High Speed and High Precision 1kg Compact Robot

NEW

Great for high density layouts● Maximizes factory floor space efficiency

Apply various applications● Large torque helps your automation with flexibility

800mm

Basic Specification of Robot

External and Other Dimensions

Robot typeStructure
Number of axis
Drive system●Robot Dimensions andWorking Envelope

109.5

54.5 55

23.5
165

36.5

7.5

75.5 75.5

182.2

Point A

170
75

125

95.5
350

308.7

●Wrist Dimensions
9.21 ±0.03
4.6 ±0.03

2-φ2 H7 Depth 3

Robot only IP40 equivalent
2.5

43.5

30.

ISO 14644-1 CLASS5 (Equivalent)
70dB
10kgC

Dust-proof Drip-proof
performance*6Cleanliness*7
Noise level*8
Robot mass151165

1[rad] = 180/π[°], 1[N･m] = 1/9.8[kgf･m]※ Explosion-proof version is not available.

φ6 H7 Depth 5
P.C.D.15.5

4-M3 bolt Depth 4●Installation Dimensions

Processed facefor installation

100 ±0.03

3+0.01202-φ5 H7
Depth 5DEPTH

67.5 ±0.1
57.5
465 H7
Depth 5DEPTH

50 ±0.03+0.012067.5 ±0.1
57.5

*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 a0.25kg 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, youmust 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.

Processed facefor installation

47.5

4-φ657.5 ±0.1

47.5 ±0.03
95 ±0.03

Ambient conditions

20462.5

18.95 ±0.03

Position repeatability*4Max. reachAir piping
Application signal line
Installation(Point A)

φ25 h8

Allowable moment ofinertia*3413.2

LOCAS

9.44 ±0.03

Allowable staticload torque

R110(Frame interference radius)

170°

5Max. payload*250

R3500

Max. speed*1

170°

395

Max. working
envelope

MZ01-01
Articulated
6AC servo motor
J1±2.97rad(±170°)
J2-1.57〜1.48 rad (-90〜85°)
J3-0.87〜 1.57 rad (-50〜90°)J4±2.53rad(±145°)
J5±2.18rad(±125°)J6±6.28rad(±360°)J1
5.59rad/s(320°/s)
J2
5.59rad/s(320°/s)
J3
6.54rad/s(375°/s)
J410.47rad/s(600°/s)
J510.47rad/s(600°/s)
J6
10.47rad/s(600°/s)
Wrist 1.0kg rated
Arm 1 max. 0.25kg
J40.9N・m
J50.9N・m
J60.78N・m
J40.008kg・m2
J50.008kg・m2
J60.006kg・m2±0.02mm
350mm
IN:φ6×2, OUT:φ4×2
12 wires
Floor/Inverted
Temperature: 0〜40°C*5Humidity: 20〜85%RH (No dew condensation)
Vibration to the installation face:
0.5G (4.9m/s2) or less

47.5

Processed facefor installation

VIEW BB

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http://www.nachirobotics.com
http://www.nachiamerica.com/
http://www.nachicanada.com/http://www.nachi.com.mx/
http://www.nachi.com.br/
http://www.nachi.de/
http://www.nachi.co.th/
http://www.nachinip.com.sg/
http://www.nachi.co.id/●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.

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CATALOG NO.

R7705E-2

2019.01.＊-ABE-ABE