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MC series MC400L

Hollow wrist Heavy payload robot

Robot specifications

Robot model MC400L-01
Structure Articulated
Number of axes 6
Drive system AC servo system
Max.
operating
envelope
J1 ±3.14rad (±180°)
J2 -1.83 to +1.05rad (-105 to +60°)
J3 -2.27 to +0.52rad (-130 to +30°)
J4 ±3.67rad (±210°)
J5 ±2.09rad(±120°)
J6 Max. : ±6.28rad (±360°)
Initial setting : ±3.67rad (±210°) *4
Max.
velocity
J1 1.57rad/s (90°/s)
J2 1.57rad/s (90°/s)
J3 1.57rad/s (90°/s)
J4 1.92rad/s (110°/s)
J5 1.92rad/s (110°/s)
J6 3.14rad/s (180°/s)
Payload Wrist 400kg
Forearm *1 Max. 50kg
Allowable
static load
torque for
wrist
J4 3450N·m
J5 3450N·m
J6 1725N·m
Allowable
moment of
inertia for
wrist *2
J4 600kg·m2
J5 600kg·m2
J6 400kg·m2
Position repeatability *3 ±0.09mm
Installation Floor
Ambient conditions

Ambient temperature : 0to45°C *5
Ambient humidity : 20to85% RH (without condensation)
Vibration : Not more than 0.5G(4.9m/s2)

Robot mass 3,050kg

1[rad] = 180/π[°], 1[N·m] = 1/9.8[kgf·m]

(*1) This value changes by placement and load conditions of a wrist.
(*2) The Allowable moment of inertia of a wrist changes with load conditions of a wrist.
(*3) This value conforms to “JIS B 8432”.
(*4) The initial setting of the software limit is ±210°. When installing the cables in the hollow hole part of J6, please use the robot in the range of ±210°.
If the cables do not go through the hollow hole of J6, it is possible to widen the operating envelope of J6 up to ±360° considering the condition.
(*5) Permitted height is not higher than 1,000m above sea level. If used in higher place, permitted temperature is affected by height.