Download pdf - Application Examples Characteristics - nachi-fujikoshi.co.jp · Cable routing improved Characteristics Robot Body Standard Cycle Time Evaluation (go and back) 1 300mm 25mm 1: Payload

Cable routing improved

Characteristics

Robot Body

Standard Cycle Time Evaluation (go and back) *1

300mm

25mm

*1: Payload is 1kg. This may vary according to the robot program and installation.*2: Value for MZ07.

Smart Cable Routing

Hollow wristcables are stored

inside wrist

Conventional wristoverhanging cables

Approaching to Machine

Avoids cable interferencefrom machine

Entering into Cover

■�Small bottom design enables compact installation

Top Perform High Speed* Compact & Flexible Installation

Floor mount Inverted mount Wall mount Tilted mount

■ Solenoid valves can be installed inside robot arm

■ More compact installation■ Robot can be installed close to

behind wall■ Cables can be stored inside robot riser

Conventional wrist

Hollow wrist

Conventional wrist Hollow wrist

Access toSmaller window

175

■�Contributing to improvement of productivity by high speed

Top Perform High Speed Available to All-round Mounting

Cable and Tubes Routing through Hollow Wrist

Compact Installation Space

Pneumatic Valves inside Robot Arm Option

0.31sec.*2

SOL Valve in Arm(Option : Max. 2 valve available)


MZ04

MZ07

151.5189.5100

190.5

Controller

�● Off-line programming�● Operation and layout study�● Cycle time simulation�● PLC program editing�● Operation instruction

■ Assembling (inserting, following, phasing), polishing, deburring

Application example for finishing process.

Various Application

■ Operation by using teach pendant, high speed processing■ Various application available by 2D and 3D vision sensing,

dimension measurement and parts type districting

User Friendly Functions

■ Control peripheral equipment by robot controller■ Simplifies system configuration to reduce cost

■ Best simulator for a feasibility study.

Compact Cabinet

■ Customizable teach pendant screen menu.■ Works as a system operation console which can control 　peripheral devices.

moving direction

force direction

■ Only 369mm in width

■ Could be installed inside robot riser

Vision Sensor NV-Pro Option

Force Sensor Option

■ Safety unit to monitor robot position and speed■ Reducing cost and space saving

Robot Monitoring Unit (RMU) Option

■ DeviceNet (Master, Slave)■ EtherNet/IP (Master, Slave)■ EtherCAT (Slave)■ CC-Link (Master, Slave)■ PROFIBUS (Master, Slave)■ PROFINET (Slave)DeviceNet and EtherNet/IP is a trademark of ODVA (Open DeviceNet Vender Association, Inc.).EtherCAT is trademarks of Beckhoff Automation GmbH.CC-Link is a trademark of CC-Link Partner Association : CLPA.PROFIBUS and PROFINET is a trademark of PROFIBUS & PROFINET International.

Fieldbus Option

User Graphical Interface FlexGui Option

Software PLC Standard

FD on Desk Ⅱ LightOffline Simulation Tool

Standard

Application Examples

Machine Loading Picking Packing/Casing

Assembling Deburring Finishing

Inspection Sealing

① avoids interference with peripheral equipment

② allows the arm to enter tight spaces

③ improved reliability with stable cable behavior during high speed operation

Figures shown indicate: MZ04, MZ07.

Cable Connectionfrom Bottom SideOption

*Combined max speed

MZSERIES

CATALOG

Ultra High Speed and Compact

Head OfficeRobot Division

Tel: +81-(0)3-5568-5247

Tel: +81-(0)76-456-2223

Fax: +81-(0)3-5568-5237

Fax: +81-(0)76-493-5251

Shiodome Sumitomo Bldg. 17F, 1-9-2 Higashi-Shinbashi, Minato-ku, Tokyo 105-0021

1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, JAPAN

www.nachi.com

Michigan, U.S.A.

CANADA

MEXICO

BRASIL

GERMANY

THAILAND

SINGAPORE

INDONESIA

INDIA

N.S.W, AUSTRALIA

CHINA

Tel: +1-248-305-6545

Tel: +1-905-660-0088

Tel: +52-442-153-2424

Tel: +55-11-4793-8800

Tel: +49-(0)2151-65046-0

Tel: +66-2-714-0008

Tel: +65-65587393

Tel: +62-21-527-2841

Tel: +91-(0)12-4450-2900

Tel: +61-(0)2-9898-1511

Tel: +86-(0)21-6915-2200

Fax: +1-248-305-6542

Fax: +1-905-660-1146

Fax: +52-442-153-2435

Fax: +55-11-4793-8870

Fax: +49-(0)2151-65046-90

Fax: +66-2-714-0740

Fax: +65-65587371

Fax: +62-21-527-3029

Fax: +91-(0)12-4450-2910

Fax: +61-(0)2-9898-1678

Fax: +86-(0)21-6915-5427

http://www.nachirobotics.com

http://www.nachicanada.com/

http://www.nachi.com.mx/

http://www.nachi.com.br/

http://www.nachirobotics.com.eu/

http://www.nachi.co.th/

http://www.nachinip.com.sg/

http://www.nachi.co.id/

http://www.nachirobotics.com.au/

http://www.nachi.com.cn/

NACHI ROBOTIC SYSTEMS INC.NACHI CANADA INC.NACHI MEXICO, S.A. DE C.V.NACHI BRASIL LTDA.NACHI EUROPE GmbHNACHI TECHNOLOGY (THAILAND) CO., LTD.NACHI SINGAPORE PTE. LTD.PT.NACHI INDONESIANACHI TECHNOLOGY INDIA PVT. LTD.NACHI (AUSTRALIA) PTY. LTD.NACHI (CHINA) CO., LTD.

●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. R7702E-10

2019.01.V-ABE-ABE


Characteristics

Robot Body


300mm

25mm


Smart Cable Routing


inside wrist




Entering into Cover







Conventional wrist

Hollow wrist



175






0.31sec.*2



MZ04

MZ07

151.5189.5100

190.5

Controller




Various Application






Compact Cabinet


moving direction

force direction




Force Sensor Option




Fieldbus Option




Standard




Inspection Sealing






*Combined max speed

MZSERIES

CATALOG



Tel: +81-(0)3-5568-5247

Tel: +81-(0)76-456-2223

Fax: +81-(0)3-5568-5237

Fax: +81-(0)76-493-5251



www.nachi.com

Michigan, U.S.A.

CANADA

MEXICO

BRASIL

GERMANY

THAILAND

SINGAPORE

INDONESIA

INDIA

N.S.W, AUSTRALIA

CHINA

Tel: +1-248-305-6545

Tel: +1-905-660-0088

Tel: +52-442-153-2424

Tel: +55-11-4793-8800

Tel: +49-(0)2151-65046-0

Tel: +66-2-714-0008

Tel: +65-65587393

Tel: +62-21-527-2841

Tel: +91-(0)12-4450-2900

Tel: +61-(0)2-9898-1511

Tel: +86-(0)21-6915-2200

Fax: +1-248-305-6542

Fax: +1-905-660-1146

Fax: +52-442-153-2435

Fax: +55-11-4793-8870

Fax: +49-(0)2151-65046-90

Fax: +66-2-714-0740

Fax: +65-65587371

Fax: +62-21-527-3029

Fax: +91-(0)12-4450-2910

Fax: +61-(0)2-9898-1678

Fax: +86-(0)21-6915-5427














2019.01.V-ABE-ABE


Characteristics

Robot Body


300mm

25mm


Smart Cable Routing


inside wrist




Entering into Cover







Conventional wrist

Hollow wrist



175






0.31sec.*2



MZ04

MZ07

151.5189.5100

190.5

Controller




Various Application






Compact Cabinet


moving direction

force direction




Force Sensor Option




Fieldbus Option




Standard




Inspection Sealing






*Combined max speed

MZSERIES

CATALOG



Tel: +81-(0)3-5568-5247

Tel: +81-(0)76-456-2223

Fax: +81-(0)3-5568-5237

Fax: +81-(0)76-493-5251



www.nachi.com

Michigan, U.S.A.

CANADA

MEXICO

BRASIL

GERMANY

THAILAND

SINGAPORE

INDONESIA

INDIA

N.S.W, AUSTRALIA

CHINA

Tel: +1-248-305-6545

Tel: +1-905-660-0088

Tel: +52-442-153-2424

Tel: +55-11-4793-8800

Tel: +49-(0)2151-65046-0

Tel: +66-2-714-0008

Tel: +65-65587393

Tel: +62-21-527-2841

Tel: +91-(0)12-4450-2900

Tel: +61-(0)2-9898-1511

Tel: +86-(0)21-6915-2200

Fax: +1-248-305-6542

Fax: +1-905-660-1146

Fax: +52-442-153-2435

Fax: +55-11-4793-8870

Fax: +49-(0)2151-65046-90

Fax: +66-2-714-0740

Fax: +65-65587371

Fax: +62-21-527-3029

Fax: +91-(0)12-4450-2910

Fax: +61-(0)2-9898-1678

Fax: +86-(0)21-6915-5427














2019.01.V-ABE-ABE

Robot type MZ0□□-01-□□□-CFD-0000

Wrist Dimensions

Options Option List

ISO flange option ⑦

Wrist clamp option ⑥

Controller DimensionsRobot Dimensions and Working Envelope

Connector Layout for Applications (Standard)

Basic Specification of Robot Basic Specification of Controller

When ISO flange option is mounted, hollow size is reduced from φ23 to φ20

Solenoid valves(1 pcs/ 2 pcs /3 pcs)

(Diagram of contacts on connectors)

R115

R150

170°

170°

Figures shown indicate: MZ04, MZ07, and MZ07L.

221.4189

10-AWG22

7-φ4×2.5

AIR1（φ6）

CNR010

AIR2（φ6）PURGE AIR（φ6）

AW

G24×6p

AW

G24×6p

φ6×4φ6×4

CN

10A

10-AWG23CN

61A

CN

62A

CN

60A

CN

60B

Po

rt7

Po

rt1（

SO

L1A

）Po

rt2（

SO

L1B）

Po

rt3（

SO

L2A

）Po

rt4（

SO

L2B）

Po

rt5（

SO

L3A

）Po

rt6（

SO

L3B）

Exhaust (silencer)

Air outlet（φ4, 7 lines）(to gripper)

Signal outlet

2-φ5 H7 depth 6

2-φ5 depth 7

φ40

h8

φ20* H7 penetrated

(hole size for wiring hollow)

4-M5 depth 7

22.5°22.5°

（P.C.D. 31.5）

4-M5 depth 7

(tube clamp hole)

φ7

(wiring clamp hole)

93

100

7

7

（P.C.D. 31.5）

Air inlet

Signal inlet

Wiring and Tubing Inside Arm

Item Specification

Model MZ04-01(MZ04D-01)

MZ04E-01*5

(MZ04DE-01)MZ07-01

(MZ07P-01)MZ07L-01

(MZ07LP-01)

Structure Articulated

Controllable Axes 6 6 (5)

Drive System AC Servodrive

Max. Working Envelope [rad(°)]

Arm

J1 Swivel ±2.97 (±170)

J2 Forward/Backward -2.53 ～ +1.57 (-145 ～ +90) -2.36 ～ +1.40 (-135 ～ +80)

J3 Upward/Downward -2.18 ～ +4.88 (-125 ～ +280) -2.37 ～ +4.71

（-136 ～ 270）-2.43 ～ +4.71

（-139 ～ 270）

Wrist

J4*3 Rotation 2 ±3.32 (±190)

J5 Bend ±2.09 (±120)

J6 Rotation 1 ±6.28 (±360)

Max. Speed*4 [rad/s(°/s)]

Arm

J1 Swivel 8.38 (480) 3.49(200) 7.85 (450) 5.24 (300)

J2 Forward/ Backward 8.03 (460) 2.62(150) 6.63 (380) 4.89 (280)

J3 Upward/ Downward 9.08 (520) 3.32(190) 9.08 (520) 6.28 (360)

Wrist

J4*3 Rotation 2 9.77 (560) 9.60 (550)

J5 Bend 9.77 (560) 9.60 (550)

J6 Rotation 1 15.7 (900) 17.5 (1000)

Max. Payload [kg] Wrist 4 7

Allowable Static Loading Torque [N･m]

J4*3 Rotation 2 8.86 16.6

J5 Bend 8.86 16.6

J6 Rotation 1 4.9 9.4

Max. Allowable Moment of Inertia*1 [kg･m2]

J4*3 Rotation 2 0.2 0.47

J5 Bend 0.2 0.47

J6 Rotation 1 0.07 0.15

Max. Reach [mm] 541 723 912

Position Repeatability*2 [mm] ±0.02 ±0.03

Ambient Temperature 0 ～ 45°C

Installation Floor / Wall / Tilted / Inverted mount Floor / Inverted mount Floor / Wall / Tilted / Inverted mount

Protection Rating IP40 equivalent*6 IP67

Weight [kg]*7 26 25 36 38

Controller OptionsSpecifications

One is possible. (Motor Capacity: up to 600W)

DeviceNet, PROFIBUS, EtherCAT, CC-Link and others.

EtherCAT and CC-Link are only compatible as a slave.

Maximum 64/64 point

8 photo coupler input and 8 transistor output or

8 photo coupler input and 8 relay contact output

USB Memory (1GB)

NV-Pro

SIL3　Cat. 4

IP54

Item

Additional Axes

External Memory

Vision Sensor (*)

Robot Monitoring Function

Protection Rating

Fieldbus

Digital I/O

(*) Another box is required.

Arm Variation

CN10A

467 5

3 2 1

10 9 8

A01

A04

A03

A06 A05

A02

A08A09A10

A07

CNR010

Base connector Wrist connector

A

B

C

D

6 5 4 3 2 1

A01A02A03A04A05

A06A07A08A09A10

A11A12A13A14A15

A16A17A18A19A20G

A21

A22

ａｂ

110.794.5ａ

ｂ 500ａ

ｂ

165119ａ

ｂ

4525ａ

ｂ

73737272ａ

ｂ 340280280ａ

ｂ440

ａｂ

ｃ

618541541ａ

ｂ806ｃ

723541541ａ

ｂ912ｃ

228119119ａ

ｂ266ｃ

495422422ａｂ646ｃ

1249

1249

1602

ｃ

330260260ａ

ｂ420ｃ

345340340ａ

ｂ

490

173

369

front view

level view right side view

ｂ

（P.C.D. 53.5 balanced）（P.C.D. 60 balanced）

9388

10095


5-φ4 7-φ4

φ66

h7φ7

2 h7

φ40

h7φ4

5 h7

φ66

h7

φ72

h7

Standard Specifications

1[rad]=180/π[°], 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: Using at 1000 m or lower sea level. Ambient temperature has limitations when allowable altitude is

exceeded.*5: MZ04E/MZ04DE has 80W motor or smaller in all axis.*6: MZ04/MZ04E is IP40 equivalent, MZ04D/MZ04DE is IP67 (Protection Rating).*7: Wall mount Rear Connection Type +4kg（MZ04＊ Series）+6kg（MZ07＊ Series）　Bottom Connection Type +6kg（MZ04＊ Series）+8kg（MZ07＊ Series）

Connection VariationMark

0

B

Specification

Rear connection

Bottom connection

Notes

Robot to controller cable is connected at robot rear

Robot to controller cable is connected at robot bottom

Application Variation

Specification

Standard

Vision sensor

Vision sensor （cross laser）Force sensor

Additional axis

Solenoid valve

MZ04 MZ07

Up to 2

Up to 1

Up to 1

Up to 1

Up to 1

Up to 3

Up to 2

Up to 1

Up to 1

Up to 1

Signal wires

10 wires

10 wires

10 wires

10 wires

10 wires

Notes

-

LAN cable, Light cable

LAN cable, Light cable, Laser cable

6 freedom Force sensor cable

1 motor and 1 encoder cable

Mark

0

V

U

F

S

Installation VariationSpecification

Standard

Wall mount

Notes

J1 working envelope ±30°at wall mounting


Mark*

0

W

Robot Base Dimensions

189.

5

160

4-φ11

95.5

±0.

194

160

190.5

95.5±0.1 1984-M5 depth 7

(Diameter of wire hole)

φ45

h7

Wire hole(same as opposite side)

2-φ5 H7 depth 74-φ9

50±0.1

100

Processedface forinstallation

75

76.5

±0.

1151.

5

130

MZ04 MZ07

(P.C.D.53.5)(P.C.D.60)

(P.C.D.53.5)(P.C.D.60)

φ21φ23

80 83

72 73

1214

1923

φ62

h7

φ72

h7

Wrist Dimensions


Frame

interference

radius

Specifications

6

7

PL d (Cat. 3)

Teach / Playback

Robot Language

9,999

256MB

5.7” Color LCD Touch Panel, Cable Length: 4m

Monochrome, 20 Characters x 4 Lines Display,

Cable Length: 4m

3 Position Enable Switch, Emergency Stop Button

Emergency Stop and Mode Switching (Teach/Playback)

External Emergency Stop, Safety Plug,

External Enable Switch, Protective Stop

Ethernet

USB Port

369(W)×490(D)×173(H)

Approx. 17kg

Single phase/3φ AC200-230V ±10%　　0.4KVA

Item

Controllable Axes

Maximum Controllable Axes


Program Number

Operating Panel

Network

External Memory Interface

External Dimensions (mm)

Weight

Consuming Power

Teaching Method

Memory Capacity

Teach PendantCompact TP

Smart TP

Common

Exclusive Safety Input

Power Supply

Option

TP=Teach Pendant

Adjustable stopper

IP67 set

Solenoid valve

Vision sensor

Brake release switch

I/O harness（L＝2.5m,5.5m,10.5m,15.5m,20.5m,25.5m）

MotorEncoder harness

（L＝2m,5m,10m,15m,20m）

Motor/Encoder additional harness

（L＝5m,10m,15m）Floor surface connection specifications(included in the robot body)

Floor surface connection specifications(included in the robot body)

Robot monitoring unit

Transfer jig

Tools

CFD controller

Controllerprotection Box Connector for

Power Cable(Standard)

CE marking Specification

Power Cable(Prepared by customer)


Teach Pendant additional cable

（L＝5m,10m）

Smart TP(Cable L＝4m)

Compact TP(Cable L＝4m)

Standard gripper (Parallel gripper/Three fingers)

Mini I/O board (s

lot A)

TP shortin

g

plug

External sa

fety

signal

(Prepared by

customer)

EtherNet/IP board (s

lot B, C

)

(maste

r or sla

ve)DeviceNet board (s

lot B)

(maste

r or sla

ve)

Digital I/O

board （NPN/PNP）(slot B

, C)

CC-Link board (s

lot B)

(maste

r / sla

ve)PROFIBUS board (s

lot B)

(maste

r or sla

ve)PROFINET board (s

lot B, C

)

(slave)

FL-net b

oard (slot B

, C)

EtherCAT board (s

lot B)

(slave)

ISO flange（P.C.D.31.5）

Wires clamp

CNRO10(connector included

in the I/O harness option)

CN10A

MZ07*-01

I/O cable on robot arm（L＝1.5m）

I/O connector on robot arm

Offline Program SimulationFDonDESK Ⅱ Light (Standard)FDonDESK Ⅱ Pro (Option)

USB memory (1GB）

Red Mark

Blue Mark

Selectable Essential Option


Wiring and Tubing in Robot Arm (When SOL installed in Arm)

(Standard)

*1 Grip force may vary according to the supplied air pressure (0.3 to 0.5 MPa) and finger length. *2 “TP” means teach pendant.● All option is shipped with robot by kit (sub assembly). Please install it by customer after reading option install procedure.

10-AWG22

AW

G24×6p

AW

G24×6p

2-φ4×2.5

φ6×4 AIR1（φ6）

CNR010


φ6×4

10-AWG23

CN

10A

Port

7

CN

61A

CN

62A

CN

60A

CN

60B

Port

1

Air outletSignal cable outlet

Air inlet

Signal cable inlet

MZ07MZ04

AW

G24

×6p φ4×2.5

CNR010

φ4×2.5AIR1（φ6）AIR2（φ6）PURGE AIR（φ6）

Air inlet

Signal cable inlet

10-AWG22

CN

10A

Port

5

CN

61A

Port

1


2-φ4×2.5

10-AWG23

CN6

0A

Solenoid valves(1 pcs/ 2 pcs)

10-AWG22

5-φ4×2.5

CN

61A

CN

60A10-AWG2310-AWG23

AIR1（φ6）

CNR010


AW

G24

×6p

φ4×2.5

φ4×2.5

Air inlet

Signal inlet

Exhaust (silencer)

CN

10A

Po

rt5

Po

rt1（

SO

L1A

）Po

rt2（

SO

L1B）

Po

rt3（

SO

L2A

）Po

rt4（

SO

L2B）


Signal outlet

MZ04 MZ07

*MZ04E/MZ04DE is permitted “O” only.

Mark 1 Mark 2 Specification Notes

4

(none) 4 kg payload, Standard arm

6 axes, Max reach 541mmD 4 kg payload, Standard arm, IP67

E 4 kg payload, Standard arm, Low power type

DE 4 kg payload, Standard arm, Low power, IP67

7

(none) 7 kg payload, Standard arm 6 axes, Max reach 723mm

L 7 kg payload, Long arm 6 axes, Max reach 912mm

P 7 kg payload, Standard arm 5 axes, Max reach 723mm (does not have J4)

LP 7 kg payload, Long arm 5 axes, Max reach 912mm (does not have J4)

IP20

0～40°C (50/60Hz)

Protection Rating

Ambient Temperature

20～85%(Without Condensation)Ambient Humidity

(to customer peripheral equipment)

Conveyor Tracking

I/F (slot B

, C)

Force sensor

I/F (slot B

, C)

No. Item SpecificationsParts No.

NotesMZ04 MZ07

① Adjustable stopper Restriction of axis 1 to 3 working envelope OP-S5-026 OP-S5-022

② Transfer jig Common for crane transporting, inverted and wall mount OP-S2-044 OP-S2-042

③ Tools Zeroing pin & Zeroing block OP-T2-089 OP-T2-078

④ IP67 set Air purge unit in robot body OP-H9-008 OP-H9-004

⑤ Solenoid valve 1 valve OP-H4-006 OP-H4-004 2 position double Pressure range : 0.1 to 0.5 MPa Coil voltage rating 24 VDC

MZ04 supports up to 2 solenoid valves

2 valves OP-H5-010 OP-H5-008

3 valves − OP-H6-004

⑥ Wires clamp Clamp for wires and air tubes inside wrist hollow OP-W3-016 OP-W3-012 MZ04: Air (φ4, 5 lines), signal lines MZ07: Air (φ4, 7 lines), signal lines

⑦ ISO flange ISO flange adapter (P.C.D.31.5) OP-W2-013 OP-W2-012

⑧ Standard gripper *1 Parallel gripper single S OP-F10-009 OP-F10-002 Grip force 320N (air source 0.5MPa) Stroke 24mm

MZ04 is available with a single gripper only

Parallel gripper double S − OP-F10-003

Parallel gripper single M OP-F10-010 OP-F10-004 Grip force 600N (air source 0.5MPa) Stroke 30mm

Three fingers single S OP-F10-011 OP-F10-005 Grip force 300N (air source 0.5MPa) Stroke 8mmThree fingers double S − OP-F10-006

Three fingers single M OP-F10-012 OP-F10-007 Grip force 410N (air source 0.5MPa) Stroke 10mmThree fingers double M − OP-F10-008

⑨ Mini I/O board I/O Photo coupler 8 inputs / NPN Transistor 8 outputs CFD-OP150-AMounted on sequence board of slot A

I/O Photo coupler 8 inputs / Relay contact 8 outputs CFD-OP150-B

⑩ EtherNet/IP board Master 1CH CFD-OP130-A

Occupies (1) slot

Up to (2) slots available

Slave 1CH CFD-OP130-B

Master 1CH + Slave 1CH CFD-OP130-C

Slave 2CH CFD-OP130-D

Master 2CH CFD-OP130-E

⑪ DeviceNet board Master 1CH CFD-OP131-A

Occupies (1) slot


Master 1CH +Slave 1CH CFD-OP131-C



⑫ Digital I/O board I/O Photo coupler 32 inputs / NPN Transistor 32 outputs CFD-OP125-A Occupies (1) slotI/O Photo coupler 64 inputs / NPN Transistor 64 outputs CFD-OP125-B Occupies (2) slotsI/O Photo coupler 32 inputs / PNP Transistor 32 outputs CFD-OP151-A Occupies (1) slotI/O Photo coupler 64 inputs / PNP Transistor 64 outputs CFD-OP151-B Occupies (2) slots

⑬ CC-Link board Both master and slave 1CH CFD-OP98-B Occupies (1) slot

⑭ PROFIBUS board Master 1CH CFD-OP132-A

Occupies (1) slot





⑮ PROFINET board Slave 1CH CFD-OP136-BOccupies (1) slot


⑯ FL-net board 1CH CFD-OP101-C Occupies (1) slot Max 2CH (2 slots)

⑰ EtherCAT board Slave 1CH CFD-OP-169-B Occupies (1) slot

⑱ Conveyor Tracking I/F RS422 Differential input encoder counter CFD-OP47-A Occupies (1) slot

⑲ Force sensor I/F Force sensor unit for CFD (another box) CFD-OP152-A Occupies (1) slot

⑳ Vision sensor Vision sensor unit for CFD (another box) CFD-OP139-A Cameras, lighting, and cables are available. Contact us for information.

㉑ Robot monitoring unit Robot monitoring unit for CFD (another box) CFD-OP145-A

㉒ Brake release switch Brake release switch (portable type) FD11-OP90-E

㉓ Controller protection BOX Upgraded to IP54 equivalent by preparing dust-proof and drip-proof box CFD-OP133-A W540×D700×H270

㉔ UL specification Some parts are replaced to conform to UL standard CFD-UL-A

CE marking specification CE marking compliant, separate unit CFD-CE-A

KCs specification Some parts are replaced to conform to Korean KCs standard CFD-KCS-A

㉕ Smart TP *2 Cable length 4m CFDTP-10-04M

These are selectable options. One of them must be selected.㉖ Compact TP *2 Cable length 4m MINITP-10-04M

㉗ TP shorting plug *2 To disconnect teach pendant CFD-OP153-A

㉘ Teach Pendant additional cable

5m CFDTP-RC05M Only one cable can be added Both ends have a connector10m CFDTP-RC10M

㉙ Motor/Encoder harness 2m Z101C-J1-02-A

Connects robot to controller One of these options must be selected. Select one of them.

5m Z101C-J1-05-A

10m Z101C-J1-10-A

15m Z101C-J1-15-A

20m Z101C-J1-20-A

㉚ Motor/encoder additional harness (Flexible type extension harness)

5m Z102C-00-05-A,(Z102C-01-05-A) One extension, 25 m maximum Both ends have a connector Select one the following models if a flexible type cable is required Z102C-01-**-A (** indicates length, 05 is 5 m, 10 is 10 m, and 15 is 15 m)

10m Z102C-00-10-A,(Z102C-01-10-A)

15m Z102C-00-15-A,(Z102C-01-15-A)

㉛ I/O harness (I/O harness for connecting to Mini I/O board)

2.5m IOCABLE-10-02M,(IOCABLE-40-02M) I/O cable between robot and controller. IOCABLE-10-**M type Controller side is separate cable, so cable manufacturing and signal assignment must be done by customer. IOCABLE-40-**M type Connector on both ends to directly connect CFD-OP150-A (Mini I/O board) of CFD controller. IOCABLE-40B-**M type Connector on both ends to directly connect CFD-OP150-B (Mini I/O board) of CFD controller.

5.5m IOCABLE-10-05M,(IOCABLE-40-05M)





I/O cable on robot arm 1.5m IOCABLE-20-01M Tool side is separate cable. Manufacturing needs to be done by customer.


Connector only Soldering type

IOCABLE-20-00 This is connector only. Manufacturing needs to be done by customer.

USB memory 1GByte FD11-OP93-A

FDonDESK Ⅱ Pro Robot Program Simulator FDONDESK2-Pro


Robot type MZ0□□-01-□□□-CFD-0000

Wrist Dimensions

Options Option List

ISO flange option ⑦

Wrist clamp option ⑥

Controller DimensionsRobot Dimensions and Working Envelope

Connector Layout for Applications (Standard)

Basic Specification of Robot Basic Specification of Controller

When ISO flange option is mounted, hollow size is reduced from φ23 to φ20

Solenoid valves(1 pcs/ 2 pcs /3 pcs)

(Diagram of contacts on connectors)

R115

R150

170°

170°

Figures shown indicate: MZ04, MZ07, and MZ07L.

221.4189

10-AWG22

7-φ4×2.5

AIR1（φ6）

CNR010


AW

G24×6p

AW

G24×6p

φ6×4φ6×4

CN

10A

10-AWG23CN

61A

CN

62A

CN

60A

CN

60B

Po

rt7

Po

rt1（

SO

L1A

）Po

rt2（

SO

L1B）

Po

rt3（

SO

L2A

）Po

rt4（

SO

L2B）

Po

rt5（

SO

L3A

）Po

rt6（

SO

L3B）

Exhaust (silencer)


Signal outlet

2-φ5 H7 depth 6

2-φ5 depth 7

φ40

h8

φ20* H7 penetrated

(hole size for wiring hollow)

4-M5 depth 7

22.5°22.5°

（P.C.D. 31.5）

4-M5 depth 7

(tube clamp hole)

φ7

(wiring clamp hole)

93

100

7

7

（P.C.D. 31.5）

Air inlet

Signal inlet

Wiring and Tubing Inside Arm

Item Specification

Model MZ04-01(MZ04D-01)

MZ04E-01*5

(MZ04DE-01)MZ07-01

(MZ07P-01)MZ07L-01

(MZ07LP-01)

Structure Articulated

Controllable Axes 6 6 (5)

Drive System AC Servodrive

Max. Working Envelope [rad(°)]

Arm

J1 Swivel ±2.97 (±170)

J2 Forward/Backward -2.53 ～ +1.57 (-145 ～ +90) -2.36 ～ +1.40 (-135 ～ +80)

J3 Upward/Downward -2.18 ～ +4.88 (-125 ～ +280) -2.37 ～ +4.71

（-136 ～ 270）-2.43 ～ +4.71

（-139 ～ 270）

Wrist

J4*3 Rotation 2 ±3.32 (±190)

J5 Bend ±2.09 (±120)

J6 Rotation 1 ±6.28 (±360)

Max. Speed*4 [rad/s(°/s)]

Arm

J1 Swivel 8.38 (480) 3.49(200) 7.85 (450) 5.24 (300)

J2 Forward/ Backward 8.03 (460) 2.62(150) 6.63 (380) 4.89 (280)

J3 Upward/ Downward 9.08 (520) 3.32(190) 9.08 (520) 6.28 (360)

Wrist

J4*3 Rotation 2 9.77 (560) 9.60 (550)

J5 Bend 9.77 (560) 9.60 (550)

J6 Rotation 1 15.7 (900) 17.5 (1000)

Max. Payload [kg] Wrist 4 7

Allowable Static Loading Torque [N･m]

J4*3 Rotation 2 8.86 16.6

J5 Bend 8.86 16.6

J6 Rotation 1 4.9 9.4

Max. Allowable Moment of Inertia*1 [kg･m2]

J4*3 Rotation 2 0.2 0.47

J5 Bend 0.2 0.47

J6 Rotation 1 0.07 0.15

Max. Reach [mm] 541 723 912

Position Repeatability*2 [mm] ±0.02 ±0.03

Ambient Temperature 0 ～ 45°C

Installation Floor / Wall / Tilted / Inverted mount Floor / Inverted mount Floor / Wall / Tilted / Inverted mount

Protection Rating IP40 equivalent*6 IP67

Weight [kg]*7 26 25 36 38

Controller OptionsSpecifications

One is possible. (Motor Capacity: up to 600W)

DeviceNet, PROFIBUS, EtherCAT, CC-Link and others.

EtherCAT and CC-Link are only compatible as a slave.

Maximum 64/64 point

8 photo coupler input and 8 transistor output or

8 photo coupler input and 8 relay contact output

USB Memory (1GB)

NV-Pro

SIL3　Cat. 4

IP54

Item

Additional Axes

External Memory

Vision Sensor (*)


Protection Rating

Fieldbus

Digital I/O

(*) Another box is required.

Arm Variation

CN10A

467 5

3 2 1

10 9 8

A01

A04

A03

A06 A05

A02

A08A09A10

A07

CNR010

Base connector Wrist connector

A

B

C

D

6 5 4 3 2 1

A01A02A03A04A05

A06A07A08A09A10

A11A12A13A14A15

A16A17A18A19A20G

A21

A22

ａｂ

110.794.5ａ

ｂ 500ａ

ｂ

165119ａ

ｂ

4525ａ

ｂ

73737272ａ

ｂ 340280280ａ

ｂ440

ａｂ

ｃ

618541541ａ

ｂ806ｃ

723541541ａ

ｂ912ｃ

228119119ａ

ｂ266ｃ

495422422ａｂ646ｃ

1249

1249

1602

ｃ

330260260ａ

ｂ420ｃ

345340340ａ

ｂ

490

173

369

front view

level view right side view

ｂ


9388

10095


5-φ4 7-φ4

φ66

h7φ7

2 h7

φ40

h7φ4

5 h7

φ66

h7

φ72

h7

Standard Specifications

1[rad]=180/π[°], 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: Using at 1000 m or lower sea level. Ambient temperature has limitations when allowable altitude is

exceeded.*5: MZ04E/MZ04DE has 80W motor or smaller in all axis.*6: MZ04/MZ04E is IP40 equivalent, MZ04D/MZ04DE is IP67 (Protection Rating).*7: Wall mount Rear Connection Type +4kg（MZ04＊ Series）+6kg（MZ07＊ Series）　Bottom Connection Type +6kg（MZ04＊ Series）+8kg（MZ07＊ Series）

Connection VariationMark

0

B

Specification

Rear connection

Bottom connection

Notes

Robot to controller cable is connected at robot rear

Robot to controller cable is connected at robot bottom

Application Variation

Specification

Standard

Vision sensor

Vision sensor （cross laser）Force sensor

Additional axis

Solenoid valve

MZ04 MZ07

Up to 2

Up to 1

Up to 1

Up to 1

Up to 1

Up to 3

Up to 2

Up to 1

Up to 1

Up to 1

Signal wires

10 wires

10 wires

10 wires

10 wires

10 wires

Notes

-

LAN cable, Light cable

LAN cable, Light cable, Laser cable

6 freedom Force sensor cable

1 motor and 1 encoder cable

Mark

0

V

U

F

S

Installation VariationSpecification

Standard

Wall mount

Notes



Mark*

0

W

Robot Base Dimensions

189.

5

160

4-φ11

95.5

±0.

194

160

190.5

95.5±0.1 1984-M5 depth 7

(Diameter of wire hole)

φ45

h7

Wire hole(same as opposite side)

2-φ5 H7 depth 74-φ9

50±0.1

100


75

76.5

±0.

1151.

5

130

MZ04 MZ07

(P.C.D.53.5)(P.C.D.60)

(P.C.D.53.5)(P.C.D.60)

φ21φ23

80 83

72 73

1214

1923

φ62

h7

φ72

h7

Wrist Dimensions


Frame

interference

radius

Specifications

6

7

PL d (Cat. 3)

Teach / Playback

Robot Language

9,999

256MB

5.7” Color LCD Touch Panel, Cable Length: 4m

Monochrome, 20 Characters x 4 Lines Display,

Cable Length: 4m

3 Position Enable Switch, Emergency Stop Button

Emergency Stop and Mode Switching (Teach/Playback)

External Emergency Stop, Safety Plug,

External Enable Switch, Protective Stop

Ethernet

USB Port

369(W)×490(D)×173(H)

Approx. 17kg

Single phase/3φ AC200-230V ±10%　　0.4KVA

Item

Controllable Axes

Maximum Controllable Axes


Program Number

Operating Panel

Network

External Memory Interface

External Dimensions (mm)

Weight

Consuming Power

Teaching Method

Memory Capacity

Teach PendantCompact TP

Smart TP

Common

Exclusive Safety Input

Power Supply

Option

TP=Teach Pendant

Adjustable stopper

IP67 set

Solenoid valve

Vision sensor

Brake release switch

I/O harness（L＝2.5m,5.5m,10.5m,15.5m,20.5m,25.5m）

MotorEncoder harness

（L＝2m,5m,10m,15m,20m）

Motor/Encoder additional harness

（L＝5m,10m,15m）Floor surface connection specifications(included in the robot body)

Floor surface connection specifications(included in the robot body)

Robot monitoring unit

Transfer jig

Tools

CFD controller

Controllerprotection Box Connector for

Power Cable(Standard)

CE marking Specification



Teach Pendant additional cable

（L＝5m,10m）

Smart TP(Cable L＝4m)

Compact TP(Cable L＝4m)

Standard gripper (Parallel gripper/Three fingers)

Mini I/O board (s

lot A)

TP shortin

g

plug

External sa

fety

signal

(Prepared by

customer)

EtherNet/IP board (s

lot B, C

)

(maste

r or sla

ve)DeviceNet board (s

lot B)

(maste

r or sla

ve)

Digital I/O

board （NPN/PNP）(slot B

, C)

CC-Link board (s

lot B)

(maste

r / sla

ve)PROFIBUS board (s

lot B)

(maste

r or sla

ve)PROFINET board (s

lot B, C

)

(slave)

FL-net b

oard (slot B

, C)

EtherCAT board (s

lot B)

(slave)

ISO flange（P.C.D.31.5）

Wires clamp

CNRO10(connector included

in the I/O harness option)

CN10A

MZ07*-01

I/O cable on robot arm（L＝1.5m）


Offline Program SimulationFDonDESK Ⅱ Light (Standard)FDonDESK Ⅱ Pro (Option)

USB memory (1GB）

Red Mark

Blue Mark

Selectable Essential Option


Wiring and Tubing in Robot Arm (When SOL installed in Arm)

(Standard)

*1 Grip force may vary according to the supplied air pressure (0.3 to 0.5 MPa) and finger length. *2 “TP” means teach pendant.● All option is shipped with robot by kit (sub assembly). Please install it by customer after reading option install procedure.

10-AWG22

AW

G24×6p

AW

G24×6p

2-φ4×2.5

φ6×4 AIR1（φ6）

CNR010


φ6×4

10-AWG23

CN

10A

Port

7

CN

61A

CN

62A

CN

60A

CN

60B

Port

1


Air inlet

Signal cable inlet

MZ07MZ04

AW

G24

×6p φ4×2.5

CNR010

φ4×2.5AIR1（φ6）AIR2（φ6）PURGE AIR（φ6）

Air inlet

Signal cable inlet

10-AWG22

CN

10A

Port

5

CN

61A

Port

1


2-φ4×2.5

10-AWG23

CN6

0A

Solenoid valves(1 pcs/ 2 pcs)

10-AWG22

5-φ4×2.5

CN

61A

CN

60A10-AWG2310-AWG23

AIR1（φ6）

CNR010


AW

G24

×6p

φ4×2.5

φ4×2.5

Air inlet

Signal inlet

Exhaust (silencer)

CN

10A

Po

rt5

Po

rt1（

SO

L1A

）Po

rt2（

SO

L1B）

Po

rt3（

SO

L2A

）Po

rt4（

SO

L2B）


Signal outlet

MZ04 MZ07

*MZ04E/MZ04DE is permitted “O” only.

Mark 1 Mark 2 Specification Notes

4

(none) 4 kg payload, Standard arm

6 axes, Max reach 541mmD 4 kg payload, Standard arm, IP67

E 4 kg payload, Standard arm, Low power type

DE 4 kg payload, Standard arm, Low power, IP67

7

(none) 7 kg payload, Standard arm 6 axes, Max reach 723mm

L 7 kg payload, Long arm 6 axes, Max reach 912mm

P 7 kg payload, Standard arm 5 axes, Max reach 723mm (does not have J4)

LP 7 kg payload, Long arm 5 axes, Max reach 912mm (does not have J4)

IP20

0～40°C (50/60Hz)

Protection Rating

Ambient Temperature

20～85%(Without Condensation)Ambient Humidity

(to customer peripheral equipment)

Conveyor Tracking

I/F (slot B

, C)

Force sensor

I/F (slot B

, C)

No. Item SpecificationsParts No.

NotesMZ04 MZ07

① Adjustable stopper Restriction of axis 1 to 3 working envelope OP-S5-026 OP-S5-022

② Transfer jig Common for crane transporting, inverted and wall mount OP-S2-044 OP-S2-042

③ Tools Zeroing pin & Zeroing block OP-T2-089 OP-T2-078

④ IP67 set Air purge unit in robot body OP-H9-008 OP-H9-004

⑤ Solenoid valve 1 valve OP-H4-006 OP-H4-004 2 position double Pressure range : 0.1 to 0.5 MPa Coil voltage rating 24 VDC

MZ04 supports up to 2 solenoid valves

2 valves OP-H5-010 OP-H5-008

3 valves − OP-H6-004

⑥ Wires clamp Clamp for wires and air tubes inside wrist hollow OP-W3-016 OP-W3-012 MZ04: Air (φ4, 5 lines), signal lines MZ07: Air (φ4, 7 lines), signal lines

⑦ ISO flange ISO flange adapter (P.C.D.31.5) OP-W2-013 OP-W2-012

⑧ Standard gripper *1 Parallel gripper single S OP-F10-009 OP-F10-002 Grip force 320N (air source 0.5MPa) Stroke 24mm

MZ04 is available with a single gripper only

Parallel gripper double S − OP-F10-003

Parallel gripper single M OP-F10-010 OP-F10-004 Grip force 600N (air source 0.5MPa) Stroke 30mm

Three fingers single S OP-F10-011 OP-F10-005 Grip force 300N (air source 0.5MPa) Stroke 8mmThree fingers double S − OP-F10-006

Three fingers single M OP-F10-012 OP-F10-007 Grip force 410N (air source 0.5MPa) Stroke 10mmThree fingers double M − OP-F10-008

⑨ Mini I/O board I/O Photo coupler 8 inputs / NPN Transistor 8 outputs CFD-OP150-AMounted on sequence board of slot A

I/O Photo coupler 8 inputs / Relay contact 8 outputs CFD-OP150-B

⑩ EtherNet/IP board Master 1CH CFD-OP130-A

Occupies (1) slot

Up to (2) slots available





⑪ DeviceNet board Master 1CH CFD-OP131-A

Occupies (1) slot


Master 1CH +Slave 1CH CFD-OP131-C



⑫ Digital I/O board I/O Photo coupler 32 inputs / NPN Transistor 32 outputs CFD-OP125-A Occupies (1) slotI/O Photo coupler 64 inputs / NPN Transistor 64 outputs CFD-OP125-B Occupies (2) slotsI/O Photo coupler 32 inputs / PNP Transistor 32 outputs CFD-OP151-A Occupies (1) slotI/O Photo coupler 64 inputs / PNP Transistor 64 outputs CFD-OP151-B Occupies (2) slots

⑬ CC-Link board Both master and slave 1CH CFD-OP98-B Occupies (1) slot

⑭ PROFIBUS board Master 1CH CFD-OP132-A

Occupies (1) slot





⑮ PROFINET board Slave 1CH CFD-OP136-BOccupies (1) slot


⑯ FL-net board 1CH CFD-OP101-C Occupies (1) slot Max 2CH (2 slots)

⑰ EtherCAT board Slave 1CH CFD-OP-169-B Occupies (1) slot

⑱ Conveyor Tracking I/F RS422 Differential input encoder counter CFD-OP47-A Occupies (1) slot

⑲ Force sensor I/F Force sensor unit for CFD (another box) CFD-OP152-A Occupies (1) slot

⑳ Vision sensor Vision sensor unit for CFD (another box) CFD-OP139-A Cameras, lighting, and cables are available. Contact us for information.

㉑ Robot monitoring unit Robot monitoring unit for CFD (another box) CFD-OP145-A

㉒ Brake release switch Brake release switch (portable type) FD11-OP90-E

㉓ Controller protection BOX Upgraded to IP54 equivalent by preparing dust-proof and drip-proof box CFD-OP133-A W540×D700×H270

㉔ UL specification Some parts are replaced to conform to UL standard CFD-UL-A

CE marking specification CE marking compliant, separate unit CFD-CE-A

KCs specification Some parts are replaced to conform to Korean KCs standard CFD-KCS-A

㉕ Smart TP *2 Cable length 4m CFDTP-10-04M

These are selectable options. One of them must be selected.㉖ Compact TP *2 Cable length 4m MINITP-10-04M

㉗ TP shorting plug *2 To disconnect teach pendant CFD-OP153-A

㉘ Teach Pendant additional cable

5m CFDTP-RC05M Only one cable can be added Both ends have a connector10m CFDTP-RC10M

㉙ Motor/Encoder harness 2m Z101C-J1-02-A

Connects robot to controller One of these options must be selected. Select one of them.

5m Z101C-J1-05-A

10m Z101C-J1-10-A

15m Z101C-J1-15-A

20m Z101C-J1-20-A

㉚ Motor/encoder additional harness (Flexible type extension harness)

5m Z102C-00-05-A,(Z102C-01-05-A) One extension, 25 m maximum Both ends have a connector Select one the following models if a flexible type cable is required Z102C-01-**-A (** indicates length, 05 is 5 m, 10 is 10 m, and 15 is 15 m)

10m Z102C-00-10-A,(Z102C-01-10-A)

15m Z102C-00-15-A,(Z102C-01-15-A)

㉛ I/O harness (I/O harness for connecting to Mini I/O board)

2.5m IOCABLE-10-02M,(IOCABLE-40-02M) I/O cable between robot and controller. IOCABLE-10-**M type Controller side is separate cable, so cable manufacturing and signal assignment must be done by customer. IOCABLE-40-**M type Connector on both ends to directly connect CFD-OP150-A (Mini I/O board) of CFD controller. IOCABLE-40B-**M type Connector on both ends to directly connect CFD-OP150-B (Mini I/O board) of CFD controller.






I/O cable on robot arm 1.5m IOCABLE-20-01M Tool side is separate cable. Manufacturing needs to be done by customer.


Connector only Soldering type

IOCABLE-20-00 This is connector only. Manufacturing needs to be done by customer.

USB memory 1GByte FD11-OP93-A

FDonDESK Ⅱ Pro Robot Program Simulator FDONDESK2-Pro


Download pdf - Application Examples Characteristics - nachi-fujikoshi.co.jp · Cable routing improved Characteristics Robot Body Standard Cycle Time Evaluation (go and back) *1 300mm 25mm *1: Payload

Download pdf - Application Examples Characteristics - nachi-fujikoshi.co.jp · Cable routing improved Characteristics Robot Body Standard Cycle Time Evaluation (go and back) 1 300mm 25mm 1: Payload