Operation Training ■ Customizing teach pendant display.
with stable cable ■ Operator can use teach pendant as a system operating panel.
behavior during Hollow wrist
Conventional wrist high speed cables are stored
overhanging cables operation inside wrist

Approaching to machine Entering into cover


SOL Valve in Arm (Option)
Conventional wrist Hollow wrist
Conventional wrist
Field bus Option

■ DeviceNet (Master, Slave)


■ EtherNet/IP (Master, Slave)
■ CC-Link (Master, Slave)
Hollow wrist ■ PROFIBUS (Master, Slave)
■ PROFINET (Slave)
Avoids cable interference Access to 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.
from machine Smaller window PROFIBUS and PROFINET is a trademark of PROFIBUS & PROFINET International.
Standard
Specifications Robot type MZ07□-01-□□□-CFD-0000

Arm variation Application variation Installation variation Connection variation


Mark Specification Notes Mark Specification Solenoid valve Signal wires Notes Mark Specification Notes Mark Specification Notes
(none) 6 axes Standard arm Max reach 723mm 0 Standard Up to 3 10 wires - 0 Standard J1 working envelope ±30°at wall mounting 0 Rear connection Robot to controller cable is connected at robot rear
L 6 axes Long arm Max reach 912mm V Vision sensor Up to 2 10 wires LAN cable, Light cable W Wall mount J1 working envelope ±170°at wall mounting B Bottom connection Robot to controller cable is connected at robot bottom
P 5 axes Standard arm Max reach 723mm (does not have J4) U Vision sensor(cross laser) Up to 1 10 wires LAN cable, Light cable, Laser cable
LP 5 axes Long arm Max reach 912mm (does not have J4) F Force sensor Up to 1 10 wires 6 freedom Force sensor cable
S Additional axis Up to 1 10 wires 1 motor and 1 encoder cable

Basic specification of robot Robot dimensions and Working envelope Basic specification of controller Controller dimensions
Item Specification Item Specification
170°
Robot Model MZ07-01 (MZ07P-01) MZ07L-01 (MZ07LP-01) Controlled Axis 6-Axes
Construction Articulated Maximum Control Axis 7-Axes
Number of Axis 6 (5) Safety Function 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
Working (-136°∼270°) (-139°∼270°) (2,560,000 program steps equivalent)
221.4 340
Envelope J4*3 Rotation 2 ±3.32 rad (±190°) 110.7 73 (440) 50
5.7” Color LCD Touch Panel, Cable Length: 4m
Wrist J5 Bend ±2.09 rad (±120°) Smart TP
45 3 Position Enable SW, Emergency Stop Button
J6 Rotation 1 ±6.28 rad (±360°)
Teach Pendant Monochrome, 20 characters x 4 lines Display,

490
(1602)
J1 Swivel 7.85 rad/s (450°/s) 5.24 rad/s (300°/s) (410)
330
Compact TP Cable Length: 4m
Arm J2 Forward/Backward 6.63 rad/s (380°/s) 4.89 rad/s (280°/s) 3 Position Enable SW, Emergency Stop Button

1249
Max. J3 Upward/Downward 9.08 rad/s (520°/s) 6.28 rad/s (360°/s) Operating Panel Emergency Stop, Mode select switch (teach/playback)
Speed J4*3 Rotation 2 9.60 rad/s (550°/s)
345
External Emergency Stop, Safety Plug,
Wrist J5 Bend 9.60 rad/s(550°/s) Exclusive Safety Input level view right side view
External Enable Switch, Protective Stop
J6 Rotation 1 17.5 rad/s (1000°/s) 165
Network Ethernet
Max. Payload Wrist 7kg
228 Memory Device USB Port
J4*3 Rotation 2 16.6 N・m (646)
495 (266) (806)
618
External Dimension 369mm(W)×490mm(D)×173mm(H)

173
Allowable Static
J5 Bend 16.6 N・m
Loading Torque (912)
723 Weight Approx. 17kg
J6 Rotation 1 9.4 N・m
3-Phase AC200-230V ±10% front view
J4*3 Rotation 2 0.47 kg・m2 Primary Power Supply
Max. Allowable MZ07L dimensions shown in ( )
Single Phase AC200-230V ±10% 369
Moment of J5 Bend 0.47 kg・m2
Consuming Power 0.4KVA
Inertia *1 J6 Rotation 1 0.15 kg・m2
Dust Proof, Drip Proof IP20
Position Repeatability*2 ±0.02 mm ±0.03 mm Service Taps
Ambient Temperature 0∼40°C
Ambient Conditions  0∼45°C
60.5 Ambient Humidity 20∼85%(Non-condensing)
Installation Floor / Wall / Tilted / Inverted mount
Wiring and tubing inside arm
15

Robot Mass 30 kg 32 kg
Controller options
61

Max. Reach 723 mm 912 mm


61

Dust Proof, Drip Proof IP67


Item Specification
1[rad]=180/π[°], 1[N・m]=1/9.8[kgf・m] Signal cable output Air outlet
15

One additional axis is possible


*1: Note that the allowable moment of inertia of wrist varies with the wrist load conditions. 2-M4 depth 8 Additional Axis

CN10A
*2: JIS B 8432 compliant. (Motor Capacity: up to 400W)

Port7
Port1
*3: MZ07P-01 and MZ07LP-01 don’t have J4 axis. 80 25 2×2-M4 depth 8 10-AWG22
DeviceNet, EtherNet/IP, PROFIBUS,
25

Fieldbus 2-φ4×2.5
PROFINET, CC-Link

CN61A

CN62A
Wrist dimensions Robot base dimensions Up to 2pcs of 32point/32point I/O Board

CN60A
10-AWG23
2×2-M4 depth 8
Digital I/O 8 photo coupler input and 8 transistor output or

CN60B
10.2 44.9
8 photo coupler input and 8 relay contact output
3.7

95.5±0.1 198
(45) External Memory USB Memory
190.5 Vision Sensor (*) NV−Pro
4-φ11
193.1

4-M5 depth 7 160


(P. C.
D.60) Robot Monitoring Unit (*) Category 4, SIL 3
2×2-M4 depth 8
2-φ5 H7 Wire hole Controller Protection Box IP54 equivalent Dust-proof and drip-proof box
94

depth 7 (same as
65

(P. C.D.60) opposite side) (*) Another box is necessary.


189.5

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, inverted and wall mount OP-S2-042

Red ③ Tools Zeroing pin & Zeroing block OP-T2-078


mark selectable essential option ④ IP67 set Air purge unit in robot body OP-H9-004
I/ F ⑤ Solenoid valve 1 valve OP-H4-004 2 position double
Blue or
Option e ns /F 2 valves OP-H5-008 Pressure range : 0.1 to 0.5MPa
mark es gI
Forc c kin 3 valves OP-H6-004 Coil voltage : 24V
Tra
y or ⑥ Wires clamp Clamp for wires and air tubes inside wrist hollow OP-W3-012 Air (φ4:7 lines), signals
n ve
Co a rd ⑦ ISO flange ISO flange adapter (P.C.D.31.5) OP-W2-012
Standard gripper (Parallel gripper/Three fingers) T bo ⑧ Standard gripper *1 Parallel gripper single S OP-F10-002
INE Grip force 320N (air source 0.5MPa) Stroke 24mm
OF Parallel gripper double S OP-F10-003
PR ard
S bo Parallel gripper single M OP-F10-004 Grip force 600N (air source 0.5MPa) Stroke 30mm
Wires clamp IBU
OF Three fingers single S OP-F10-005
PR ) )
ISO flange o ard P NP
me
nt Grip force 300N (air source 0.5MPa) Stroke 8mm
Robot monitoring unit kb N/ uip
Three fingers double S OP-F10-006
(P.C.D.31.5) CN10A
Lin NP eq
C C- ard(
ilia
r y Three fingers single M OP-F10-007
Solenoid valve Grip force 410N (air source 0.5MPa) Stroke 10mm
I/O connector bo au
x
Three fingers double M OP-F10-008
on robot arm Up to (3) valves I/O er
l to
m
ita s ⑨ Mini I/O board I/O Photo coupler 8 inputs / NPN Transistor 8 outputs CFD-OP150-A
MZ07 -01 Dig cu
* Brake release switch
(to
a rd I/O Photo coupler 8 inputs / Relay contact 8 outputs CFD-OP150-B
Mounted on sequence board UM352 of slot A
bo
I/O cable on robot arm et ⑩ EtherNet/IP board Master 1CH CFD-OP130-A
eN
(L=1.5m) vic ard Slave 1CH CFD-OP130-B
De o
IPb
Tools t/ Master 1CH + Slave 1CH CFD-OP130-C Occupies (1) slot
Vision sensor
er Ne
Eth rd Slave 2CH CFD-OP130-D
I/O harness b oa Compact TP
Master 2CH CFD-OP130-E
Transfer jig (L=2.5m,5.5m,10.5m,15.5m, I/O (Cable L=4m)
ni
20.5m,25.5m) Mi ⑪ DeviceNet board Master 1CH CFD-OP131-A
y
CNRO10 fet Smart TP
Slave 1CH CFD-OP131-B
sa
Adjustable stopper (connector included
CFD controller r n al (Cable L=4m)
in the I/O harness option) te by Master 1CH +Slave 1CH CFD-OP131-C Occupies (1) slot
Ex nal red
sig epa er) Slave 2CH CFD-OP131-D
g (Pr stom
ortin cu
Master 2CH CFD-OP131-E
sh
IP67 set TP g ⑫ Digital I/O board I/O Photo coupler 32 inputs / NPN Transistor 32 outputs CFD-OP125-A Occupies (1) slot
plu CFD-OP125-B
Teach Pendant I/O Photo coupler 64 inputs / NPN Transistor 64 outputs Occupies (2) slots Up to (2) slots available
additional cable I/O Photo coupler 32 inputs / PNP Transistor 32 outputs CFD-OP151-A Occupies (1) slot
Motor/Encoder Controller (L=5m,10m)
I/O Photo coupler 64 inputs / PNP Transistor 64 outputs CFD-OP151-B Occupies (2) slots
additional harness protection Box Connector for
(L=5m,10m,15m) Motor
Power Cable ⑬ CC-Link board Both master and slave 1CH CFD-OP98-B Occupies (1) slot
Encoder harness
Floor surface connection (L=2m,5m,10m,15m,20m)
(Standard) ⑭ PROFIBUS board Master 1CH CFD-OP132-A
specifications Power Cable Slave 1CH CFD-OP132-B
(included in the robot body) (Prepared by
customer) USB memory (1GB) Master 1CH + Slave 1CH CFD-OP132-C Occupies (1) slot
Floor surface connection specifications Slave 2CH CFD-OP132-D
(included in the robot body) CE marking Specification
Master 2CH CFD-OP132-E
⑮ PROFINET board Slave 1CH CFD-OP136-B
Occupies (1) slot
Slave 2CH CFD-OP136-D

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

2-φ5 H7 depth 6 10m CFDTP-RC10M Both side have connector


CN10A

(P.C.D. 31.5) Motor/Encoder harness 2m Z101C-J1-02-A


Port7
Port1
Port1
Port1
Port1
Port1
Port1

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

10-AWG23 (1 pcs/ 2 pcs /3 pcs) 20m Z101C-J1-20-A


φ20* H7 penetrated Motor/Encoder extention harness 5m Z102C-00-05-A
CN60B

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

AIR(φ6)
5×6

(φ6)
PURGE AIR 7-φ4 Soldering type Manufacturing needs to be done by customer.
p

(tube clamp hole) USB memory 1GByte FD11-OP93-A


CNR010
7 93
φ7 FDonDESK Pro Robot Program Simulator FDonDESK Pro Following utilities are added on “FDonDESK Light”
Signal input (wiring clamp hole) 100 ● Program creation utility from CAD data
● Muklti robot control

*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.