MC400L
Exterior dimensions and operating envelope
MC400L
by Nachi
Hollow wrist structure
- Avoiding interference of cables with peripheral equipment.
- Improved reliability of cables due to its stable behavior with wrist movement.
High-speed motion
- Top level performance in its class.
Powerful wrist
- Easy handling for large work-pieces due to the large wrist capacity.
- A work-piece of large moment of inertia is also available.
Advanced applicability
- Wide envelope.
- 5 meter vertical stroke.
Application signals are standard
- 2 ports for air, 40 application signals, DeviceNet cable, LAN cable.
Specification
Robot specifications
| Robot model | MC400L-01 | |
|---|---|---|
| Structure | Articulated | |
| Number of axes | 6 | |
| Drive system | AC servo system | |
| Max. operating envelope |
J1 | ±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 |
|
| Max. velocity |
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) | |
| Payload | Wrist | 400kg |
| Forearm *1 | Max. 50kg | |
| Allowable static load torque for wrist |
J4 | 3450N·m |
| J5 | 3450N·m | |
| J6 | 1725N·m | |
| Allowable moment of inertia for wrist *2 |
J4 | 600kg·m2 |
| J5 | 600kg·m2 | |
| J6 | 400kg·m2 | |
| Position repeatability *3 | ±0.3mm | |
| Installation | Floor | |
| Ambient conditions |
Ambient temperature : 0 |
|
| 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.
(*2) The Allowable moment of inertia of a wrist changes with load conditions of a wrist.
(*3) This value conforms to “JIS B 8432”.
(*4) The initial setting of the software limit is ±210°. When installing the cables in the hollow 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 the operating envelope of J6 up to ±360° considering the condition.
If the cables do not go through the hollow hole of J6, it is possible to widen the operating 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.