Application
ExamplesMachine Loading

Picking

MZ

Packing/Casing

SERIESUltra High Speed and Compact

CATALOG

Assembling

Deburring

Inspection

SealingFinishingwww.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 MEXICO, 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 (CHINA) 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.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.

R7702E-10
2019.01.V-ABE-ABE

Characteristics
Robot Body

Controller

Top Perform High Speed**Combined max speed

Top Perform High Speed

Compact & Flexible Installation

Standard Cycle Time Evaluation (go and back) *1

Inverted mount

Wall mount

Vision Sensor NV-Pro■ Could be installedinside robot riser■ Contributing to improvement of productivity by high speed

Floor mount

Various Application■ Only 369mm in width

Available to All-round Mounting

300mm

Compact Cabinet

Option■ Operation by using teach pendant, high speed processing■ Various application available by 2D and 3D vision sensing,dimension measurement and parts type districting

Tilted mountCompact Installation Space
0.31sec.

25mm*2■ Small bottom design enables
compact installation

Cable Connection
from Bottom Side

User Friendly Functions

Option15
18 1.5
9.5■ More compact installation■ Robot can be installed close to
Figures shown indicate:
MZ04, MZ07.
behind wall
■ Cables can be stored inside robot riser0
10 0.519

Software PLC

Standard

Force Sensor

Option■ Assembling (inserting, following, phasing), polishing, deburring■ Control peripheral equipment by robot controller■ Simplifies system configuration to reduce cost

Application example for finishing process.

*1: Payload is 1kg. This may vary according to the robot program and installation.
*2: Value for MZ07.
175

Smart Cable Routing

moving direction

Cable and Tubes Routing through Hollow Wrist
force direction
Cable routing
improved

Conventional wrist
overhanging cables① avoids interferencewith peripheral
equipment② allows the arm toenter tight spaces③ improved reliability
with stable cablebehavior duringhigh speed
operation

Approaching to Machine

Conventional wrist

Offline Simulation Tool

Pneumatic Valves inside Robot Arm■ Solenoid valves can be installed inside robot arm
MZ04

Hollow wrist

cables are stored
inside wrist

MZ07

FD on Desk Ⅱ Light

Standard● Off-line programming● Operation and layout study● Cycle time simulation● PLC program editing● Operation instruction

User Graphical Interface FlexGui

SOL Valve in Arm(Option : Max. 2
valve available)

Hollow wrist

Access to
Smaller window

Fieldbus

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

Hollow wrist

SOL Valve in Arm(Option : Max. 3
valve available)

Robot Monitoring Unit (RMU)■ Safety unit to monitor robot position and speed■ Reducing cost and space saving■ Best simulator for a feasibility study.

Entering into Cover

Conventional wrist

Avoids cable interference
from machine

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

StandardSpecifications

Robot type MZ0□□-01-□□□-CFD-0000
Arm Variation

D

4 kg payload, Standard arm, IP67E

4 kg payload, Standard arm, Low power type10 wires

LAN cable, Light cable, Laser cable

10 wires

6 freedom Force sensor cableL

7 kg payload, Long arm

6 axes, Max reach 912mm

S

Additional axis

Up to 1 Up to 1

10 wires

1 motor and 1 encoder cableP

7 kg payload, Standard arm

5 axes, Max reach 723mm (does not have J4)LP

7 kg payload, Long arm

5 axes, Max reach 912mm (does not have J4)

MZ04,

MZ07, and

MZ07L-01(MZ07LP-01)

MZ07L.

Item

170°

Controllable Axes

-2.37 ～ +4.71 -2.43 ～ +4.71
Upward/-2.18 ～ +4.88 (-125 ～ +280)
Downward（-136 ～ 270） （-139 ～ 270）
±3.32 (±190)

J5

Bend

±2.09 (±120)

J6Rotation 1

J1

SwivelJ2

Forward/Backward

8.03 (460)

2.62(150)

J3

Upward/Downward

9.08 (520)3.32(190)

6.63 (380)4.89 (280)9.08 (520)

6.28 (360)

J5

Bend

9.77 (560)

9.60 (550)J6

Rotation 1

15.7 (900)17.5 (1000)

Wrist

4

7

Rotation 2

8.86

16.6

J5

Bend

8.86

16.6

J6

Rotation 1

4.9

9.4

Rotation 2

0.2

0.47

Bend

0.2

0.47

J6

Rotation 1

0.07

Max. Reach [mm]723

ａ 422 ｂ 495
ｃ 646

Floor / Wall / Tilted/ Inverted mount Floor / Inverted mountProtection Rating

IP40 equivalent

Weight [kg]*726

Floor / Wall / Tilted / Inverted mount
IP67

25

36

D
C

5

4

3

2

G

A20 A19 A18 A17 A16

83
MZ07.

External Dimensions (mm)369(W)×490(D)×173(H)Controller Options
Item

Approx. 17kg

Power Supply

One is possible. (Motor Capacity: up to 600W)

Single phase/3φ AC200-230V ±10%DeviceNet, PROFIBUS, EtherCAT, CC-Link and others.

Fieldbus

0.4KVA

EtherCAT and CC-Link are only compatible as a slave.

IP20

Maximum 64/64 point

Ambient Temperature

0～40°C (50/60Hz)

Ambient Humidity

20～85%(Without Condensation)

Digital I/O

8 photo coupler input and 8 transistor output or
8 photo coupler input and 8 relay contact output
USB Memory (1GB)External Memory

NV-ProVision Sensor (*)

SIL3

A03

A01

A02

3

2

1

A07

A06

A05

A04

7

6

5

4

A10

A09

A08

10

9

8

Cat. 4
IP54

Protection Rating(*) Another box is required.

Wiring and Tubing Inside Arm (Standard)

A A21 A05 A04 A03 A02 A01

Base connector

Wrist connector(Diagram of contacts on connectors)

MZ04

Signal cable outlet

MZ07

Air outlet

10-AWG2295.5±0.1

100
75

4-φ11

Signal cable outlet

10-AWG22

10-AWG23

2-φ4×2.5
10-AWG23

198

190.5
160

Air inlet

Air inlet
160

95.5 ±0.1

189.5

Air outlet

2-φ4×2.5

94

4-φ9Processed
face forinstallation

Specifications

Additional Axes

MZ07

130

151.5
76.5±0.1

φ62 h7
φ72 h7
φ45 h780
MZ04,

USB Port

φ4×2.5
φ4×2.5

AIR1
（φ6）
AIR2
（φ6）
PURGE AIR（φ6）
CNR010p
4×6
G2
AW 4×6p
G2
AW

Figures shown indicate:

19
23

12
14
73

Ethernet

External Memory Interface

1

A15 A14 A13 A12 A1150±0.1

72

Network

Robot Monitoring Function

Robot Base Dimensions

Processed
face forinstallation

φ21
φ23(Diameter of wire hole)

369

CN10A

6

right side view

External Enable Switch, Protective Stop

Protection Rating

CNR010

MZ04

Wire hole(same asopposite side)

front view

External Emergency Stop, Safety Plug,

Consuming PowerB A22 A10 A09 A08 A07 A06

38

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.
*4: Using at 1000 m or lower sea level. Ambient temperature has limitations when allowable altitude isexceeded.
*5: MZ04E/MZ04DE has 80W motor or smaller in all axis.
*6: MZ04/MZ04E is IP40 equivalent, MZ04D/MZ04DE is IP67 (Protection Rating).
*7: Wall mount Rear Connection Type +4kg（MZ04＊ Series）+6kg（MZ07＊ Series）
Bottom Connection Type +6kg（MZ04＊ Series）+8kg（MZ07＊ Series）

2-φ5 H7 depth 7(P.C.D.53.5)(P.C.D.60)

Emergency Stop and Mode Switching (Teach/Playback)Weight

ａ 541
ｂ 618
ｃ 806

Connector Layout for Applications (Standard)
±0.03

*6

4-M5 depth 7(P.C.D.53.5)(P.C.D.60)

3 Position Enable Switch, Emergency Stop Button

Operating Panel

ａ 541
ｂ 723
ｃ 912

0 ～ 45°C

Ambient Temperature

Wrist Dimensions

ａ 119
ｂ 228
ｃ 266

level view

Cable Length: 4m

Common

ａ 119
ｂ 165

912

±0.02

Installation

Compact TP

0.15

541

Position Repeatability*2 [mm]5.7” Color LCD Touch Panel, Cable Length: 4m
Monochrome, 20 Characters x 4 Lines Display,

Exclusive Safety Input

9.60 (550)

J5

256MB

CN60B

*3

9,999

Memory Capacity

CN61A

J4

*3

9.77 (560)

Robot Language

Program Number

Teach Pendant

ａ 340
ｂ 345

Bottom connection Robot to controller cable is connected at robot bottom

Teach / Playback

Smart TP

ａ 260
ｂ 330
ｃ 420

B

*MZ04E/MZ04DE is permitted “O” only.

CN60A

Max. Allowable
Moment of Inertia*1[kg･m2]

5.24 (300)

Rotation 2

J4

Allowable Static
Loading Torque[N･m]

7.85 (450)J4Max. Payload [kg]7
PL d (Cat. 3)

AWG24×6p

Wrist±6.28 (±360)3.49(200)

8.38 (480)Wall mount J1 working envelope ±170°at wall mounting

6

Robot Monitoring Function

ａ0
ｂ 50
ａ 25
ｂ 45

W

Port5
Port1

*3

ａ 280
ａ 72 ｂ340
ｂ 73 ｃ 440

ａ 94.5ｂ 110.7

Rear connection Robot to controller cable is connected at robot rear

Controller Dimensions

Maximum Controllable Axes

CN10A

Max. Speed*4[rad/s(°/s)]

Rotation 2

ａ 189
ｂ 221.4

0Specifications

CN61A

Arm

J4

170°

J1 working envelope ±30°at wall mounting

CN60A

J3

-2.53 ～ +1.57 (-145 ～ +90) -2.36 ～ +1.40 (-135 ～ +80)

Notes

Standard

Port7
Port1

Forward/Backwardｂ 1249ｃ 1602Wrist±2.97 (±170)

Specification

0

Basic Specification of Controller

Teaching Method

J2*3

Vision sensor（cross laser） Up to 1 Up to 1
Up to 1 Up to 1

e
e
nc
m re
Fra r fee
int dius
ra
15
R1 0
ａ R15
ｂ

Arm

LAN cable, Light cable

Force sensor

6 (5)Swivel-10 wiresF

AC Servodrive
J1

10 wires

Up to 1 Up to 2

Mark

CN62A

6

Drive System

Up to 2 Up to 3

Vision sensor

U

Articulated

Controllable Axes

Standard

V

Connection Variation

Notes

CN10A

Structure0

6 axes, Max reach 723mm

Figures shown indicate:

MZ07-01(MZ07P-01)

Notes

Signal wires

7 kg payload, Standard arm

Specification
MZ04E-01*5(MZ04DE-01)

MZ04 MZ07

4 kg payload, Standard arm, Low power, IP67

Robot Dimensions and Working Envelope

Item

Max.
Working
Envelope[rad(°)]

6 axes, Max reach 541mm

Specification

Installation Variation
Mark* Specification

DE

Basic Specification of Robot
Model

Mark

4 kg payload, Standard arm

Solenoid valve(none)
7

MZ04-01(MZ04D-01)

Notes

490

(none)
4

Application Variation

Specification

173

Mark 1 Mark 2

φ6×4
φ6×4

AIR1（φ6）
AIR2（φ6）
PURGE AIR
（φ6）
CNR010Signal cable inlet

Signal cable inlet

Option List

Optionsrso )ene s t B, C kingcrcFo (slo r Tra)
tB
I/F eyo , C)(slo
nv t Brd
Co (slo
a
)
bo
I/F
,C
AT
tB
rC
slo
e
(
h
)
C)
Et ve ardB,(sla t bo
lot
s
(
ne
ard
FLbo
)
ET
tB
N
I
(slo
OF
d
r
PR ve)oa )C)(sla S b lave
)
B,
U
s
tB
lot
FIB r or
o
l
s
s
(
O
(
t)
）
PR aste
rd
en
NP
oa e)
/P
(m
ipm
k b slav NPN
qu
e
n
i
al
-L r /rd（ pherCC asteoaripe(m /O b
r
e
lI
)
om
ita
tB
st
Dig to cu
(slo
(
d
r
)
oa
,C
t b e)tB
Ne r slav (slo
e
c
rd
vi
ro
De aste boa )(m et/IP slave t A)r (sloerN r oEth aste ard
Compact TP(m bo(Cable L＝4m)
I/O
ni
i
M
y
t
Smart TPfesa(Cable L＝4m)
al
n
r
y
b
te
Ex nal red
sig epa er)(Pr stomcuRedMark Selectable Essential Option
Blue
Mark

OptionStandard gripper (Parallel gripper/Three fingers)

Wires clamp
ISO flange（P.C.D.31.5）

Robot monitoring unit

CN10A

Solenoid valve

I/O connector
on robot arm*

MZ07 -01

Brake release switch

I/O cable on robot arm（L＝1.5m）
Tools

Vision sensor
I/O harness（L＝2.5m,5.5m,10.5m,15.5m,
20.5m,25.5m）

Transfer jig

CNRO10(connector includedin the I/O harness option)

Adjustable stopper

CFD controller

ing

ort
sh
TP g
plu

IP67 set

Motor/Encoder
additional harness（L＝5m,10m,15m）

Controller
protection Box

Motor
Encoder harness（L＝2m,5m,10m,15m,20m）

Floor surface connection
specifications(included in the robot body)
Floor surface connection specifications(included in the robot body)Connector forPower Cable(Standard)
Power Cable(Prepared bycustomer)

Teach Pendant
additional cable（L＝5m,10m）

USB memory (1GB）

Offline Program Simulation
FDonDESK Ⅱ Light (Standard)
FDonDESK Ⅱ Pro (Option)

TP=Teach Pendant

Wrist Dimensions
ISO flange option ⑦

Air outlet（φ4, 5 lines）(to gripper)
Port7
Port1
（SOL1A）
Port2（SOL1B）
Port3（SOL2A）
Port4（SOL2B）
Port5（SOL3A）
Port6（SOL3B）（P.C.D. 31.5）
7-φ4×2.5

Solenoid valves(1 pcs/ 2 pcs /3 pcs)

CN60A

10-AWG23

φ20* H7 penetrated(hole size for wiring hollow)

7

Exhaust (silencer)

93
88

Air inlet

Air inlet

Signal inlet

p
4×6
G2
AW 4×6p
G2
AW

AIR1
（φ6）
AIR2
（φ6）
PURGE AIR（φ6）
Exhaust (silencer)
CNR010

φ6×4
φ6×4

AIR1
（φ6）
AIR2（φ6）
PURGE AIR
（φ6）
CNR0102-φ5 depth 7（P.C.D. 53.5 balanced）（P.C.D. 60 balanced）
4-M5 depth 7（P.C.D. 53.5 balanced）（P.C.D. 60 balanced）
5-φ4

φ66 h7

Solenoid valves(1 pcs/ 2 pcs)

Adjustable stopper
Transfer jig
Tools
IP67 set
Solenoid valve⑥⑦⑧

Wires clamp
ISO flangeStandard gripper *1⑨

Mini I/O board⑩

EtherNet/IP board⑪

DeviceNet board⑫

Digital I/O board⑬⑭

CC-Link board
PROFIBUS board⑮

PROFINET board⑯

FL-net board

⑰
⑱
⑲
⑳
㉑
㉒
㉓
㉔

㉙

㉚

φ45 h7

φ72 h7.5°㉛

φ40 h722°

φ4×2.5①②③④⑤

EtherCAT board
Conveyor Tracking I/FForce sensor I/F
Vision sensor
Robot monitoring unit
Brake release switch
Controller protection BOX
UL specification
CE marking specification
KCs specification
Smart TP *2
Compact TP *2
TP shorting plug *2
Teach Pendant additional
cable
Motor/Encoder harness

100
95

.5
22

φ4×2.5Specifications

㉕
㉖
㉗
㉘

4-M5 depth 7

CN60B

CN60A

2-φ5 H7 depth 6（P.C.D. 31.5）

Wrist clamp option ⑥

AWG24×6p

10-AWG23

CN61A

5-φ4×2.5

CN62A

10-AWG22

CN10A

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

CN10A
CN61A

10-AWG22

Air outlet（φ4, 7 lines）(to gripper)

Signal outlet

When ISO flange option is mounted,
hollow size is reduced from φ23 to φ20
φ66 h7
φ72 h7

MZ07

φ40 h8Wiring and Tubing in Robot Arm (When SOL installed in Arm)

Signal outlet

Item

CE marking Specification

Power Cable(Prepared by customer)

MZ04

No.

I/O harness(I/O harness forconnecting to Mini
I/O board)

7-φ4(tube clamp hole)
Signal inlet

Motor/encoder
additional harness(Flexible type extension
harness)7

φ7(wiring clamp hole)
Figures shown indicate:

93
100

MZ04,

MZ07.

I/O cable on robot arm
I/O connector on robotarm
USB memory
FDonDESK Ⅱ Pro

Parts No.
MZ04

MZ07

Restriction of axis 1 to 3 working envelope
Common for crane transporting, inverted and wall mount
Zeroing pin & Zeroing block
Air purge unit in robot body
1 valve
2 valves
3 valves
Clamp for wires and air tubes inside wrist hollow
ISO flange adapter (P.C.D.31.5)
Parallel gripper single S
Parallel gripper double S
Parallel gripper single M

OP-S5-026
OP-S2-044
OP-T2-089
OP-H9-008
OP-H4-006
OP-H5-010−
OP-W3-016
OP-W2-013
OP-F10-009−
OP-F10-010

OP-S5-022
OP-S2-042
OP-T2-078
OP-H9-004
OP-H4-004
OP-H5-008
OP-H6-004
OP-W3-012
OP-W2-012
OP-F10-002
OP-F10-003
OP-F10-004

Three fingers single S
Three fingers double S
Three fingers single M
Three fingers double M
I/O Photo coupler 8 inputs / NPN Transistor 8 outputs
I/O Photo coupler 8 inputs / Relay contact 8 outputs
Master 1CH
Slave 1CH
Master 1CH + Slave 1CH
Slave 2CH
Master 2CH
Master 1CH
Slave 1CH
Master 1CH +Slave 1CH
Slave 2CH
Master 2CH
I/O Photo coupler 32 inputs / NPN Transistor 32 outputs
I/O Photo coupler 64 inputs / NPN Transistor 64 outputs
I/O Photo coupler 32 inputs / PNP Transistor 32 outputs
I/O Photo coupler 64 inputs / PNP Transistor 64 outputs
Both master and slave 1CH
Master 1CH
Slave 1CH
Master 1CH + Slave 1CH
Slave 2CH
Master 2CH
Slave 1CH
Slave 2CH
1CH

OP-F10-011 OP-F10-005−
OP-F10-006
OP-F10-012 OP-F10-007−
OP-F10-008
CFD-OP150-A
CFD-OP150-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-OP125-A
CFD-OP125-B
CFD-OP151-A
CFD-OP151-B
CFD-OP98-B
CFD-OP132-A
CFD-OP132-B
CFD-OP132-C
CFD-OP132-D
CFD-OP132-E
CFD-OP136-B
CFD-OP136-D
CFD-OP101-C

Slave 1CH
RS422 Differential input encoder counter
Force sensor unit for CFD (another box)
Vision sensor unit for CFD (another box)
Robot monitoring unit for CFD (another box)
Brake release switch (portable type)
Upgraded to IP54 equivalent by preparing dust-proof and drip-proof box
Some parts are replaced to conform to UL standard
CE marking compliant, separate unit
Some parts are replaced to conform to Korean KCs standard
Cable length 4m
Cable length 4m
To disconnect teach pendant
5m
10m
2m
5m
10m
15m
20m
5m
10m
15m

CFD-OP-169-B
CFD-OP47-A
CFD-OP152-A
CFD-OP139-A
CFD-OP145-A
FD11-OP90-E
CFD-OP133-A
CFD-UL-A
CFD-CE-A
CFD-KCS-A
CFDTP-10-04M
MINITP-10-04M
CFD-OP153-A
CFDTP-RC05M
CFDTP-RC10M
Z101C-J1-02-A
Z101C-J1-05-A
Z101C-J1-10-A
Z101C-J1-15-A
Z101C-J1-20-A
Z102C-00-05-A,(Z102C-01-05-A)
Z102C-00-10-A,(Z102C-01-10-A)
Z102C-00-15-A,(Z102C-01-15-A)

2.5m
5.5m
10.5m
15.5m
20.5m
25.5m
1.5m

IOCABLE-10-02M,(IOCABLE-40-02M)
IOCABLE-10-05M,(IOCABLE-40-05M)
IOCABLE-10-10M,(IOCABLE-40-10M)
IOCABLE-10-15M,(IOCABLE-40-15M)
IOCABLE-10-20M,(IOCABLE-40-20M)
IOCABLE-10-25M,(IOCABLE-40-25M)
IOCABLE-20-01M

Connector only
Soldering type
1GByteRobot Program Simulator

IOCABLE-20-00

Notes

2 position double
Pressure range : 0.1 to 0.5 MPa
Coil voltage rating 24 VDC

MZ04 supports up to 2
solenoid valves

MZ04: Air (φ4, 5 lines), signal lines

MZ07: Air (φ4, 7 lines), signal lines

Grip force 320N (air source 0.5MPa)
Stroke 24mm
Grip force 600N (air source 0.5MPa)
Stroke 30mm
Grip force 300N (air source 0.5MPa)
Stroke 8mm

MZ04 is available with a single
gripper only

Grip force 410N (air source 0.5MPa)
Stroke 10mm
Mounted on sequence board of slot A

Occupies (1) slot

Occupies (1) slot

Occupies (1) slot
Occupies (2) slots
Occupies (1) slot
Occupies (2) slots
Occupies (1) slot

Up to (2) slots available

Occupies (1) slot

Occupies (1) slot
Occupies (1) slot
Max 2CH (2 slots)
Occupies (1) slot
Occupies (1) slot
Occupies (1) slot
Cameras, lighting, and cables are available. Contact us for information.

W540×D700×H270

These are selectable options. One of them must be selected.
Only one cable can be added
Both ends have a connector
Connects robot to controller
One of these options must be selected.
Select one of them.
One extension, 25 m maximum
Both ends have a connector
Select one the following models if a flexible type cable is required
Z102C-01- -A (indicates length, 05 is 5 m, 10 is 10 m, and 15 is 15 m)

** **
**

I/O cable between robot and controller.
IOCABLE-10- M type
Controller side is separate cable, so cable manufacturing and signal assignment must
be done by customer.
IOCABLE-40- M type
Connector on both ends to directly connect CFD-OP150-A (Mini I/O board) of CFD controller.
IOCABLE-40B- M type
Connector on both ends to directly connect CFD-OP150-B (Mini I/O board) of CFD controller.

****

Tool side is separate cable.
Manufacturing needs to be done by customer.
This is connector only.
Manufacturing needs to be done by customer.

FD11-OP93-A
FDONDESK2-Pro*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.