MZ04/MZ04E
Sophisticated and Smooth form
Smart Cable Routing
Application Examples
Robot dimensions and Working envelope
Robot base dimensions diagram
Detail of wrist
MZ04/MZ04E
by Nachi
Smart cable routing in hollow wrist
- Hand cables are neatly housed inside of the hollow wrist. Smart cable routing helps prevent interference with peripheral equipment, which greatly improves equipment reliability.
Compact with a wide working envelope
- The lightweight and compact robot arm helps keep the equipment simple and saves space.
- The installation area is half that of the MZ07 (A5 paper size).
Fastest operating speed in its class improves productivity
- The lightness of the robot arm and the latest control technologies give it the fastest operation in its class, which improves productivity.
Specification
Basic specification of robot
| Robot Model | MZ04-01 (MZ04D-01) |
MZ04E-01 *3 (MZ04DE-01) |
|||
|---|---|---|---|---|---|
| Number of Axis | 6 | ||||
| Drive System | AC Servo Drive | ||||
| Max. Speed [rad/s(°/s)] |
Arm | J1 | Swivel | 8.38 (480) | 3.49 (200) |
| J2 | Forward/Backward | 8.03 (460) | 2.62 (150) | ||
| J3 | Upward/Downward | 9.08 (520) | 3.32 (190) | ||
| Wrist | J4/J5 | Rotation 2/Bend | 9.77 (560) | ||
| J6 | Rotation 1 | 15.71 (900) | |||
| Max. Payload [kg] | 4 | ||||
| Allowable Static Loading Torque | J4/J5 | Rotation 2/Bend | 8.86 | ||
| J6 | Rotation 1 | 4.9 | |||
| Position Repeatability*2 | ±0.02mm | ||||
| Ambient Temperature [°C] | 0  45 |
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| Installation | Floor / Wall / Tilted / Invert mount | Floor / Invert mount | |||
| Robot Mass [kg] | 26 *5 | 25 *5 | |||
| Max. Reach [mm] | 541 | ||||
| Dust Proof, Drip Proof | IP40 equivalent *4 | ||||
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
(*2) JIS B 8432 compliant.
(*3) MZ04E/MZ04DE has 80W motor or smaller in all axis.
(*4) MZ04/MZ04E is IP40 equivalent, MZ04D/MZ04DE is IP67 (dust proof, drip proof).
(*5) Wall mount Bottom Connection Type +4Kg.
Bottom Connection Type +6kg.
Bottom Connection Type +6kg.
Specification of controller
| Controlled Axis | 6-Axes |
|---|---|
| Maximum Control Axis | 7-Axes |
| Program Number | 9,999 programs |
| Memory Capacity | 256MB (2,560,000 program steps equivalent) |
| Memory Device | USB Port |
| External Dimension | 369(W) x 490(D) x 173(H) |
| Weight | Approx. 17kg |
| Primary Power Supply | 3-Phase AC200-230V ±10% Single Phase AC200-230V ±10% |
| Consuming Power | 0.4KVA |
| Dust Proof, Drip Proof | IP20 |
| Ambient Temperature | 0 to 40°C |
| Ambient Humidity | 20 to 85% (Non-condensing) |