Slim arm collaborative robot

Collaborative people-friendly design
Nachi's slim arm collaborative, CZ10 has several people-friendly functions and structures.
Safety fences are not required and makes it easier to install a robot with various applications.

Functional safety, Intrinsic safety
Double safety 1.Functional safety: Stops when detecting
contact with person. 2.Intrinsic safety: Designed not topinch person.

Easy Programming
Intuitive teaching by moving the robot
arm by a hand.

User-friendly Design
Pinch points and sharp edges
eliminated for safer humaninteraction.Basic Specification of Robot

ItemSpecification
CZ10-01±3.14rad (±180°)

Axis 5±2.96rad (±170°)

Axis 6±6.28rad (±360°)

Axis 1

2.09rad/s (120°/s)

Axis 2

2.09rad/s (120°/s)

Axis 33.14rad/s (180°/s)

Axis 4

3.14rad/s (180°/s)

Axis 5

3.14rad/s (180°/s)

Axis 6

3.14rad/s (180°/s)

Wrist10kg

Axis 4

25.9N・m0.75kg・m2

Axis 60.08kg・m2

Position repeatability *3±0.1mm

Max. reach

1300mmAir piping

φ4×1

Point A310↑
View C

340

240

1300

1100

IP54 equivalent(dust and drain proof-type)
61kg

Installing Dimensions (View C)
262.8
110 ±0.1

2-φ5 H7 Depth 74-φ1485

85

Mouth C0.5 (P. C.D.60)

85

Dust-proof Drip-proof
performance *5

Wrist Dimensions (View B)

45°

Ambient conditions

Safety certification

100

591

DI×4,DO×3
Floor/Inverted
Temperature: 0～45°C *4
Humidity: 20～85%RH(No dew condensation)
Vibration to the installation
face:0.5G (4.9m/s2) or less

Robot mass(895)
204

714

Axis 5

Installation

496
199

5.9N・m0.75kg・m2

I/O on the wrist part

LOCUS
Point A

25.9N・mAxis 4Allowable
moment ofinertia *2

R325
170°
(Frame interference radius)

4-M5 bolt Depth 7(P. C.D.60)

85

Allowable static
Axis 5load torque
Axis 6

0R1301510

Axis 4

View B→

2374-1.34～+3.96rad (-77～+227°)

Height 1068

Axis 3(864)-1.30～+3.92rad (-75～+225°)

213

Max. payload±2.96rad (±170°)

Axis 2107 ±0.1

Max. speed *1

Axis 1

R340

170°

Total heightAC servo motor

105

6

Drive system

600

Number of axis

45°

Robot typeMax. working
envelope

Robot Dimensions and Working Envelope(R99

Conforming to ISO 10218-1 *6
Conforming to TS 15066)

(49)

(49)
(219)

Application
examplesMachine loading

Assembly

Safety fences are not required so that space-saving installationis possible without changing the layout of equipment.*7

Humans and robots can share work space because therobots stops when contacting with them.*7

1[rad] = 180/π[°], 1[N･m] = 1/9.8[kgf･m]*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: The allowable moment of inertia of wrist changes with load conditions.
*3: Based on JIS B8432*4: Permitted installation is less than 1,000m above sea level. Allowable operating temperature dependent on installation height.
*5: 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 IP54 equivalent, controller is IP20 equivalent.
*6: TÜV SÜD No.Z1 18 06 63642 017*7: These examples are images and peripheral equipment needs to be built according to ISO 10218-2 at installation.

Option List⑤(P. ISO
C. FlaD. ng31.5) e①Adjustable stopper

CZ10-01㉒(L= I/O
1.5 Cam ble)o⑮Brake release switchnArm⑭Vision device④Zeroing blockble②Transfer jigcaAT )erC10mht
E⑳ 5m,(L=blecaer m)
w
01
Po
⑲ 5m,
(L=CCZ controller③Inins vert
tlla edtion jigntdaen
ph lugac pntTe gda⑰ ortinen blepshah cac
Te ion )⑱ tent 10mxe 5m,(L=cerfaintesouron )chsyn t B,C ve)
royloe)la)nve ble s rd (slavCHCorSo⑬ vaila boa ,C)e1rvetTBla(AasINE lotds
OF ble s rd (ManPRateros⑫ vailaS b B)
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CC beri Slav
⑩ vailabo ,C)prBr
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Dig ilabo(t)⑨ va( rd,CA)a(AtBslotbosloble nt)
et t B)aelilNbeevalos) (A uipmvic le s oard vailaputADe bout al eq⑧ vaila t/IP b e) (8tertac(A rNe Slavr
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Eth r o⑦ aste boa uts / R mer(M i I/O r 8 inp uston uple o cMil r)(t⑥ oto cona
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RoCC bot
Zo SimnD ula
ESK to㉑ULig rSBhtme(Stmoanryda(1Grd)B)⑯Smart Teach pendant(Cable L＝4m)●Red Mark: Selectable Essential Option●Blue Mark: Option

Please install options according to option installation instructions. TP=Teach PendantNo.

①②③④⑤⑥Item
Adjustable stopper
Transfer jig
Inverted instllation jig
Zeroing block
ISO Flange
Mini I/O board⑦

EtherNet/IP board *1⑧

DeviceNet board *1⑨⑩Digital I/O board

CC-Link board *2Specification
For axis 1
Crane transport jig
Jig for inverted installation
Zero point positioning block
P.C.D.31.5
I / O optocoupler input 8 / NPN transistor output 8
I / O optocoupler input 8 / Relay output 8 points
Master 1 CH
Slave 1 CH
Master 1CH + Slave 1 CH
Slave 2 CH
Master 2 CH
Master 1 CH
Slave 1 CH
Master 1CH + Slave 1 CH
Slave 2 CH
Master 2 CH
I/O optocoupler input 32/NPN transistor output 32
I/O optocoupler input 64/NPN transistor output 64
I/O optocoupler input 32/PNP transistor output 32
I/O optocoupler input 64/PNP transistor output 64
Both master and slave 1CH

Parts NO.
OP-S5-040
OP-S2-053
OP-S7-013
OP-T2-104
OP-W2-012
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

No.

⑪Item
PROFIBUS board *3⑫

PROFINET board *3

⑬
⑭
⑮
⑯
⑰
⑱

Conveyor synchronous interface
Vision device
Brake release switch
Smart Teach pendant
Teach pendant shorting plug
Teach pendant extention cable⑲Power cable⑳

EtherCAT cable㉑㉒

USB memory (1GB)I/O Cable on Arm *4Specification
Master 1 CH
Slave 1 CH
Master 1CH + Slave 1 CH
Slave 2 CH
Master 2 CH
Slave 1 CH
Slave 2 CH
RS 422 differential input encoder counter
Visual Sensor Unit for Controller (Separate Type)
Manual brake release option (External unit)
Cable length 4m
Use when TP is not connected
5m
10m
5m
10m
5m
10m
1GByteConnector: L-shaped type, Cable Length: 1.5m
Connector: Straight type, Cable Length: 1.5m

Parts NO.
CFD-OP132-A
CFD-OP132-BCFD-OP132-C
CFD-OP132-D
CFD-OP132-E
CFD-OP136-B
CFD-OP136-D
CFD-OP47-A
CFD-OP139-A
CCZ-OP90-A-L
CFDTP-10-04M
CFD-OP153-A
CFDTP-RC05M
CFDTP-RC10M
CZ101Z-J1P-05-A
CZ101Z-J1P-10-A
CZ101Z-J1C-05-A
CZ101Z-J1C-10-A
FD11-OP93-A
CZ10-OP02L-1P5M
CZ10-OP02S-1P5M*1. DeviceNet and EtherNet/IP is a trademark of ODVA (Open DeviceNet Vender Association, Inc.).
*2. CC-Link is a trademark of CC-Link Partner Association : CLPA.
*3. PROFIBUS and PROFINET is a trademark of PROFIBUS & PROFINET International.
*4. The robot connection side is a cable with a connector.

www.nachi.com
Head Office

Shiodome Sumitomo Bldg. 17F, 1-9-2 Higashi-Shinbashi, Minato-ku, Tokyo 105-0021
Tel: +81-(0)3-5568-5247
Fax: +81-(0)3-5568-5237

Robot Division

1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, JAPAN
Tel: +81-(0)76-456-2223
Fax: +81-(0)76-493-5251●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 thesubject of export restriction stipulated in the Foreign Exchange and Foreign Trade Act. Please go through careful investigationand necessary formalities for export.
Conforming to ISO 10218-1 and awarded the certification by the German certification organization TÜV SÜD.

CATALOG NO.

R7770E-4
2021.03.*-MD-ABE