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  • NACHI MZ SERIES

    MZ SERIES

    MZ01

    Compact Robot

    Max. Payload : 1.o KG

    Max. Reach    : 350 mm

     

    1. Great for High Density Layout

    • Maximized factory floor space efficiency 

    2. Apply to various application

    • Large torques, helps your automation with high flexibility
    Robot type MZ01-01
    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.
    *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.
    *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.
    *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.

    Robot Dimensions and Working Envelope

    Wrist Dimensions

    Installation Dimensions

    MZ04 / MZ04E

    Compact and Super Fast Robot

    Max. Payload : 4.o KG

    Max. Reach    : 541mm

     

    1. Smart cable routing in hollow wrist

    • Hand cables are neatly housed inside of the hollow wrist. Smart cable routing helps prevent interference with peripheral equipment, which greatly improves equipment reliability.

    2. Compact with a wide working envelope

    • The lightweight and compact robot arm helps keep the equipment simple and saves space.
    • The installation area is half that of the MZ07 (A5 paper size).

    3. Fastest operating speed in its class improves productivity

    • The lightness of the robot arm and the latest control technologies give it the fastest operation in its class, which improves productivity.
    Robot ModelMZ04-01
    (MZ04D-01)
    MZ04E-01 *3
    (MZ04DE-01)
    Number of Axis6
    Drive SystemAC Servo Drive
    Max. Speed
    [rad/s(°/s)]
    ArmJ1Swivel8.38 (480)3.49 (200)
    J2Forward/Backward8.03 (460)2.62 (150)
    J3Upward/Downward9.08 (520)3.32 (190)
    WristJ4/J5Rotation 2/Bend9.77 (560)
    J6Rotation 115.71 (900)
    Max. Payload [kg]4
    Allowable Static Loading TorqueJ4/J5Rotation 2/Bend8.86
    J6Rotation 14.9
    Position Repeatability*2±0.02mm
    Ambient Temperature [°C]to 45
    InstallationFloor / Wall / Tilted / Invert mountFloor / Invert mount
    Robot Mass [kg]26 *525 *5
    Max. Reach [mm]541
    Dust Proof, Drip ProofIP40 equivalent *4

    l1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
    (*2) JIS B 8432 compliant.
    (*3) MZ04E/MZ04DE has 80W motor or smaller in all axis.
    (*4) MZ04/MZ04E is IP40 equivalent, MZ04D/MZ04DE is IP67 (dust proof, drip proof).
    (*5) Wall mount Bottom Connection Type +4Kg.
    Bottom Connection Type +6kg.

     

    Specification of controller

    Controlled Axis6-Axes
    Maximum Control Axis7-Axes
    Program Number9,999 programs
    Memory Capacity256MB (2,560,000 program steps equivalent)
    Memory DeviceUSB Port
    External Dimension369(W) x 490(D) x 173(H)
    WeightApprox. 17kg
    Primary Power Supply3-Phase AC200-230V ±10%
    Single Phase AC200-230V ±10%
    Consuming Power0.4KVA
    Dust Proof, Drip ProofIP20
    Ambient Temperature0 to 40°C
    Ambient Humidity20 to 85% (Non-condensing)
    Robot dimensions and Working envelope

    Robot base dimensions diagram

    Detail of wrist

    (*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 Control Law. Please go through careful investigation and necessary formalities for export.

    MZ07

    The World Fastest Lightweight compact Robot

    Max. Payload : 3.5 – 7 KG

    Max. Reach    : 723 – 1102 mm

     

    1. High-speed motions

    • The world’s fastest speed specification contributes to improved productivity.

    2. Wiring through a hollow wrist

    • Improves practicality by reducing the risk of interference between the wiring and nearby equipment, and enables easy entry into confined areas.

    3. Supports a wide range of applications

    • In addition to the standard specification, visual, additional axis and force sensor specifications are available, satisfying all needs at a production worksite.

    4. Controller

    • CFD Controller

    Robot model MZ07-01
    (MZ07P-01)
    MZ07L-01
    (MZ07LP-01)
    MZ03EL-01
    Construction Articulated
    Number of axis 6(5) 6
    Drive system AC Servodrive
    Max. 
    Working 
    Envelope
    Arm J1 Swivel ±2.97rad (±170°)
    J2 Forward/
    Backward
    -2.36 to +1.40rad (-135°to +80°)
    J3 Upward/
    Downward
    -2.37 to +4.71rad
    (-136° to -270°)
    -2.43 to +4.71rad
    (-139° to -270°)
    -2.71 to +4.71rad
    (-155° to -270°)
    Wrist J4*3 Rotation2 ±3.32rad (±190°)
    J5 Bend ±2.09rad (±120°)
    J6 Rotation1 ±6.28rad (±360°)
    Max.
    Speed
    Arm J1 Swivel 7.85rad/s (450°/s) 5.24rad/s (300°/s)
    J2 Forward/
    Backward
    6.63rad/s (380°/s) 4.89rad/s (280°/s) 4.01rad/s (230°/s)
    J3 Upward/
    Downward
    9.08rad/s (520°/s) 6.28rad/s (360°/s)
    Wrist J4*3 Rotation2 9.60rad/s (550°/s)
    J5 Bend 9.60rad/s (550°/s)
    J6 Rotation1 17.5rad/s (1000°/s)
    Max. Payload Wrist 7kg 3.5kg
    Allowable Static
    Loading Torque
    J4*3 Rotation2 16.6N·m 6.0N·m
    J5 Bend 16.6N·m 6.0N·m
    J6 Rotation1 9.4N·m 2.9N·m
    Max. Allowable 
    Moment of Inertia*1
    J4*3 Rotation2 0.47kg·m2 0.12kg·m2
    J5 Bend 0.47kg·m2 0.12kg·m2
    J6 Rotation1 0.15kg·m2 0.03kg·m2
    Position Repeatability*2 ±0.02mm ±0.03mm
    Ambient Conditions 0 to 45°C
    Installation Floor / Wall / Tilted / Inverted mount
    Robot Mass 36kg *5 38kg *5 39kg
    Max. Reach 723mm 912mm 1102mm
    Dust Proof, Drip Proof IP67
    1[rad]=180/p[°] 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.
    (*4) The “Max. speed” in this table is the available maximum value and will change depending on the workprogram and the wrist load condition.
    (*5) Wall mount Bottom Connection Type +6kg.
    Bottom Connection Type +8kg..

    MZ07/07L Robot dimensions and Working envelope

    Robot dimensions and Working envelope MZ07 Service Taps

    Service Taps MZ07

     
    Wrist dimensions

    Wrist dimensions MZ07

    Robot base dimensions

    Robot base dimensions MZ07

    (*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 Law. Please go through careful investigation and necessary formalities for export.

    MZ03EL Robot dimensions and Working envelope

    Robot dimensions and Working envelope MZ03

    Wrist dimensions

    Wrist dimensions MZ07

    Robot base dimensions

    Robot base dimensions MZ07

    MZ12

    Compact and Multipurpose Robot

    Max. Payload : 12.o KG

    Max. Reach    : 1454 mm

     

    • Protection level: IP67 rated Paint is coolant resistant
    • Leads its class in speed in precision
    • Footprint is 17% smaller than conventional robots
    • Through-arm cabling and air piping included
    ModelMZ12-01
    StructureArticulated
    Controllable Axes6
    Drive SystemAC Servodrive
    Max.Working EnvelopeJ1±2.97rad (±170°)
    J2+1.57 to -2.79rad (+90 to -160°)
    J3+3.67 to -2.57rad (+210 to -147°)
    J4±3.32rad (±190°)
    J5±2.44rad (±140°)
    J6±6.28rad (±360°)
    Max. Speed*1J14.54rad/s (260°/s)
    J24.01rad/s (230°/s)
    J34.54rad/s (260°/s)
    J48.20rad/s (470°/s)
    J58.20rad/s (470°/s)
    J612.22rad/s (700°/s)
    PayloadWrist12kg
    Allowable Static
    Loading Torque
    J425N·m
    J525N·m
    J69.8N·m
    Max. Allowable
     Moment of Inertia*2
    J40.7kg·m2
    J50.7kg·m2
    J60.2kg·m2
    Position Repeatability *3±0.04mm
    Max. Reach1454mm
    Air PipingØ6×2, Ø8×1
    Application Wirings24wires
    (including wires for the optional solenoid valves)
    InstallationFloor / Inverted mount / Tilted
    Ambient ConditionsAmbient temperature : 0 to 45C°*4
    Ambient humidity : 20 to 85%RH
    (without condensation)
    Vibration : Not more than 0.5G (4.9m/s2)
    Environmental
    Conditions*5
    IP67 equivalent (Protection Rating)
    Weight150kg

    (*1) 1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
    * Explosion-proof version is not available.
    *1 The maximum speed in the chart is a maximum value. The maximum value may change depending on work programs and load conditions of the wrist.
    *2 The Allowable Moment of Inertia of a wrist changes with load conditions of a wrist.
    *3 JIS B 8432 compliant.
    *4 Using at 1000 m or lower sea level. Ambient temperature has limitations when allowable altitude is exceeded.
    *5 Fluids that cause the deterioration of sealants, such as gasoline-based cutting fluids, chlorine, alkali, acids, and organic solvents, cannot be used. The wire-harness portion is IP65 equivalent, and the robot controller is IP20 equivalent.

    Robot Dimensions and Working Envelope

    Wrist dimensions

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