NACHI-FUJIKOSHI CORP.
Robots
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NB/NV series
NB04/04L , NV06/06L
NB04/04L Specifications
| Robot model | NB04 | NB04L | |||
|---|---|---|---|---|---|
| Construction | Articulated construction | ||||
| Number of axes | 6 | ||||
| Drive system | AC servo system | ||||
| Max. operating area | Arm | J1 | Swivel | +/-2.97rad(+/-0.87rad)*1 | |
| J2 | Forward/ backward |
-2.71 to 1.57rad | -2.71 to 1.75rad | ||
| J3 | Upward/ downward |
-2.97 to 3.14rad | -2.97 to 3.32rad | ||
| Wrist | J4 | Rotation2 | +/-2.71rad | ||
| J5 | Bending | -0.79 to 3.93rad | |||
| J6 | Rotation1 | +/-3.58rad | |||
| Max. speed | Arm | J1 | Swivel | 3.66rad/s | 3.40rad/s (3.05rad/s)*1 |
| J2 | Forward/ backward |
3.66rad/s | 3.49rad/s | ||
| J3 | Upward/ downward |
3.66rad/s | 3.49rad/s | ||
| Wrist | J4 | Rotation2 | 7.33rad/s | ||
| J5 | Bending | 7.33rad/s | |||
| J6 | Rotation1 | 10.5rad/s | |||
| Max. Payload | Wrist | 4kg | |||
| Forearm | 10kg *2 | 20kg *2 | |||
| Allowable static load torque of wrist |
J4 | Rotation2 | 10.1N·m | ||
| J5 | Bending | 10.1N·m | |||
| J6 | Rotation1 | 2.94N·m | |||
| Max. allowable moment of inertia of wrist *4 |
J4 | Rotation2 | 0.38kg·m2 | ||
| J5 | Bending | 0.38kg·m2 | |||
| J6 | Rotation1 | 0.03kg·m2 | |||
| Position repeat accuracy | +/-0.08mm *3 | ||||
| Ambient temperature | 0 to 45°C | ||||
| Ambient humidity | 20 to 80%RH (Non condensing) | ||||
| Vibration value | Not more than 0.5G | ||||
| Installation parameters | Floor mounted, Ceiling mounted, Wall installation | ||||
| Robot mass | 170kg | 280kg | |||
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
(*1) Values in (parenthesis) are for wall installations.
(*2) Maximum allowed loading capacity when end effector is used.
(*3) Value measured is for maximum load on upper arm for adequate repetitions of automatic operations in stable robot operating conditions.
(*4) Note that wrist moment of interia varies depending on wrist and conditions.
NV06/06L Specifications
| Robot model | NV06 | NV06L | |||
|---|---|---|---|---|---|
| Construction | Articulated construction | ||||
| Number of axes | 6 | ||||
| Drive system | AC servo system | ||||
| Max. operating area | Arm | J1 | Swivel | +/-2.97rad(+/-0.87rad) *1 | |
| J2 | Forward/ backward |
-2.71 to 1.57rad | -2.71 to 1.75rad *2 | ||
| J3 | Upward/ downward |
-2.97 to 3.32rad | -2.97 to 4.54rad *3 | ||
| Wrist | J4 | Rotation2 | +/-3.14rad | ||
| J5 | Bending | -0.87 to 4.01rad | |||
| J6 | Rotation1 | +/-6.28rad | |||
| Max. speed | Arm | J1 | Swivel | 3.66rad/s (2.61rad/s)*1 |
3.40rad/s (3.05rad/s)*1 |
| J2 | Forward/ backward |
3.66rad/s | 3.49rad/s | ||
| J3 | Upward/ downward |
3.66rad/s | 3.49rad/s | ||
| Wrist | J4 | Rotation2 | 7.33rad/s | ||
| J5 | Bending | 7.33rad/s | |||
| J6 | Rotation1 | 10.82rad/s | |||
| Max. Payload | Wrist | 6kg | |||
| Forearm | 10kg *4 | 20kg *4 | |||
| Allowable static load torque of wrist |
J4 | Rotation2 | 11.8N·m | ||
| J5 | Bending | 9.8N·m | |||
| J6 | Rotation1 | 5.9N·m | |||
| Max. allowable moment of inertia of wrist *6 |
J4 | Rotation2 | 0.30kg·m2 | ||
| J5 | Bending | 0.25kg·m2 | |||
| J6 | Rotation1 | 0.06kg·m2 | |||
| Position repeat accuracy | +/-0.08mm*5 | ||||
| Ambient temperature | 0 to 45°C | ||||
| Ambient humidity | 20 to 80%RH (Non condensing) | ||||
| Vibration value | Not more than 0.5G | ||||
| Installation parameters | Floor mounted, Ceiling mounted, Wall installation | ||||
| Robot mass | 160kg | 280kg | |||
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
(*1) Values in (parenthesis) are for wall installations.
(*2) Wall installation may limit range of motion of J2 axis.
(*3) For floor installation for welding, range of motion of J3 axis is limited to -2.97 rad to 3.58 rad.
(*4) Maximum allowed loading capacity when end effector is used.
(*5) Values messured is for maximum load on upper arm for adequate repetitions of automatic operations in stable robot operating conditions.
(*6) Note that wrist moment of interia varies depending on wrist and conditions.