ES SERIES

ES06 / ES12

NACHI ROBOT ES SERIES - SCALER ROBOT

Max Payload : 3 -12 KG

Max Reach    : 350 – 850 mm

 1. High speed handling

  • Super rigid arm and servo control give this horizontal articulated scara robot fast, high-accuracy operations.
  • High-speed operations meet demand to support a wide range of fields, from the handling of small parts to high precision assembly work.

2. Prevent cable interference

  • Hands with internal passage for wiring available to be mounted on tip of arm.
  • Wiring and piping can be run internally to the point where the hand is attached.
  • Minimize area in which robot cables interfere with peripheral equipment.

3. Fully utilize installation space

  • Possible to access entire periphery with swivel operation range.
  • Improves flexibility when considering robot layout
Robot specifications:ES06 Robot model

 Payload
 Maximum reach (input the rst two digits): 550, 450, 350mm
 Vertical stroke (shows rst two digits): 200, 340mm
 Version
Robot model ES06-
3520-01
ES06-
3534-01
ES06-
4520-01
ES06-
4534-01
ES06-
5520-01
ES06-
5534-01
Structure Horizontal articulation
Number of axes 4
Drive system AC servo system
Brake Axes 1, 2, and 4: No brakes Axis 3: With brake
Max. operating
envelope
J1 ±2.97rad (±170°)
J2 ±2.53rad (±145°)
J3 200mm 340mm 200mm 340mm 200mm 340mm
J4 ±6.28rad (±360°)
Max. velocity *4 J1 6.98rad/s (400°/s)
J2 11.69rad/s (670°/s)
J3 2400mm/s
J4 43.63rad/s (2500°/s)
Payload(Max.) 3kg (6kg)
Maximum pressing force
of third axis
165N *7
Max. allowable moment
of inertia *1
0.12kg·m2 (0.01kg·m2 rated)
Position
repeatability
X and Y
combined
±0.012mm
J3 (Z) ±0.01mm
J4 (θ) ±0.004°
Max. reach 350mm 450mm 550mm
Air piping Primary:Ø6 x 2 Secondary:Ø4 x 8 *5
Application wirings Hand: 8 points input/8 points output (20 lines)
Dedicated signal line for multipurpose hand
(2 lines + 2 power lines)
1 Ethernet cable <100BASE-TX> (8 lines) *6
Installation Floor mount
Ambient conditions

Ambient temperature : 0to40°C *2
Ambient humidity : 45to85% RH (without condensation)
Vibration : Not more than 0.5G(4.9m/s2)

Environmental conditions *3 IP20
Robot mass 36kg 37kg
1[rad] = 180/π[°], 1[N·m] = 1/9.8[kgf·m]
( * ) Explosion-proof is not available.
(*1) Note that maximum allowable moment of inertia varies according to load conditions on the wrist.
(*2) Permitted height is not higher than 1,000m above sea level. If used in higher place, permitted temperature is affected by height.
(*3) Fluids that cause the deterioration of sealants, such as gasoline-based cutting uids, chlorine, alkali, acids, and organic solvents, cannot be used.
(*4) The maximum velocity in the chart is a maximum value. The maximum value may change depending on work programs and load conditions of the wrist.
(*5) Secondary Ø4 piping is possible with solenoid valve (option).
(*6) Possible to use 8 lines for LAN wiring as spare wires, too.
(*7) Downward pressing force that is possible on tip of load when maximum load is mounted, and axis 1, axis 2, and axis 4 are static. Use at values below those noted here.
Also, an overload error occurs if pressure is applied for a long period of time. Use under conditions in which errors do not occur.
Robot specifications:ES12

Robot model

 Payload
 Maximum reach (input the rst two digits): 550, 700, 850mm
 Vertical stroke (shows rst two digits): 350, 450mm
 Version
Robot model ES12-
5535-01
ES12-
5545-01
ES12-
7035-01
ES12-
7045-01
ES12-
8535-01
ES12-
8545-01
Structure Horizontal articulation
Number of axes 4
Drive system AC servo system
Brake Axes 1, 2, and 4: No brakes Axis 3: With brake
Max. operating
envelope
J1 ±2.97rad (±170°)
J2 ±2.53rad (±145°) ±2.67rad (±153°)
J3 350mm 450mm 350mm 450mm 350mm 450mm
J4 ±6.28rad (±360°)
Max. velocity *4 J1 7.33rad/s (420°/s) 4.89rad/s (280°/s)
J2 7.85rad/s (450°/s)
J3 2800mm/s
J4 41.89rad/s (2400°/s)
Payload(Max.) 3kg (12kg)
Maximum pressing force
of third axis
200N *7
Max. allowable moment
of inertia *1
0.3kg·m2 (0.025kg·m2 rated)
Position
repeatability
X and Y
combined
±0.012mm ±0.015mm
J3 (Z) ±0.01mm
J4 (θ) ±0.005°
Max. reach 550mm 700mm 850mm
Air piping Primary:Ø6 x 2 Secondary:Ø6 x 8 *5
Application wirings Hand: 8 points input/8 points output (20 lines)
Dedicated signal line for multipurpose hand
(2 lines + 2 power lines)
1 Ethernet cable <100BASE-TX> (8 lines) *6
Installation Floor mount
Ambient conditions

Ambient temperature : 0to40°C *2
Ambient humidity : 45to85% RH (without condensation)
Vibration : Not more than 0.5G(4.9m/s2)

Environmental conditions *3 IP20
Robot mass 65kg 67kg 69kg
1[rad] = 180/π[°], 1[N·m] = 1/9.8[kgf·m]
( * ) Explosion-proof is not available.
(*1) Note that maximum allowable moment of inertia varies according to load conditions on the wrist.
(*2) Permitted height is not higher than 1,000m above sea level. If used in higher place, permitted temperature is affected by height.
(*3) Fluids that cause the deterioration of sealants, such as gasoline-based cutting uids, chlorine, alkali, acids, and organic solvents, cannot be used.
(*4) The maximum velocity in the chart is a maximum value. The maximum value may change depending on work programs and load conditions of the wrist.
(*5) Secondary Ø4 piping is possible with solenoid valve (option). (*6) Possible to use 8 lines for LAN wiring as spare wires, too. (*7) Downward pressing force that is possible on tip of load when maximum load is mounted, and axis 1, axis 2, and axis 4 are static. Use at values below those noted here. Also, an overload error occurs if pressure is applied for a long period of time. Use under conditions in which errors do not occur

Exterior dimensions and operating envelope

ES06-01

Exterior dimensions and operating envelope ES06-01

Max. reachABCDEFGH
350mm125R350R142210R253220R174342
450mm225R450R135337
550mm325R550R191160R244172R197
Vertical strokeJKLM
200mm200133798386
340mm340-7938526

ES12-01

Exterior dimensions and operating envelope ES12-01

Max. reachA1A2BCDEH
550mm225325R550R191145240R295
700mm375R700R216
850mm525R850R278153°
Vertical strokeFG
350mm1080350
450mm1180450
(*1) The specifications are subject to changes without notice.
(*2) 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 Act. Please go through careful investigation and necessary formalities for export.
ALUMINIUM PROFILE
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Nachi
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