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Multipurpose robot MZ12H

Basic Specification of Robot

Model MZ12H-01
Structure Articulated robot
Degree of Freedom 6
Drive System AC servo motor
Maximum motion
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°)
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 12.92rad/s (740°/s)
Maximum Payload Wrist 12kg
Maximum static
load torque
J4 26.5N·m
J5 26.5N·m
J6 12.0N·m
Maximum moment
of inertia*2
J4 0.9kg·m2
J5 0.9kg·m2
J6 0.3kg·m2
Position repeatability*3 ±0.04mm
Maximum Reach 1454mm
Air tubes Ø6×2, Ø8×1
Application cables 24 wires (Including wires for optional valves)
Installation Floor / Inverted / Angle
Mounting Condition Ambient Temperature : 0 to 45C°*4
Ambient Humidity : 20 to 85%RH
(No dew or frost allowed)
Vibration: Not more than 0.5G (4.9m/s2)
Protection class*5 IP 67 equivalent (dust-proof, liquid-resistant)
Robot weight 155kg

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.