NACHI Handling Robot MZ12H : Multipurpose robot
Robots
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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 range |
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°) | |
| Maximum Velocity*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 | 12.92rad/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.