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Compact Robot MZ01

Basic Specification of Robot

Robot type MZ01-02
Structure Articulated
Number of axis 6
Drive system AC servo motor
Max. working
J1 ±2.97rad (±170°)
J2 -1.57 to 1.48rad (-90 to 85°)
J3 -0.87 to 1.57rad (-50 to 90°)
J4 ±2.53rad (±145°)
J5 ±2.18rad (±125°)
J6 ±6.28rad (±360°)
Max. speed*1 J1 5.59rad/s (320°/s)
J2 5.59rad/s (320°/s)
J3 6.54rad/s (375°/s)
J4 10.47rad/s (600°/s)
J5 10.47rad/s (600°/s)
J6 10.47rad/s (600°/s)
Max. payload*2 Wrist 1.0kg rated
Arm 1 max. 0.25kg
Allowable static
load torque
J4 0.9N·m
J5 0.9N·m
J6 0.78N·m
Allowable moment
of inertia*3
J4 0.008kg·m2
J5 0.008kg·m2
J6 0.006kg·m2
Position repeatability*4 ±0.02mm
Max. reach 350mm
Air piping IN : Ø6×2, OUT : Ø4×2
Application signal line 12 wires
Installation Floor/Inverted
Ambient conditions Temperature : 0 to 40C°*5
Humidity : 20 to 85%RH (No dew condensation)
Vibration to the installation face : 0.5G (4.9m/s2) or less
Dust-proof Drip-proof
Robot only IP40 equivalent
Cleanliness*7 ISO 14644-1 CLASS5 equivalent
Noise level*8 70dB
Robot mass 10kg

1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]

* Explosion-proof version is not available.
*1 The "Max. speed" in this table is the available maximum value and will change depending on the work-program and the wrist load condition.
*2 When no load is on arm 1 (arm of axis 3), the max. wrist load is 1.0kg. However, when a 0.25kg load is on arm 1, the wrist load can only go up to 0.75kg.
*3 The allowable moment of inertia of wrist changes with load conditions.
*4 Based on JIS B8432
*5 Permitted installation is less than 1,000m above sea level.
Allowable operating temperature dependent on installation height.
*6 Limit use in applications where liquids, such as, organic compound, acidity, alkalinity, chlorine, gasoline and/or cutting fluids. These could deteriorate seal material.
Wire harness is IP65 equivalent, controller is IP20 equivalent.
*7 To ensure a cleanliness, install the robot in a down-flow type cleanroom.
The robot's packaging is not dust proof. Before bringing the robot into a cleanroom, you must clean the robot by wiping it off or by removing dust and fine particles from it.
*8 A-weighted equivalent level of sound measured according to JIS Z 8737-1 (ISO 11201), while operating at max. Speed with the rated load.