Programming tool

Graphic User Interface

PC-based Teaching Tool

Standard

Flex-GUI

Option■Customizable teach pendant screen menu.
■Works as a system operation console which can control
peripheral devices.

■Software for robot setting, programming and debugging.
●User can manage setting and program files based on the project.
●Exclusive editor for robot language●User can easily manage and input signal, position and parameter.
●User can control the robot without teach pendant.

3D view

Programs

Parameters
Programming

Jog panel

Project tree

Off-line simulation tool

FD on Desk Light

Standard

Support for Various Fieldbus■Best simulator for a feasibility study.

Option■DeviceNet (master, slave)■EtherNet/IP (master, slave)■EtherCAT (slave)■CC-Link (master, slave)■PROFIBUS (master, slave)■PROFINET (slave)●Off-line programming●Operation and layout study●Cycle time simulation●PLC program editing●Operation instruction

DeviceNet and EtherNet/IP are trademarks of ODVA. (Open DeviceNet Vender Association, Inc.)
EtherCAT is trademarks of Beckhoff Automation GmbH.
CC-Link is a trademark of CC-Link association. (CC-Link Partner Association: CLPA)
PROFIBUS and PROFINET are trademarks of PROFIBUS & PROFINET International.

Application Examples
Load・unload from/to a narrow entrance.

Picking

Conventional
SCARA robot(Inverted mounttype)

EZ series(Inverted mount type)

www.nachi.com
Head Office
Robot Division

Shiodome Sumitomo Bldg. 17F, 1-9-2 Higashi-Shinbashi, Minato-ku, Tokyo 105-0021
1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, JAPANNACHI ROBOTIC SYSTEMS INC.
NACHI CANADA INC.
NACHI MEXICANA, S.A. DE C.V.
NACHI BRASIL LTDA.
NACHI EUROPE GmbHNACHI TECHNOLOGY (THAILAND) CO., LTD.
NACHI SINGAPORE PTE. LTD.
PT.NACHI INDONESIANACHI TECHNOLOGY INDIA PVT. LTD.
NACHI (AUSTRALIA) PTY. LTD.
NACHI (SHANGHAI) CO., LTD.

Michigan, U.S.A.
CANADAMEXICOBRASILGERMANYTHAILANDSINGAPORE
INDONESIA
INDIA
N.S.W, AUSTRALIA
CHINA

Tel: +1-248-305-6545
Tel: +1-905-660-0088
Tel: +52-442-153-2424
Tel: +55-11-4793-8800
Tel: +49-(0)2151-65046-0
Tel: +66-2-714-0008
Tel: +65-65587393
Tel: +62-21-527-2841
Tel: +91-(0)12-4450-2900
Tel: +61-(0)2-9898-1511
Tel: +86-(0)21-6915-2200

Tel: +81-(0)3-5568-5247
Tel: +81-(0)76-456-2223

Fax: +81-(0)3-5568-5237
Fax: +81-(0)76-493-5251

Fax: +1-248-305-6542
Fax: +1-905-660-1146
Fax: +52-442-153-2435
Fax: +55-11-4793-8870
Fax: +49-(0)2151-65046-90
Fax: +66-2-714-0740
Fax: +65-65587371
Fax: +62-21-527-3029
Fax: +91-(0)12-4450-2910
Fax: +61-(0)2-9898-1678
Fax: +86-(0)21-6915-5427

http://www.nachirobotics.com
http://www.nachicanada.com/
http://www.nachi.com.mx/
http://www.nachi.com.br/
http://www.nachirobotics.com.eu/
http://www.nachi.co.th/
http://www.nachinip.com.sg/
http://www.nachi.co.id/
http://www.nachirobotics.com.au/
http://www.nachi-china.com.cn/●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 Act. Please go through careful investigation and necessary formalities for export.

CATALOG NO.

R7804E-2
2017.11.V-ABE-ABE

EZ
New Category

SERIESWING SLICER RobotUnique mechanism is employed in the robot body.
Z-axis Moving Structure

Slim Horizontal Arm

Z-axis structure (along which whole arm moves)
makes its arm compact.

Smart Cable Routing
With the smart cable routing feature, risk of cable interference with peripheral devices is reduced
and the operational reliability is significantly improved.

Slim, light weight and high speed
operation is possible due to no
servomotor in the robot arm.

Floor mount type SCARA

Inverted mount type EZ Series

Wires and tubes are routed outside

Wires and tubes are routed through the hollow wrist

Hollow wrist
φ36 mmEntangled
cablesInterference

Wires and tubes arerouted through the hollow wrist

Cut Back on Equipment (Example of Tablet Assembly Line)
Line width reduced by 30 %. Work space reduced by 40 %. Reduce the amount of equipment significantly.

Floor mounttype SCARA

Inverted mounttype EZ Series

0.8 m2

0.5 m2

Various Lineup
User can select a combination of following types and Z-axis strokes;
Inverted mount/Floor mount and 250 mm/150 mm strokes.

6 axis specifications (EZ02)
Dexterous operation is possible to add
2- axis structure to tip of robot.

40 % reduction

750 mm

850 mm

650 mm

970 mmWide Operating Envelope
The small horizontal arm permits a wide
operation envelope and compact layout.

High Speed with Shortest Path (Example of Tablet Assembly Line)
Potentially reduce cycle time by up to 30 % (compared to afloor mount type SCARA).
Floor mount type SCARA

Inverted mount type EZ Series

Inverted mount typeZ-axis 250 mm

Inverted mount typeZ-axis 150 mm

Floor mount typeZ-axis 250 mm

Floor mount typeZ-axis 150 mm

EZ03V4-4525

EZ03V4-4515

EZ03F4-5525

EZ03F4-5515

Compact Controller
Just 369 mm wide
Multi-controller CFDL can be placed within the support structure.
■ It can control up to 4 robot unit.
■ Emergency stop and operation switches are provided for each 4 unit independently.
(they can work in synchronous manner too.)1
3
1
3
ConveyorCo

42
Teach pendant

Reach
450 mmConveyor

250 mm360° operating envelope. Eliminates
center dead zone inaccessible byconventional SCARA robots.

4

2

Operation distance is 3,400 mm
Cycle time is 2.3 sec.

Controller
CFDL4-0000(Controller for 3 or 4 arms)

Operation distance is 2,000 mm
Cycle time is 1.6 sec.

OptionController for 1 or 2 arms
CFDL1-0000
CFDL2-0000

Robot modelStandard
SpecificationsEZ□□□□-02-□□□□Mark 2

Mark 3

Notes

V
F
V
F

4
4
6
6

3 kg payload, inverted mount, 4 axis

03
02

Robot dimensions and operating envelope

Arm variation

Basic specifications
Mark 1

Mark 1Max. reach45

3 kg payload, ﬂoor mount, 4 axis
2 kg payload, inverted mount, 6 axis

Vertical axis stroke

Notes

15
25
15
25

150 mmInverted
mount

450 mm55

2 kg payload, ﬂoor mount, 6 axis

Mark 2550 mm

250 mm
150 mmInverted mount

Floor
mount

250 mmItemab

EZ03V4-02-4525

665

250

EZ03V4-02-4515

565

150

EZ02V6-02-4525

730

250

EZ02V6-02-4515

630

150

170°

Model

R225

Maximum controllable units

R225

Speciﬁcations

180°

266
133

EZ03V4-02-4515

EZ03V4-02-4525

EZ03F4-02-5515

EZ03F4-02-5525

Structure

EZ02V6-02-4515

EZ02V6-02-4525

EZ02F6-02-5515

133

225

225

EZ02F6-02-5525

6aInstallation

450 mm

550 mm

450 mm

550 mmInverted mount

Floor mount

Inverted mount

Floor mount

Drive system
150 mm

250 mm

150 mm

250 mmPoint A
Point A

150 mm

250 mm

150 mm

-

±105°

-

±360°
1200 mm/s

1400 mm/s

1000 mm/s

J2

450°/sJ3

720°/s1200 mm/s

1000 mm/s

J4

2400°/s

1200°/sJ5-

720°/sJ6-

720°/s250

EZ03F4-02-5515

320

150

EZ02F6-02-5525

335

250

255

2 kg (3 kg)

1 kg (2 kg)
0.03 kg·m2 (0.013 kg·m2 rated)-

0.03 kg·m2 (0.013 kg·m2 rated)2150±0.014 mm

266
133±0.02 mm

Point A

CFDL1-0000

CFDL2-0000

CFDL4-0000

USB memory
Ethernet

PCI option

2 slots

Fieldbus

DeviceNet, PROFIBUS, EtherCAT, CC-Link, and others
EtherCAT and CC-Link are only compatible as a slave

1 slotDigital I/O

Maximum 64/64

Software PLC

Yes

Built-in visual sensor

OptionBrake release mode

Mechanism conversion

No

Overseas compliance

UL, CE, KCs
None (not compliant with RWC, MEDAR, etc.)

70 dB

Wrist dimensions

1

G

A20

A19

A18

A17

A16

A15

A14

A13

A12

A11

B

A22

A10

A09

A08

A07

A06

A

A21

A05

A04

A03

A02

A01

CN10A

4 axis

Port5

Port3

Port1

6 axis

Port1

150
85
φ66
160

5

3

φ52

4-M5, depth 11

95

4-φ9

2

Port2

2-φ5 H7, depth 7
A03 A02 A01
32
1
A07 A06 A05 A04
76
54
A10 A09 A08
10
98

P.C.D.47
φ36 hole diameter
for wiring hollow

Port2

Port4

CN10A

CN10A

Point A

2-φ4 H7, depth 74-M4, depth 7

369
310
280

3

Port3

φ34h7

140 ±0.06

4Tool flange origin(origin of wrist
coordinates)(X,Y,Z)=(0,0,0)

Back view

254

5

Point A

4-15

155

φ80

Application connector

Controller dimensions

186
206

P.C.D.27
φ18 hole diameter
for wiring hollow

510(490)57

150 ±0.05

φ57φh7

6

Installation dimensions
6 axis65

4 axis2-φ6H7

1 [rad] = 180/π[°], 1 [N・m] = 1/9.8 [kgf・m]*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 the 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.
*6: A-weighted equivalent sound level measured according to JIS Z 8737-1 (ISO 11201). (while operating at maximum speed with rated load)

Both inverted and floor mount

Left view

Top view

Right view263(187)

45 kg

φ34 h7 range

44 kg

6

43 kg

3.6

42 kg

φ57 h7 range

Noise levelC

Speciﬁcations

Welder I/F

IP20

Robot massD

Point A

Ambient humidity: 20 to 85 % RH (without condensation) Allowable vibration of installation surface: Not more than 0.5 G (4.9 m/s )*7

20 to 85 % (without condensation)

Brake release

325

55

2

Environmental conditions*6

0 to 40°C (50/60 Hz)

Ambient humidity

170°

225
EZ03
c

Ambient temperature: 0 to 45° C

Installation conditions

IP20
Single phase/3φ 200-230 VAC

Network133

10 wires*5369 (W) × 490 (D) × 187 (H) 369 (W) × 510 (D) × 263 (H)External memory

2

φ 6×2

Application wirings

External dimensions

Model
R225

LOCUS
(Point A)

0.01 kg·m (0.001 kg·m rated)

Air piping

170°
145°

145°

0.05 kg·m2 (0.005 kg·m2 rated)

Position repeatability

d

420

R225

Allowable J4
momentJ5of inertia
for wrist*3 J6-

82, 5, 10, 15, 20 m

Itemc
EZ03F4-02-5525

EZ02F6-02-5515

Payload (max)*41200 mm/s

d1400 mm/s

OptionEmergency stop, mode switching

Controller options

Floor mount50
R51200 mm/s

PLd Category-3, *ISO10218 compliant

±145°
±180°

J6
J1 VerticalMax.
speed*2

±180°

±360°

R1
91

±145°

Safety performance

Ambient temperature

250 mm

±170°
±180°

17-bit absolute encoder

Power supply

55

J2
Max.
J3
operatingenvelope J4J5

AC servo motor

Compatible encoder

Protection rating

AC servo system

J1 Vertical

Compatible motor

W/H

b

*1

4 units

6 axis/unit

Operating switches

EZ03

CFDL4-0000

2 units

Relay unit

4

Max. reach

1 unitTeach pendant

286

Horizontal articulated

Number of axis

CFDL1-0000 CFDL2-0000

Maximum controllable axis

LOCUS
(Point A)

Item

Speciﬁcations

50

R4

180°

170°

Robot specifications

Robot model

Basic specifications of controller

Front view
Figures in parentheses indicate the CFDL1-0000, CFDL2-0000

Options
Option drawings

Option list
I/F

ing

17

ve

ET

IB

OF

ilt-

in

CN
so

(co

nn

len

3

Ac

ce

ss

or

oid

ec

10

tor

va

lve

inc

lud

ed

EZ
(ro 03-0
bo
2
tb
od
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yt

in

I/O

ha

rne

ss

oo

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dju

ls

op

tio

sta

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sto

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es

rn

I/O

0
01

ion
Vis
19

ha

r

7

2
6/

CN

29

I/O

con

nec

CN

10

A

Tra

28

ns

fer

jig

I/O

tor

ot

ca

ble

on

oto

25

ro

bo

rh

CF
(Co DL c
ntr ontrol
un oller
it)

Ex

ntr

oll

M

er

Co
nn
pr
e
ote cable ( ctor fo
str
cti
on andard power
)

bo

x

rm

le ustor)mecr c by
20
we ed
Unit
Po epar
com
(Pr
pat
ible
with
C
(U E spec
)
r
L,
if
e
KC icationtom
le cus
b
s) s
ca by

W
ris

tw

irin

gc

lam

TP

ho

s

6

US

per

form

anc

le
ab

nc

Wiring and piping inside machine bodyTP

DeviceNet

11

DeviceNet (quick connect)

12

PROFIBUS

13

PROFINET

14
15
16
17
18

CC-Link
FL-netAnalog output
Conveyor tracking I/F
Controller protection box

19

Vision sensor

20

21
22
23
24

UL speciﬁcations
CE speciﬁcations
KCs speciﬁcations
High performance TP
Mini TPTP shorting plug
TP extension cable

25

Motor/encoder harness

26

CNR010 I/O harness(loose wires for controller
connections on robot side)27

CNR010 I/O harness
Relay output supported(both terminals connected
to controller on robot side)

28
29
30

I/O cable on robot arm
I/O connector on robot arm
32-contact I/O harness(connected to controller
connector, customer side isloose wires)
I/O expansion, 1 board
speciﬁcations

31

64-contact I/O harness(connected to controller
connector, customer side isloose wires)
I/O expansion, 2 board
speciﬁcations

32

Power voltage converter

eT

P

me

mo

ry,

1

GB
Off
FD lineFE on progon Des ram
De k L inskig g
Pr ht ( softo ( sta wa
opr
tio ndar en)d)Wrist dimensions (option 5)

CN60A1

6 axis specifications

CNR010Signal line inlet

AWG23×3P

AIR1(φ6)
Exhaust (silencer) Air inlet
AIR2(φ6)

CN60B

CN60A2

CN60A1

φ4×2.5

CNR010Signal line inlet

AWG23×3P

7

Built-in solenoid valve(1 valve)

φ4×2.54 axis only

76

φ4×2.5

φ4×2.510e69

Built-in solenoid valve
4 axis(1 to 2 valves)specifications

EtherNet/IP

sio●Options are installed by customer according to their installation instruction manual.
●TP is an acronym for teach pendant

φ4×2.59nxte

r
we redPo epa
r
(P

p

M
2
ini
TP 1 Hig
h

lug

p
ing

rt

24

B

ta

ab

5

na
ter

23

Co

e

r/

arm

o
nc

a
ls

22

p

re

l (p

sig

cu

e
ar

na

y
fet

de

rob

IP

r)

a

on

Wrist wiring clamp
USB memory
Compact I/O board
I/O expansion

t/

me

ss 1
8

Built-in solenoid valve

5
6
7
8

et

sto

e
rn

4

eN

e
rN

y
db

2

Adjustable stopper
Transfer jig
Accessory tools

e

Eth

9

R

ppe

2

/1

10

sor
sen

1
2
3

vic

De

1

the

l

ra

he

rip

pe

r
me
8
sto t
cu en
To uipmqe

Product name

ion

ns

pa

I/O

R0

bo

/s

ter

nk

ex

e
lav

s
ma

-Li

CC

o
hc

t

US

PR

14

nt

lia

mp

P

12

Bu

sla

IN

F
RO

13

4

r

rt

yo

ve

n
Co

k
ac

No.

φ4×2.5

CN10A

CN60B

Signal line outlet

φ35 H7

Air outlet(φ4 tube: 3 lines)(to hand)
5-φ4×2.5

Port3
Port1(SOL1A)
Port2(SOL1B)

Port5
Port1(SOL1A)
Port2(SOL1B)
Port3(SOL2A)
Port4(SOL2B)

Air outlet(φ4 tube: 5 lines)(to hand)

CN60A2

CN60C
AWG23×3P

CN10A

Signal line outlet

AIR1(φ6)
Exhaust (silencer) Air inlet
AIR2(φ6)22.5°
3-φ4×2.5

10-AWG22

φ61 H72-φ5 H7, depth 9(P.C.D. 47 balanced)

22.5°
4-M5, depth 9(P.C.D. 47 balanced)

10-AWG22
CN60C
AWG23×3P

φ7(wiring clamp hole)
5-φ4(tube clamp hole)

Speciﬁcations
For number 2 axis
For both crane transport and inverted mount jig
For 4 axis, zeroing pin and block
For 6 axis, zeroing pin and block
1 valve (4 and 6 axis speciﬁcations)
2 valves (4 axis speciﬁcations)
Wire/tube clamp for hollow in number 4 axis
1 GB
8 point/8 point (relay output)
I/O 32 point/32 point (NPN 1 board expansion)
I/O 64 point/64 point (NPN 2 board expansion)
I/O 32 point/32 point (PNP 1 board expansion)
I/O 64 point/64 point (PNP 2 board expansion)
Master 1CH
Slave 1CH
Master 1CH + Slave 1CH
Slave 2CH
Master 2CH
Master 1CH
Slave 1CH
Master 1CH + Slave 1CH
Slave 2CH
Master 2CH
Master 1CH
Slave 1CH
Master 1CH + Slave 1CH
Slave 2CH
Master 2CH
Master 1CH
Slave 1CH
Master 1CH + Slave 1CH
Slave 2CH
Master 2CH
Slave 1CH
Slave 2CH
Both master and slave supported 1CH
1CH
Analog output 4CH
RS422 Differential input encoder counter1 to 2 units (CFDL1, CFDL2)
4 units (CFDL4)
Vision sensor unit for CFD (separate installation), cross laser
Vision sensor unit for CFD (separate installation), monocular/stereo camera
Vision sensor unit for CFD (separate installation), 2 LED
Vision sensor unit for CFD (separate installation), 3D
UL standard compliant
CE marking compliant
Korean KCs compliant
Cable length 4 m
Cable length 4 m
To disconnect teach pendant
5m
10 m
2m
5m
10 m
15 m
20 m
2.5 m
5.5 m
10.5 m15.5 m20.5 m25.5 m
2.5 m
5.5 m
10.5 m15.5 m20.5 m25.5 m
1.5 m
Connector only, connectors are soldered type
2.5 m
5.5 m
10.5 m15.5 m20.5 m25.5 m
2.5 m
5.5 m
10.5 m15.5 m20.5 m25.5 m
CFDL1-0000, CFDL2-0000
CFDL4-0000

Parts No.
OP-S5-032
OP-S2-049
OP-T2-099
OP-T2-094
OP-H4-009
OP-H5-011
OP-W3-018
FD11-OP93-A
CFD-OP125-A
CFD-OP125-B
CFD-OP151-A
CFD-OP151-B
CFD-OP130-A
CFD-OP130-B
CFD-OP130-C
CFD-OP130-D
CFD-OP130-E
CFD-OP131-A
CFD-OP131-B
CFD-OP131-C
CFD-OP131-D
CFD-OP131-E
CFD-OP129-A
CFD-OP129-B
CFD-OP129-C
CFD-OP129-D
CFD-OP129-E
CFD-OP132-A
CFD-OP132-B
CFD-OP132-C
CFD-OP132-D
CFD-OP132-E
CFD-OP136-B
CFD-OP136-D
CFD-OP98-B
CFD-OP101-B
CFD-OP46-B
CFD-OP47-A
CFD-OP133-A
CFDL-OP133-A
CFD-OP139-A
CFD-OP139-B
CFD-OP139-C
CFD-OP139-D
CFDL-UL-A
CFDL-CE-A
CFDL-KCS-A
CFDTP-10-04M
MINITP-10-04M
CFD-OP153-A
CFDTP-RC05M
CFDTP-RC10M
E000E-J1-02-B
E000E-J1-05-B
E000E-J1-10-B
E000E-J1-15-B
E000E-J1-20-B
IOCABLE-10-02M
IOCABLE-10-05M
IOCABLE-10-10M
IOCABLE-10-15M
IOCABLE-10-20M
IOCABLE-10-25M
IOCABLE-40B-02M
IOCABLE-40B-05M
IOCABLE-40B-10M
IOCABLE-40B-15M
IOCABLE-40B-20M
IOCABLE-40B-25M
IOCABLE-20-01M
IOCABLE-20-00
IOCABLE-30-1-02M
IOCABLE-30-1-05M
IOCABLE-30-1-10M
IOCABLE-30-1-15M
IOCABLE-30-1-20M
IOCABLE-30-1-25M
IOCABLE-30-2-02M
IOCABLE-30-2-05M
IOCABLE-30-2-10M
IOCABLE-30-2-15M
IOCABLE-30-2-20M
IOCABLE-30-2-25M
CFD-OP154-A
CFDL-OP154-A

Notes

For 1 to 4 axis
For 1 to 6 axis
Pressure range 0.1 to 0.5 MPa
Coil voltage rating 24 VDC
Air ( φ4, 5 lines), signal lines (4-axis only)
Equipped on sequence board
Occupies 1 slot
Occupies 2 slots
Occupies 1 slot
Occupies 2 slots
Occupies 1 slot

Occupies 1 slot

Occupies 1 slot

Occupies 1 slot

Occupies 1 slot
Occupies 1 slot
Occupies 1 slot
Occupies 1 slot
Occupies 1 slot
IP54 protection class compliant (dustproof and drip-proof box)

Select one from 21, 22, or 23.

User can choose either one connector on
both ends.
It is necessary to select one of them.

I/O cable between robot and controller.
Controller side is open-ended. User needs
to connect wires to match appropriate
signals.

I/O cable between the robot andsequence I/O board (NPN type) in thecontroller.

Customer recommended to complete
wiring on application side.
Can be used with CFD-OP125-A or CFDOP151-A.

Customer recommended to complete
wiring on application side.
Can be used with CFD-OP125-B or CFDOP151-B.

Portable transformer for 100 VAC