NACHI Handling Robot MZ07 : the World's Fastest Lightweight, Compact Robot

Robots

Specification

Robot model				MZ07-01 (MZ07P-01)	MZ07L-01 (MZ07LP-01)	MZ03EL-01
Construction				Articulated
Number of axis				6(5)		6
Drive system				AC Servodrive
Max. Working Envelope	Arm	J1	Swivel	±2.97rad (±170°)
		J2	Forward/ Backward	-2.36 to +1.40rad (-135°to +80°)
		J3	Upward/ Downward	-2.37 to +4.71rad (-136° to -270°)	-2.43 to +4.71rad (-139° to -270°)	-2.71 to +4.71rad (-155° to -270°)
	Wrist	J4^*3	Rotation2	±3.32rad (±190°)
		J5	Bend	±2.09rad (±120°)
		J6	Rotation1	±6.28rad (±360°)
Max. Speed	Arm	J1	Swivel	7.85rad/s (450°/s)	5.24rad/s (300°/s)
		J2	Forward/ Backward	6.63rad/s (380°/s)	4.89rad/s (280°/s)	4.01rad/s (230°/s)
		J3	Upward/ Downward	9.08rad/s (520°/s)	6.28rad/s (360°/s)
	Wrist	J4^*3	Rotation2	9.60rad/s (550°/s)
		J5	Bend	9.60rad/s (550°/s)
		J6	Rotation1	17.5rad/s (1000°/s)
Max. Payload		Wrist		7kg		3.5kg
Allowable Static Loading Torque		J4^*3	Rotation2	16.6N·m		6.0N·m
		J5	Bend	16.6N·m		6.0N·m
		J6	Rotation1	9.4N·m		2.9N·m
Max. Allowable Moment of Inertia^*1		J4^*3	Rotation2	0.47kg·m²		0.12kg·m²
		J5	Bend	0.47kg·m²		0.12kg·m²
		J6	Rotation1	0.15kg·m²		0.03kg·m²
Position Repeatability^*2				±0.02mm	±0.03mm
Ambient Conditions				0 to 45°C
Installation				Floor / Wall / Tilted / Inverted mount
Robot Mass				30kg	32kg	39kg
Max. Reach				723mm	912mm	1102mm
Dust Proof, Drip Proof				IP67

1[rad]=180/p[°] 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) The "Max. speed" in this table is the available maximum value and will change depending on the workprogram and the wrist load condition.