MZ12
Robot Dimensions and Working Envelope
Wrist dimensions
MZ12
by Nachi
- Protection level: IP67 rated
- Paint is coolant resistant
- Leads its class in speed in precision
- Footprint is 17% smaller than conventional robots
- Through-arm cabling and air piping included
Specification
Basic Specification of Robot
| Model | MZ12-01 | |
|---|---|---|
| Structure | Articulated | |
| Controllable Axes | 6 | |
| Drive System | AC Servodrive | |
| Max.Working Envelope | J1 | ±2.97rad (±170°) |
| J2 | +1.57 to -2.79rad (+90 to -160°) | |
| J3 | +3.67 to -2.57rad (+210 to -147°) | |
| J4 | ±3.32rad (±190°) | |
| J5 | ±2.44rad (±140°) | |
| J6 | ±6.28rad (±360°) | |
| Max. Speed*1 | J1 | 4.54rad/s (260°/s) |
| J2 | 4.01rad/s (230°/s) | |
| J3 | 4.54rad/s (260°/s) | |
| J4 | 8.20rad/s (470°/s) | |
| J5 | 8.20rad/s (470°/s) | |
| J6 | 12.22rad/s (700°/s) | |
| Payload | Wrist | 12kg |
| Allowable Static Loading Torque |
J4 | 25N·m |
| J5 | 25N·m | |
| J6 | 9.8N·m | |
| Max. Allowable Moment of Inertia*2 |
J4 | 0.7kg·m2 |
| J5 | 0.7kg·m2 | |
| J6 | 0.2kg·m2 | |
| Position Repeatability *3 | ±0.04mm | |
| Max. Reach | 1454mm | |
| Air Piping | Ø6×2, Ø8×1 | |
| Application Wirings | 24wires (including wires for the optional solenoid valves) |
|
| Installation | Floor / Inverted mount / Tilted | |
| Ambient Conditions | Ambient temperature : 0 to 45C°*4 Ambient humidity : 20 to 85%RH (without condensation) Vibration : Not more than 0.5G (4.9m/s2) |
|
| Environmental Conditions*5 |
IP67 equivalent (Protection Rating) | |
| Weight | 150kg | |
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
* Explosion-proof version is not available.
*1 The maximum speed in the chart is a maximum value. The maximum value may change depending on work programs and load conditions of the wrist.
*2 The Allowable Moment of Inertia of a wrist changes with load conditions of a wrist.
*3 JIS B 8432 compliant.
*4 Using at 1000 m or lower sea level. Ambient temperature has limitations when allowable altitude is exceeded.
*5 Fluids that cause the deterioration of sealants, such as gasoline-based cutting fluids, chlorine, alkali, acids, and organic solvents, cannot be used. The wire-harness portion is IP65 equivalent, and the robot controller is IP20 equivalent.