Hollow wrist Heavy payload robot

MC400L■ Hollow wrist structure
Avoiding interference of cables
with peripheral equipment
Improved reliability of cables due to its stablebehavior with wrist movement■ High-speed motion
Top level performance in its class■ Powerful wrist
Easy handling for large work-pieces due tothe large wrist capacity
A work-piece of large moment of inertia isalso available■ Advanced applicability
Wide envelope
5 meter vertical stroke■ Application signals are standard
2 ports for air, 40 application signals, DeviceNet cable, LAN cableMC400L
Robot specificationsExterior dimensions and operating envelope
Specifications

Max.
velocity±3.14rad（±180°）

J2-1.83〜+1.05rad（-105〜+60°）

J3-2.27〜+0.52rad（-130〜+30°）

J4±3.67rad（±210°）J5±2.09rad（±120°）

J6

Max. : ±6.28rad（±360°）
Initial setting : ±3.67rad（±210°）*4

J1

1.57rad/s（90°/s）

J2

1.57rad/s（90°/s）

J3

1.57rad/s（90°/s）

J4

1.92rad/s（110°/s）

J5

1.92rad/s（110°/s）

J6

3.14rad/s（180°/s）

Wrist

400kg

Forearm*1Max.50kg

Allowable
static load
torque forwrist

J43450N·m

J53450N·m

J61725N·mAllowable
moment ofinertia forwrist*2

J4600kg·m2

J5600kg·m2

J6400kg·m2

3±0.09mm

Position repeatability*

370

2200

4001142713713

Floor

Robot mass

3,050kg

1 [rad] = 180/π [°], 1 [N·m] = 1/9.8 [kgf·m]*1:This value changes by placement and load conditions of a wrist.

3756

10-M12 Depth 24（P.C.D.200）
R347

320

*4:The initial setting of the software limit is ±210°. When installing the cables in thehollow hole part of J6, please use the robot in the range of ±210°.
If the cables do not go through the hollow hole of J6, it is possible to widen theoperating envelope of J6 up to ±360° considering the condition.
*5:Permitted height is not higher than 1,000m above sea level. If used in higher
place, permitted temperature is affected by height.

φ332*3:This value conforms to “JIS B 8432”.

（P.C.D.200）
186

200 ±0.02*2:The Allowable moment of inertia of a wrist changes with load conditions of a wrist.

φ12H7 Depth 13

φ130H7φ75 (Hollow diameter)

Ambient conditions

388

2051

Ambient temperature: 0〜45℃*5
Ambient humidity: 20〜85%RH(without condensation)
Vibration:Not more than 0.5G(4.9 m/s2)

370
14(φ130H7 Depth)
12

φ250h8Installation

R1431(Rear limit interference radius)
R900(Frame interference radius)

100 ±0.02

Payload

POINT A
LOCUS
(POINT A)

2945
3530

Max.
operatingenvelope

J1

1678

AC servo system

1523

6

Drive system

300

Number of axes

1170

Articulated

1000

MC400L-01

Structure

5053

Item
Robot model

1

CTool mounting ﬂange
φ10H7 Depth 13（P.C.D.200）

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 MEXICANA, S.A. DE C.V.
NACHI EUROPE GmbHNACHI TECHNOLOGY (THAILAND) CO., LTD.
PT.NACHI INDONESIANACHI-FUJIKOSHI (CHINA) CO., LTD.

Michigan, U.S.A.
MEXICOGERMANYTHAILANDINDONESIA
CHINA

Tel: +1-248-305-6545
Tel: +52-442-153-2424
Tel: +49-(0)2151-65046-0
Tel: +66(38)961679
Tel: +62-021-527-2841
Tel: +86-(0)21-6915-2200

Tel: +81-(0)3-5568-5111
Tel: +81-(0)76-456-2223

Fax: +81-(0)3-5568-5206
Fax: +81-(0)76-493-5252

Fax: +1-248-305-6542
Fax: +52-442-153-2435
Fax: +49-(0)2151-65046-90
Fax: +66(38)961683
Fax: +62-021-527-3029
Fax: +86-(0)21-6915-5427

http://www.nachirobotics.com
http://www.nachi.com.mx/
http://www.nachi.de/
http://www.nachi.co.th/
http://www.nachi.co.id/
https://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.

R7310E-2

2024.02.＊-ABE-ABE