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Cable routing improved
Characteristics
Robot Body
Standard Cycle Time Evaluation (go and back) *1
300mm
25mm
*1: Payload is 1kg. This may vary according to the robot program and installation.*2: Value for MZ07.
Smart Cable Routing
Hollow wristcables are stored
inside wrist
Conventional wristoverhanging cables
Approaching to Machine
Avoids cable interferencefrom machine
Entering into Cover
■�Small bottom design enables compact installation
Top Perform High Speed* Compact & Flexible Installation
Floor mount Inverted mount Wall mount Tilted mount
■ Solenoid valves can be installed inside robot arm
■ More compact installation■ Robot can be installed close to
behind wall■ Cables can be stored inside robot riser
Conventional wrist
Hollow wrist
Conventional wrist Hollow wrist
Access toSmaller window
175
■�Contributing to improvement of productivity by high speed
Top Perform High Speed Available to All-round Mounting
Cable and Tubes Routing through Hollow Wrist
Compact Installation Space
Pneumatic Valves inside Robot Arm Option
0.31sec.*2
SOL Valve in Arm(Option : Max. 2 valve available)
SOL Valve in Arm(Option : Max. 3 valve available)
MZ04
MZ07
151.5189.5100
190.5
Controller
�● Off-line programming�● Operation and layout study�● Cycle time simulation�● PLC program editing�● Operation instruction
■ Assembling (inserting, following, phasing), polishing, deburring
Application example for finishing process.
Various Application
■ Operation by using teach pendant, high speed processing■ Various application available by 2D and 3D vision sensing,
dimension measurement and parts type districting
User Friendly Functions
■ Control peripheral equipment by robot controller■ Simplifies system configuration to reduce cost
■ Best simulator for a feasibility study.
Compact Cabinet
■ Customizable teach pendant screen menu.■ Works as a system operation console which can control peripheral devices.
moving direction
force direction
■ Only 369mm in width
■ Could be installed inside robot riser
Vision Sensor NV-Pro Option
Force Sensor Option
■ Safety unit to monitor robot position and speed■ Reducing cost and space saving
Robot Monitoring Unit (RMU) Option
■ DeviceNet (Master, Slave)■ EtherNet/IP (Master, Slave)■ EtherCAT (Slave)■ CC-Link (Master, Slave)■ PROFIBUS (Master, Slave)■ PROFINET (Slave)DeviceNet and EtherNet/IP is a trademark of ODVA (Open DeviceNet Vender Association, Inc.).EtherCAT is trademarks of Beckhoff Automation GmbH.CC-Link is a trademark of CC-Link Partner Association : CLPA.PROFIBUS and PROFINET is a trademark of PROFIBUS & PROFINET International.
Fieldbus Option
User Graphical Interface FlexGui Option
Software PLC Standard
FD on Desk Ⅱ LightOffline Simulation Tool
Standard
Application Examples
Machine Loading Picking Packing/Casing
Assembling Deburring Finishing
Inspection Sealing
① avoids interference with peripheral equipment
② allows the arm to enter tight spaces
③ improved reliability with stable cable behavior during high speed operation
Figures shown indicate: MZ04, MZ07.
Cable Connectionfrom Bottom SideOption
*Combined max speed
MZSERIES
CATALOG
Ultra High Speed and Compact
Head OfficeRobot Division
Tel: +81-(0)3-5568-5247
Tel: +81-(0)76-456-2223
Fax: +81-(0)3-5568-5237
Fax: +81-(0)76-493-5251
Shiodome Sumitomo Bldg. 17F, 1-9-2 Higashi-Shinbashi, Minato-ku, Tokyo 105-0021
1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, JAPAN
www.nachi.com
Michigan, U.S.A.
CANADA
MEXICO
BRASIL
GERMANY
THAILAND
SINGAPORE
INDONESIA
INDIA
N.S.W, AUSTRALIA
CHINA
Tel: +1-248-305-6545
Tel: +1-905-660-0088
Tel: +52-442-153-2424
Tel: +55-11-4793-8800
Tel: +49-(0)2151-65046-0
Tel: +66-2-714-0008
Tel: +65-65587393
Tel: +62-21-527-2841
Tel: +91-(0)12-4450-2900
Tel: +61-(0)2-9898-1511
Tel: +86-(0)21-6915-2200
Fax: +1-248-305-6542
Fax: +1-905-660-1146
Fax: +52-442-153-2435
Fax: +55-11-4793-8870
Fax: +49-(0)2151-65046-90
Fax: +66-2-714-0740
Fax: +65-65587371
Fax: +62-21-527-3029
Fax: +91-(0)12-4450-2910
Fax: +61-(0)2-9898-1678
Fax: +86-(0)21-6915-5427
http://www.nachirobotics.com
http://www.nachicanada.com/
http://www.nachi.com.mx/
http://www.nachi.com.br/
http://www.nachirobotics.com.eu/
http://www.nachi.co.th/
http://www.nachinip.com.sg/
http://www.nachi.co.id/
http://www.nachirobotics.com.au/
http://www.nachi.com.cn/
NACHI ROBOTIC SYSTEMS INC.NACHI CANADA INC.NACHI MEXICO, S.A. DE C.V.NACHI BRASIL LTDA.NACHI EUROPE GmbHNACHI TECHNOLOGY (THAILAND) CO., LTD.NACHI SINGAPORE PTE. LTD.PT.NACHI INDONESIANACHI TECHNOLOGY INDIA PVT. LTD.NACHI (AUSTRALIA) PTY. LTD.NACHI (CHINA) CO., LTD.
●The specifications are subject to changes without notice.●In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Act. Please go through careful investigation and necessary formalities for export.
CATALOG NO. R7702E-10
2019.01.V-ABE-ABE
Cable routing improved
Characteristics
Robot Body
Standard Cycle Time Evaluation (go and back) *1
300mm
25mm
*1: Payload is 1kg. This may vary according to the robot program and installation.*2: Value for MZ07.
Smart Cable Routing
Hollow wristcables are stored
inside wrist
Conventional wristoverhanging cables
Approaching to Machine
Avoids cable interferencefrom machine
Entering into Cover
■�Small bottom design enables compact installation
Top Perform High Speed* Compact & Flexible Installation
Floor mount Inverted mount Wall mount Tilted mount
■ Solenoid valves can be installed inside robot arm
■ More compact installation■ Robot can be installed close to
behind wall■ Cables can be stored inside robot riser
Conventional wrist
Hollow wrist
Conventional wrist Hollow wrist
Access toSmaller window
175
■�Contributing to improvement of productivity by high speed
Top Perform High Speed Available to All-round Mounting
Cable and Tubes Routing through Hollow Wrist
Compact Installation Space
Pneumatic Valves inside Robot Arm Option
0.31sec.*2
SOL Valve in Arm(Option : Max. 2 valve available)
SOL Valve in Arm(Option : Max. 3 valve available)
MZ04
MZ07
151.5189.5100
190.5
Controller
�● Off-line programming�● Operation and layout study�● Cycle time simulation�● PLC program editing�● Operation instruction
■ Assembling (inserting, following, phasing), polishing, deburring
Application example for finishing process.
Various Application
■ Operation by using teach pendant, high speed processing■ Various application available by 2D and 3D vision sensing,
dimension measurement and parts type districting
User Friendly Functions
■ Control peripheral equipment by robot controller■ Simplifies system configuration to reduce cost
■ Best simulator for a feasibility study.
Compact Cabinet
■ Customizable teach pendant screen menu.■ Works as a system operation console which can control peripheral devices.
moving direction
force direction
■ Only 369mm in width
■ Could be installed inside robot riser
Vision Sensor NV-Pro Option
Force Sensor Option
■ Safety unit to monitor robot position and speed■ Reducing cost and space saving
Robot Monitoring Unit (RMU) Option
■ DeviceNet (Master, Slave)■ EtherNet/IP (Master, Slave)■ EtherCAT (Slave)■ CC-Link (Master, Slave)■ PROFIBUS (Master, Slave)■ PROFINET (Slave)DeviceNet and EtherNet/IP is a trademark of ODVA (Open DeviceNet Vender Association, Inc.).EtherCAT is trademarks of Beckhoff Automation GmbH.CC-Link is a trademark of CC-Link Partner Association : CLPA.PROFIBUS and PROFINET is a trademark of PROFIBUS & PROFINET International.
Fieldbus Option
User Graphical Interface FlexGui Option
Software PLC Standard
FD on Desk Ⅱ LightOffline Simulation Tool
Standard
Application Examples
Machine Loading Picking Packing/Casing
Assembling Deburring Finishing
Inspection Sealing
① avoids interference with peripheral equipment
② allows the arm to enter tight spaces
③ improved reliability with stable cable behavior during high speed operation
Figures shown indicate: MZ04, MZ07.
Cable Connectionfrom Bottom SideOption
*Combined max speed
MZSERIES
CATALOG
Ultra High Speed and Compact
Head OfficeRobot Division
Tel: +81-(0)3-5568-5247
Tel: +81-(0)76-456-2223
Fax: +81-(0)3-5568-5237
Fax: +81-(0)76-493-5251
Shiodome Sumitomo Bldg. 17F, 1-9-2 Higashi-Shinbashi, Minato-ku, Tokyo 105-0021
1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, JAPAN
www.nachi.com
Michigan, U.S.A.
CANADA
MEXICO
BRASIL
GERMANY
THAILAND
SINGAPORE
INDONESIA
INDIA
N.S.W, AUSTRALIA
CHINA
Tel: +1-248-305-6545
Tel: +1-905-660-0088
Tel: +52-442-153-2424
Tel: +55-11-4793-8800
Tel: +49-(0)2151-65046-0
Tel: +66-2-714-0008
Tel: +65-65587393
Tel: +62-21-527-2841
Tel: +91-(0)12-4450-2900
Tel: +61-(0)2-9898-1511
Tel: +86-(0)21-6915-2200
Fax: +1-248-305-6542
Fax: +1-905-660-1146
Fax: +52-442-153-2435
Fax: +55-11-4793-8870
Fax: +49-(0)2151-65046-90
Fax: +66-2-714-0740
Fax: +65-65587371
Fax: +62-21-527-3029
Fax: +91-(0)12-4450-2910
Fax: +61-(0)2-9898-1678
Fax: +86-(0)21-6915-5427
http://www.nachirobotics.com
http://www.nachicanada.com/
http://www.nachi.com.mx/
http://www.nachi.com.br/
http://www.nachirobotics.com.eu/
http://www.nachi.co.th/
http://www.nachinip.com.sg/
http://www.nachi.co.id/
http://www.nachirobotics.com.au/
http://www.nachi.com.cn/
NACHI ROBOTIC SYSTEMS INC.NACHI CANADA INC.NACHI MEXICO, S.A. DE C.V.NACHI BRASIL LTDA.NACHI EUROPE GmbHNACHI TECHNOLOGY (THAILAND) CO., LTD.NACHI SINGAPORE PTE. LTD.PT.NACHI INDONESIANACHI TECHNOLOGY INDIA PVT. LTD.NACHI (AUSTRALIA) PTY. LTD.NACHI (CHINA) CO., LTD.
●The specifications are subject to changes without notice.●In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Act. Please go through careful investigation and necessary formalities for export.
CATALOG NO. R7702E-10
2019.01.V-ABE-ABE
Cable routing improved
Characteristics
Robot Body
Standard Cycle Time Evaluation (go and back) *1
300mm
25mm
*1: Payload is 1kg. This may vary according to the robot program and installation.*2: Value for MZ07.
Smart Cable Routing
Hollow wristcables are stored
inside wrist
Conventional wristoverhanging cables
Approaching to Machine
Avoids cable interferencefrom machine
Entering into Cover
■�Small bottom design enables compact installation
Top Perform High Speed* Compact & Flexible Installation
Floor mount Inverted mount Wall mount Tilted mount
■ Solenoid valves can be installed inside robot arm
■ More compact installation■ Robot can be installed close to
behind wall■ Cables can be stored inside robot riser
Conventional wrist
Hollow wrist
Conventional wrist Hollow wrist
Access toSmaller window
175
■�Contributing to improvement of productivity by high speed
Top Perform High Speed Available to All-round Mounting
Cable and Tubes Routing through Hollow Wrist
Compact Installation Space
Pneumatic Valves inside Robot Arm Option
0.31sec.*2
SOL Valve in Arm(Option : Max. 2 valve available)
SOL Valve in Arm(Option : Max. 3 valve available)
MZ04
MZ07
151.5189.5100
190.5
Controller
�● Off-line programming�● Operation and layout study�● Cycle time simulation�● PLC program editing�● Operation instruction
■ Assembling (inserting, following, phasing), polishing, deburring
Application example for finishing process.
Various Application
■ Operation by using teach pendant, high speed processing■ Various application available by 2D and 3D vision sensing,
dimension measurement and parts type districting
User Friendly Functions
■ Control peripheral equipment by robot controller■ Simplifies system configuration to reduce cost
■ Best simulator for a feasibility study.
Compact Cabinet
■ Customizable teach pendant screen menu.■ Works as a system operation console which can control peripheral devices.
moving direction
force direction
■ Only 369mm in width
■ Could be installed inside robot riser
Vision Sensor NV-Pro Option
Force Sensor Option
■ Safety unit to monitor robot position and speed■ Reducing cost and space saving
Robot Monitoring Unit (RMU) Option
■ DeviceNet (Master, Slave)■ EtherNet/IP (Master, Slave)■ EtherCAT (Slave)■ CC-Link (Master, Slave)■ PROFIBUS (Master, Slave)■ PROFINET (Slave)DeviceNet and EtherNet/IP is a trademark of ODVA (Open DeviceNet Vender Association, Inc.).EtherCAT is trademarks of Beckhoff Automation GmbH.CC-Link is a trademark of CC-Link Partner Association : CLPA.PROFIBUS and PROFINET is a trademark of PROFIBUS & PROFINET International.
Fieldbus Option
User Graphical Interface FlexGui Option
Software PLC Standard
FD on Desk Ⅱ LightOffline Simulation Tool
Standard
Application Examples
Machine Loading Picking Packing/Casing
Assembling Deburring Finishing
Inspection Sealing
① avoids interference with peripheral equipment
② allows the arm to enter tight spaces
③ improved reliability with stable cable behavior during high speed operation
Figures shown indicate: MZ04, MZ07.
Cable Connectionfrom Bottom SideOption
*Combined max speed
MZSERIES
CATALOG
Ultra High Speed and Compact
Head OfficeRobot Division
Tel: +81-(0)3-5568-5247
Tel: +81-(0)76-456-2223
Fax: +81-(0)3-5568-5237
Fax: +81-(0)76-493-5251
Shiodome Sumitomo Bldg. 17F, 1-9-2 Higashi-Shinbashi, Minato-ku, Tokyo 105-0021
1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, JAPAN
www.nachi.com
Michigan, U.S.A.
CANADA
MEXICO
BRASIL
GERMANY
THAILAND
SINGAPORE
INDONESIA
INDIA
N.S.W, AUSTRALIA
CHINA
Tel: +1-248-305-6545
Tel: +1-905-660-0088
Tel: +52-442-153-2424
Tel: +55-11-4793-8800
Tel: +49-(0)2151-65046-0
Tel: +66-2-714-0008
Tel: +65-65587393
Tel: +62-21-527-2841
Tel: +91-(0)12-4450-2900
Tel: +61-(0)2-9898-1511
Tel: +86-(0)21-6915-2200
Fax: +1-248-305-6542
Fax: +1-905-660-1146
Fax: +52-442-153-2435
Fax: +55-11-4793-8870
Fax: +49-(0)2151-65046-90
Fax: +66-2-714-0740
Fax: +65-65587371
Fax: +62-21-527-3029
Fax: +91-(0)12-4450-2910
Fax: +61-(0)2-9898-1678
Fax: +86-(0)21-6915-5427
http://www.nachirobotics.com
http://www.nachicanada.com/
http://www.nachi.com.mx/
http://www.nachi.com.br/
http://www.nachirobotics.com.eu/
http://www.nachi.co.th/
http://www.nachinip.com.sg/
http://www.nachi.co.id/
http://www.nachirobotics.com.au/
http://www.nachi.com.cn/
NACHI ROBOTIC SYSTEMS INC.NACHI CANADA INC.NACHI MEXICO, S.A. DE C.V.NACHI BRASIL LTDA.NACHI EUROPE GmbHNACHI TECHNOLOGY (THAILAND) CO., LTD.NACHI SINGAPORE PTE. LTD.PT.NACHI INDONESIANACHI TECHNOLOGY INDIA PVT. LTD.NACHI (AUSTRALIA) PTY. LTD.NACHI (CHINA) CO., LTD.
●The specifications are subject to changes without notice.●In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Act. Please go through careful investigation and necessary formalities for export.
CATALOG NO. R7702E-10
2019.01.V-ABE-ABE
Robot type MZ0□□-01-□□□-CFD-0000
Wrist Dimensions
Options Option List
ISO flange option ⑦
Wrist clamp option ⑥
Controller DimensionsRobot Dimensions and Working Envelope
Connector Layout for Applications (Standard)
Basic Specification of Robot Basic Specification of Controller
When ISO flange option is mounted, hollow size is reduced from φ23 to φ20
Solenoid valves(1 pcs/ 2 pcs /3 pcs)
(Diagram of contacts on connectors)
R115
R150
170°
170°
Figures shown indicate: MZ04, MZ07, and MZ07L.
221.4189
10-AWG22
7-φ4×2.5
AIR1(φ6)
CNR010
AIR2(φ6)PURGE AIR(φ6)
AW
G24×6p
AW
G24×6p
φ6×4φ6×4
CN
10A
10-AWG23CN
61A
CN
62A
CN
60A
CN
60B
Po
rt7
Po
rt1(
SO
L1A
)Po
rt2(
SO
L1B)
Po
rt3(
SO
L2A
)Po
rt4(
SO
L2B)
Po
rt5(
SO
L3A
)Po
rt6(
SO
L3B)
Exhaust (silencer)
Air outlet(φ4, 7 lines)(to gripper)
Signal outlet
2-φ5 H7 depth 6
2-φ5 depth 7
φ40
h8
φ20* H7 penetrated
(hole size for wiring hollow)
4-M5 depth 7
22.5°22.5°
(P.C.D. 31.5)
4-M5 depth 7
(tube clamp hole)
φ7
(wiring clamp hole)
93
100
7
7
(P.C.D. 31.5)
Air inlet
Signal inlet
Wiring and Tubing Inside Arm
Item Specification
Model MZ04-01(MZ04D-01)
MZ04E-01*5
(MZ04DE-01)MZ07-01
(MZ07P-01)MZ07L-01
(MZ07LP-01)
Structure Articulated
Controllable Axes 6 6 (5)
Drive System AC Servodrive
Max. Working Envelope [rad(°)]
Arm
J1 Swivel ±2.97 (±170)
J2 Forward/Backward -2.53 ~ +1.57 (-145 ~ +90) -2.36 ~ +1.40 (-135 ~ +80)
J3 Upward/Downward -2.18 ~ +4.88 (-125 ~ +280) -2.37 ~ +4.71
(-136 ~ 270)-2.43 ~ +4.71
(-139 ~ 270)
Wrist
J4*3 Rotation 2 ±3.32 (±190)
J5 Bend ±2.09 (±120)
J6 Rotation 1 ±6.28 (±360)
Max. Speed*4 [rad/s(°/s)]
Arm
J1 Swivel 8.38 (480) 3.49(200) 7.85 (450) 5.24 (300)
J2 Forward/ Backward 8.03 (460) 2.62(150) 6.63 (380) 4.89 (280)
J3 Upward/ Downward 9.08 (520) 3.32(190) 9.08 (520) 6.28 (360)
Wrist
J4*3 Rotation 2 9.77 (560) 9.60 (550)
J5 Bend 9.77 (560) 9.60 (550)
J6 Rotation 1 15.7 (900) 17.5 (1000)
Max. Payload [kg] Wrist 4 7
Allowable Static Loading Torque [N・m]
J4*3 Rotation 2 8.86 16.6
J5 Bend 8.86 16.6
J6 Rotation 1 4.9 9.4
Max. Allowable Moment of Inertia*1 [kg・m2]
J4*3 Rotation 2 0.2 0.47
J5 Bend 0.2 0.47
J6 Rotation 1 0.07 0.15
Max. Reach [mm] 541 723 912
Position Repeatability*2 [mm] ±0.02 ±0.03
Ambient Temperature 0 ~ 45°C
Installation Floor / Wall / Tilted / Inverted mount Floor / Inverted mount Floor / Wall / Tilted / Inverted mount
Protection Rating IP40 equivalent*6 IP67
Weight [kg]*7 26 25 36 38
Controller OptionsSpecifications
One is possible. (Motor Capacity: up to 600W)
DeviceNet, PROFIBUS, EtherCAT, CC-Link and others.
EtherCAT and CC-Link are only compatible as a slave.
Maximum 64/64 point
8 photo coupler input and 8 transistor output or
8 photo coupler input and 8 relay contact output
USB Memory (1GB)
NV-Pro
SIL3 Cat. 4
IP54
Item
Additional Axes
External Memory
Vision Sensor (*)
Robot Monitoring Function
Protection Rating
Fieldbus
Digital I/O
(*) Another box is required.
Arm Variation
CN10A
467 5
3 2 1
10 9 8
A01
A04
A03
A06 A05
A02
A08A09A10
A07
CNR010
Base connector Wrist connector
A
B
C
D
6 5 4 3 2 1
A01A02A03A04A05
A06A07A08A09A10
A11A12A13A14A15
A16A17A18A19A20G
A21
A22
ab
110.794.5a
b 500a
b
165119a
b
4525a
b
73737272a
b 340280280a
b440
ab
c
618541541a
b806c
723541541a
b912c
228119119a
b266c
495422422a b646c
1249
1249
1602
c
330260260a
b420c
345340340a
b
490
173
369
front view
level view right side view
b
(P.C.D. 53.5 balanced)(P.C.D. 60 balanced)
9388
10095
(P.C.D. 53.5 balanced)(P.C.D. 60 balanced)
5-φ4 7-φ4
φ66
h7φ7
2 h7
φ40
h7φ4
5 h7
φ66
h7
φ72
h7
Standard Specifications
1[rad]=180/π[°], 1[N・m]=1/9.8[kgf・m]*1: Note that the allowable moment of inertia of wrist varies with the wrist load conditions.*2: JIS B 8432 compliant. *3: MZ07P-01 and MZ07LP-01 don’t have J4 axis.*4: Using at 1000 m or lower sea level. Ambient temperature has limitations when allowable altitude is
exceeded.*5: MZ04E/MZ04DE has 80W motor or smaller in all axis.*6: MZ04/MZ04E is IP40 equivalent, MZ04D/MZ04DE is IP67 (Protection Rating).*7: Wall mount Rear Connection Type +4kg(MZ04* Series)+6kg(MZ07* Series) Bottom Connection Type +6kg(MZ04* Series)+8kg(MZ07* Series)
Connection VariationMark
0
B
Specification
Rear connection
Bottom connection
Notes
Robot to controller cable is connected at robot rear
Robot to controller cable is connected at robot bottom
Application Variation
Specification
Standard
Vision sensor
Vision sensor (cross laser)Force sensor
Additional axis
Solenoid valve
MZ04 MZ07
Up to 2
Up to 1
Up to 1
Up to 1
Up to 1
Up to 3
Up to 2
Up to 1
Up to 1
Up to 1
Signal wires
10 wires
10 wires
10 wires
10 wires
10 wires
Notes
-
LAN cable, Light cable
LAN cable, Light cable, Laser cable
6 freedom Force sensor cable
1 motor and 1 encoder cable
Mark
0
V
U
F
S
Installation VariationSpecification
Standard
Wall mount
Notes
J1 working envelope ±30°at wall mounting
J1 working envelope ±170°at wall mounting
Mark*
0
W
Robot Base Dimensions
189.
5
160
4-φ11
95.5
±0.
194
160
190.5
95.5±0.1 1984-M5 depth 7
(Diameter of wire hole)
φ45
h7
Wire hole(same as opposite side)
2-φ5 H7 depth 74-φ9
50±0.1
100
Processedface forinstallation
75
76.5
±0.
1151.
5
130
MZ04 MZ07
(P.C.D.53.5)(P.C.D.60)
(P.C.D.53.5)(P.C.D.60)
φ21φ23
80 83
72 73
1214
1923
φ62
h7
φ72
h7
Wrist Dimensions
Figures shown indicate: MZ04, MZ07.
Frame
interference
radius
Specifications
6
7
PL d (Cat. 3)
Teach / Playback
Robot Language
9,999
256MB
5.7” Color LCD Touch Panel, Cable Length: 4m
Monochrome, 20 Characters x 4 Lines Display,
Cable Length: 4m
3 Position Enable Switch, Emergency Stop Button
Emergency Stop and Mode Switching (Teach/Playback)
External Emergency Stop, Safety Plug,
External Enable Switch, Protective Stop
Ethernet
USB Port
369(W)×490(D)×173(H)
Approx. 17kg
Single phase/3φ AC200-230V ±10% 0.4KVA
Item
Controllable Axes
Maximum Controllable Axes
Robot Monitoring Function
Program Number
Operating Panel
Network
External Memory Interface
External Dimensions (mm)
Weight
Consuming Power
Teaching Method
Memory Capacity
Teach PendantCompact TP
Smart TP
Common
Exclusive Safety Input
Power Supply
Option
TP=Teach Pendant
Adjustable stopper
IP67 set
Solenoid valve
Vision sensor
Brake release switch
I/O harness(L=2.5m,5.5m,10.5m,15.5m,20.5m,25.5m)
MotorEncoder harness
(L=2m,5m,10m,15m,20m)
Motor/Encoder additional harness
(L=5m,10m,15m)Floor surface connection specifications(included in the robot body)
Floor surface connection specifications(included in the robot body)
Robot monitoring unit
Transfer jig
Tools
CFD controller
Controllerprotection Box Connector for
Power Cable(Standard)
CE marking Specification
Power Cable(Prepared by customer)
Power Cable(Prepared by customer)
Teach Pendant additional cable
(L=5m,10m)
Smart TP(Cable L=4m)
Compact TP(Cable L=4m)
Standard gripper (Parallel gripper/Three fingers)
Mini I/O board (s
lot A)
TP shortin
g
plug
External sa
fety
signal
(Prepared by
customer)
EtherNet/IP board (s
lot B, C
)
(maste
r or sla
ve)DeviceNet board (s
lot B)
(maste
r or sla
ve)
Digital I/O
board (NPN/PNP)(slot B
, C)
CC-Link board (s
lot B)
(maste
r / sla
ve)PROFIBUS board (s
lot B)
(maste
r or sla
ve)PROFINET board (s
lot B, C
)
(slave)
FL-net b
oard (slot B
, C)
EtherCAT board (s
lot B)
(slave)
ISO flange(P.C.D.31.5)
Wires clamp
CNRO10(connector included
in the I/O harness option)
CN10A
MZ07*-01
I/O cable on robot arm(L=1.5m)
I/O connector on robot arm
Offline Program SimulationFDonDESK Ⅱ Light (Standard)FDonDESK Ⅱ Pro (Option)
USB memory (1GB)
Red Mark
Blue Mark
Selectable Essential Option
Figures shown indicate: MZ04, MZ07.
Wiring and Tubing in Robot Arm (When SOL installed in Arm)
(Standard)
*1 Grip force may vary according to the supplied air pressure (0.3 to 0.5 MPa) and finger length. *2 “TP” means teach pendant.● All option is shipped with robot by kit (sub assembly). Please install it by customer after reading option install procedure.
10-AWG22
AW
G24×6p
AW
G24×6p
2-φ4×2.5
φ6×4 AIR1(φ6)
CNR010
AIR2(φ6)PURGE AIR(φ6)
φ6×4
10-AWG23
CN
10A
Port
7
CN
61A
CN
62A
CN
60A
CN
60B
Port
1
Air outletSignal cable outlet
Air inlet
Signal cable inlet
MZ07MZ04
AW
G24
×6p φ4×2.5
CNR010
φ4×2.5AIR1(φ6)AIR2(φ6)PURGE AIR(φ6)
Air inlet
Signal cable inlet
10-AWG22
CN
10A
Port
5
CN
61A
Port
1
Air outletSignal cable outlet
2-φ4×2.5
10-AWG23
CN6
0A
Solenoid valves(1 pcs/ 2 pcs)
10-AWG22
5-φ4×2.5
CN
61A
CN
60A10-AWG2310-AWG23
AIR1(φ6)
CNR010
AIR2(φ6)PURGE AIR(φ6)
AW
G24
×6p
φ4×2.5
φ4×2.5
Air inlet
Signal inlet
Exhaust (silencer)
CN
10A
Po
rt5
Po
rt1(
SO
L1A
)Po
rt2(
SO
L1B)
Po
rt3(
SO
L2A
)Po
rt4(
SO
L2B)
Air outlet(φ4, 5 lines)(to gripper)
Signal outlet
MZ04 MZ07
*MZ04E/MZ04DE is permitted “O” only.
Mark 1 Mark 2 Specification Notes
4
(none) 4 kg payload, Standard arm
6 axes, Max reach 541mmD 4 kg payload, Standard arm, IP67
E 4 kg payload, Standard arm, Low power type
DE 4 kg payload, Standard arm, Low power, IP67
7
(none) 7 kg payload, Standard arm 6 axes, Max reach 723mm
L 7 kg payload, Long arm 6 axes, Max reach 912mm
P 7 kg payload, Standard arm 5 axes, Max reach 723mm (does not have J4)
LP 7 kg payload, Long arm 5 axes, Max reach 912mm (does not have J4)
IP20
0~40°C (50/60Hz)
Protection Rating
Ambient Temperature
20~85%(Without Condensation)Ambient Humidity
(to customer peripheral equipment)
Conveyor Tracking
I/F (slot B
, C)
Force sensor
I/F (slot B
, C)
No. Item SpecificationsParts No.
NotesMZ04 MZ07
① Adjustable stopper Restriction of axis 1 to 3 working envelope OP-S5-026 OP-S5-022
② Transfer jig Common for crane transporting, inverted and wall mount OP-S2-044 OP-S2-042
③ Tools Zeroing pin & Zeroing block OP-T2-089 OP-T2-078
④ IP67 set Air purge unit in robot body OP-H9-008 OP-H9-004
⑤ Solenoid valve 1 valve OP-H4-006 OP-H4-004 2 position double Pressure range : 0.1 to 0.5 MPa Coil voltage rating 24 VDC
MZ04 supports up to 2 solenoid valves
2 valves OP-H5-010 OP-H5-008
3 valves − OP-H6-004
⑥ Wires clamp Clamp for wires and air tubes inside wrist hollow OP-W3-016 OP-W3-012 MZ04: Air (φ4, 5 lines), signal lines MZ07: Air (φ4, 7 lines), signal lines
⑦ ISO flange ISO flange adapter (P.C.D.31.5) OP-W2-013 OP-W2-012
⑧ Standard gripper *1 Parallel gripper single S OP-F10-009 OP-F10-002 Grip force 320N (air source 0.5MPa) Stroke 24mm
MZ04 is available with a single gripper only
Parallel gripper double S − OP-F10-003
Parallel gripper single M OP-F10-010 OP-F10-004 Grip force 600N (air source 0.5MPa) Stroke 30mm
Three fingers single S OP-F10-011 OP-F10-005 Grip force 300N (air source 0.5MPa) Stroke 8mmThree fingers double S − OP-F10-006
Three fingers single M OP-F10-012 OP-F10-007 Grip force 410N (air source 0.5MPa) Stroke 10mmThree fingers double M − OP-F10-008
⑨ Mini I/O board I/O Photo coupler 8 inputs / NPN Transistor 8 outputs CFD-OP150-AMounted on sequence board of slot A
I/O Photo coupler 8 inputs / Relay contact 8 outputs CFD-OP150-B
⑩ EtherNet/IP board Master 1CH CFD-OP130-A
Occupies (1) slot
Up to (2) slots available
Slave 1CH CFD-OP130-B
Master 1CH + Slave 1CH CFD-OP130-C
Slave 2CH CFD-OP130-D
Master 2CH CFD-OP130-E
⑪ DeviceNet board Master 1CH CFD-OP131-A
Occupies (1) slot
Slave 1CH CFD-OP131-B
Master 1CH +Slave 1CH CFD-OP131-C
Slave 2CH CFD-OP131-D
Master 2CH CFD-OP131-E
⑫ Digital I/O board I/O Photo coupler 32 inputs / NPN Transistor 32 outputs CFD-OP125-A Occupies (1) slotI/O Photo coupler 64 inputs / NPN Transistor 64 outputs CFD-OP125-B Occupies (2) slotsI/O Photo coupler 32 inputs / PNP Transistor 32 outputs CFD-OP151-A Occupies (1) slotI/O Photo coupler 64 inputs / PNP Transistor 64 outputs CFD-OP151-B Occupies (2) slots
⑬ CC-Link board Both master and slave 1CH CFD-OP98-B Occupies (1) slot
⑭ PROFIBUS board Master 1CH CFD-OP132-A
Occupies (1) slot
Slave 1CH CFD-OP132-B
Master 1CH + Slave 1CH CFD-OP132-C
Slave 2CH CFD-OP132-D
Master 2CH CFD-OP132-E
⑮ PROFINET board Slave 1CH CFD-OP136-BOccupies (1) slot
Slave 2CH CFD-OP136-D
⑯ FL-net board 1CH CFD-OP101-C Occupies (1) slot Max 2CH (2 slots)
⑰ EtherCAT board Slave 1CH CFD-OP-169-B Occupies (1) slot
⑱ Conveyor Tracking I/F RS422 Differential input encoder counter CFD-OP47-A Occupies (1) slot
⑲ Force sensor I/F Force sensor unit for CFD (another box) CFD-OP152-A Occupies (1) slot
⑳ Vision sensor Vision sensor unit for CFD (another box) CFD-OP139-A Cameras, lighting, and cables are available. Contact us for information.
㉑ Robot monitoring unit Robot monitoring unit for CFD (another box) CFD-OP145-A
㉒ Brake release switch Brake release switch (portable type) FD11-OP90-E
㉓ Controller protection BOX Upgraded to IP54 equivalent by preparing dust-proof and drip-proof box CFD-OP133-A W540×D700×H270
㉔ UL specification Some parts are replaced to conform to UL standard CFD-UL-A
CE marking specification CE marking compliant, separate unit CFD-CE-A
KCs specification Some parts are replaced to conform to Korean KCs standard CFD-KCS-A
㉕ Smart TP *2 Cable length 4m CFDTP-10-04M
These are selectable options. One of them must be selected.㉖ Compact TP *2 Cable length 4m MINITP-10-04M
㉗ TP shorting plug *2 To disconnect teach pendant CFD-OP153-A
㉘ Teach Pendant additional cable
5m CFDTP-RC05M Only one cable can be added Both ends have a connector10m CFDTP-RC10M
㉙ Motor/Encoder harness 2m Z101C-J1-02-A
Connects robot to controller One of these options must be selected. Select one of them.
5m Z101C-J1-05-A
10m Z101C-J1-10-A
15m Z101C-J1-15-A
20m Z101C-J1-20-A
㉚ Motor/encoder additional harness (Flexible type extension harness)
5m Z102C-00-05-A,(Z102C-01-05-A) One extension, 25 m maximum Both ends have a connector Select one the following models if a flexible type cable is required Z102C-01-**-A (** indicates length, 05 is 5 m, 10 is 10 m, and 15 is 15 m)
10m Z102C-00-10-A,(Z102C-01-10-A)
15m Z102C-00-15-A,(Z102C-01-15-A)
㉛ I/O harness (I/O harness for connecting to Mini I/O board)
2.5m IOCABLE-10-02M,(IOCABLE-40-02M) I/O cable between robot and controller. IOCABLE-10-**M type Controller side is separate cable, so cable manufacturing and signal assignment must be done by customer. IOCABLE-40-**M type Connector on both ends to directly connect CFD-OP150-A (Mini I/O board) of CFD controller. IOCABLE-40B-**M type Connector on both ends to directly connect CFD-OP150-B (Mini I/O board) of CFD controller.
5.5m IOCABLE-10-05M,(IOCABLE-40-05M)
10.5m IOCABLE-10-10M,(IOCABLE-40-10M)
15.5m IOCABLE-10-15M,(IOCABLE-40-15M)
20.5m IOCABLE-10-20M,(IOCABLE-40-20M)
25.5m IOCABLE-10-25M,(IOCABLE-40-25M)
I/O cable on robot arm 1.5m IOCABLE-20-01M Tool side is separate cable. Manufacturing needs to be done by customer.
I/O connector on robot arm
Connector only Soldering type
IOCABLE-20-00 This is connector only. Manufacturing needs to be done by customer.
USB memory 1GByte FD11-OP93-A
FDonDESK Ⅱ Pro Robot Program Simulator FDONDESK2-Pro
Processedface forinstallation
Robot type MZ0□□-01-□□□-CFD-0000
Wrist Dimensions
Options Option List
ISO flange option ⑦
Wrist clamp option ⑥
Controller DimensionsRobot Dimensions and Working Envelope
Connector Layout for Applications (Standard)
Basic Specification of Robot Basic Specification of Controller
When ISO flange option is mounted, hollow size is reduced from φ23 to φ20
Solenoid valves(1 pcs/ 2 pcs /3 pcs)
(Diagram of contacts on connectors)
R115
R150
170°
170°
Figures shown indicate: MZ04, MZ07, and MZ07L.
221.4189
10-AWG22
7-φ4×2.5
AIR1(φ6)
CNR010
AIR2(φ6)PURGE AIR(φ6)
AW
G24×6p
AW
G24×6p
φ6×4φ6×4
CN
10A
10-AWG23CN
61A
CN
62A
CN
60A
CN
60B
Po
rt7
Po
rt1(
SO
L1A
)Po
rt2(
SO
L1B)
Po
rt3(
SO
L2A
)Po
rt4(
SO
L2B)
Po
rt5(
SO
L3A
)Po
rt6(
SO
L3B)
Exhaust (silencer)
Air outlet(φ4, 7 lines)(to gripper)
Signal outlet
2-φ5 H7 depth 6
2-φ5 depth 7
φ40
h8
φ20* H7 penetrated
(hole size for wiring hollow)
4-M5 depth 7
22.5°22.5°
(P.C.D. 31.5)
4-M5 depth 7
(tube clamp hole)
φ7
(wiring clamp hole)
93
100
7
7
(P.C.D. 31.5)
Air inlet
Signal inlet
Wiring and Tubing Inside Arm
Item Specification
Model MZ04-01(MZ04D-01)
MZ04E-01*5
(MZ04DE-01)MZ07-01
(MZ07P-01)MZ07L-01
(MZ07LP-01)
Structure Articulated
Controllable Axes 6 6 (5)
Drive System AC Servodrive
Max. Working Envelope [rad(°)]
Arm
J1 Swivel ±2.97 (±170)
J2 Forward/Backward -2.53 ~ +1.57 (-145 ~ +90) -2.36 ~ +1.40 (-135 ~ +80)
J3 Upward/Downward -2.18 ~ +4.88 (-125 ~ +280) -2.37 ~ +4.71
(-136 ~ 270)-2.43 ~ +4.71
(-139 ~ 270)
Wrist
J4*3 Rotation 2 ±3.32 (±190)
J5 Bend ±2.09 (±120)
J6 Rotation 1 ±6.28 (±360)
Max. Speed*4 [rad/s(°/s)]
Arm
J1 Swivel 8.38 (480) 3.49(200) 7.85 (450) 5.24 (300)
J2 Forward/ Backward 8.03 (460) 2.62(150) 6.63 (380) 4.89 (280)
J3 Upward/ Downward 9.08 (520) 3.32(190) 9.08 (520) 6.28 (360)
Wrist
J4*3 Rotation 2 9.77 (560) 9.60 (550)
J5 Bend 9.77 (560) 9.60 (550)
J6 Rotation 1 15.7 (900) 17.5 (1000)
Max. Payload [kg] Wrist 4 7
Allowable Static Loading Torque [N・m]
J4*3 Rotation 2 8.86 16.6
J5 Bend 8.86 16.6
J6 Rotation 1 4.9 9.4
Max. Allowable Moment of Inertia*1 [kg・m2]
J4*3 Rotation 2 0.2 0.47
J5 Bend 0.2 0.47
J6 Rotation 1 0.07 0.15
Max. Reach [mm] 541 723 912
Position Repeatability*2 [mm] ±0.02 ±0.03
Ambient Temperature 0 ~ 45°C
Installation Floor / Wall / Tilted / Inverted mount Floor / Inverted mount Floor / Wall / Tilted / Inverted mount
Protection Rating IP40 equivalent*6 IP67
Weight [kg]*7 26 25 36 38
Controller OptionsSpecifications
One is possible. (Motor Capacity: up to 600W)
DeviceNet, PROFIBUS, EtherCAT, CC-Link and others.
EtherCAT and CC-Link are only compatible as a slave.
Maximum 64/64 point
8 photo coupler input and 8 transistor output or
8 photo coupler input and 8 relay contact output
USB Memory (1GB)
NV-Pro
SIL3 Cat. 4
IP54
Item
Additional Axes
External Memory
Vision Sensor (*)
Robot Monitoring Function
Protection Rating
Fieldbus
Digital I/O
(*) Another box is required.
Arm Variation
CN10A
467 5
3 2 1
10 9 8
A01
A04
A03
A06 A05
A02
A08A09A10
A07
CNR010
Base connector Wrist connector
A
B
C
D
6 5 4 3 2 1
A01A02A03A04A05
A06A07A08A09A10
A11A12A13A14A15
A16A17A18A19A20G
A21
A22
ab
110.794.5a
b 500a
b
165119a
b
4525a
b
73737272a
b 340280280a
b440
ab
c
618541541a
b806c
723541541a
b912c
228119119a
b266c
495422422a b646c
1249
1249
1602
c
330260260a
b420c
345340340a
b
490
173
369
front view
level view right side view
b
(P.C.D. 53.5 balanced)(P.C.D. 60 balanced)
9388
10095
(P.C.D. 53.5 balanced)(P.C.D. 60 balanced)
5-φ4 7-φ4
φ66
h7φ7
2 h7
φ40
h7φ4
5 h7
φ66
h7
φ72
h7
Standard Specifications
1[rad]=180/π[°], 1[N・m]=1/9.8[kgf・m]*1: Note that the allowable moment of inertia of wrist varies with the wrist load conditions.*2: JIS B 8432 compliant. *3: MZ07P-01 and MZ07LP-01 don’t have J4 axis.*4: Using at 1000 m or lower sea level. Ambient temperature has limitations when allowable altitude is
exceeded.*5: MZ04E/MZ04DE has 80W motor or smaller in all axis.*6: MZ04/MZ04E is IP40 equivalent, MZ04D/MZ04DE is IP67 (Protection Rating).*7: Wall mount Rear Connection Type +4kg(MZ04* Series)+6kg(MZ07* Series) Bottom Connection Type +6kg(MZ04* Series)+8kg(MZ07* Series)
Connection VariationMark
0
B
Specification
Rear connection
Bottom connection
Notes
Robot to controller cable is connected at robot rear
Robot to controller cable is connected at robot bottom
Application Variation
Specification
Standard
Vision sensor
Vision sensor (cross laser)Force sensor
Additional axis
Solenoid valve
MZ04 MZ07
Up to 2
Up to 1
Up to 1
Up to 1
Up to 1
Up to 3
Up to 2
Up to 1
Up to 1
Up to 1
Signal wires
10 wires
10 wires
10 wires
10 wires
10 wires
Notes
-
LAN cable, Light cable
LAN cable, Light cable, Laser cable
6 freedom Force sensor cable
1 motor and 1 encoder cable
Mark
0
V
U
F
S
Installation VariationSpecification
Standard
Wall mount
Notes
J1 working envelope ±30°at wall mounting
J1 working envelope ±170°at wall mounting
Mark*
0
W
Robot Base Dimensions
189.
5
160
4-φ11
95.5
±0.
194
160
190.5
95.5±0.1 1984-M5 depth 7
(Diameter of wire hole)
φ45
h7
Wire hole(same as opposite side)
2-φ5 H7 depth 74-φ9
50±0.1
100
Processedface forinstallation
75
76.5
±0.
1151.
5
130
MZ04 MZ07
(P.C.D.53.5)(P.C.D.60)
(P.C.D.53.5)(P.C.D.60)
φ21φ23
80 83
72 73
1214
1923
φ62
h7
φ72
h7
Wrist Dimensions
Figures shown indicate: MZ04, MZ07.
Frame
interference
radius
Specifications
6
7
PL d (Cat. 3)
Teach / Playback
Robot Language
9,999
256MB
5.7” Color LCD Touch Panel, Cable Length: 4m
Monochrome, 20 Characters x 4 Lines Display,
Cable Length: 4m
3 Position Enable Switch, Emergency Stop Button
Emergency Stop and Mode Switching (Teach/Playback)
External Emergency Stop, Safety Plug,
External Enable Switch, Protective Stop
Ethernet
USB Port
369(W)×490(D)×173(H)
Approx. 17kg
Single phase/3φ AC200-230V ±10% 0.4KVA
Item
Controllable Axes
Maximum Controllable Axes
Robot Monitoring Function
Program Number
Operating Panel
Network
External Memory Interface
External Dimensions (mm)
Weight
Consuming Power
Teaching Method
Memory Capacity
Teach PendantCompact TP
Smart TP
Common
Exclusive Safety Input
Power Supply
Option
TP=Teach Pendant
Adjustable stopper
IP67 set
Solenoid valve
Vision sensor
Brake release switch
I/O harness(L=2.5m,5.5m,10.5m,15.5m,20.5m,25.5m)
MotorEncoder harness
(L=2m,5m,10m,15m,20m)
Motor/Encoder additional harness
(L=5m,10m,15m)Floor surface connection specifications(included in the robot body)
Floor surface connection specifications(included in the robot body)
Robot monitoring unit
Transfer jig
Tools
CFD controller
Controllerprotection Box Connector for
Power Cable(Standard)
CE marking Specification
Power Cable(Prepared by customer)
Power Cable(Prepared by customer)
Teach Pendant additional cable
(L=5m,10m)
Smart TP(Cable L=4m)
Compact TP(Cable L=4m)
Standard gripper (Parallel gripper/Three fingers)
Mini I/O board (s
lot A)
TP shortin
g
plug
External sa
fety
signal
(Prepared by
customer)
EtherNet/IP board (s
lot B, C
)
(maste
r or sla
ve)DeviceNet board (s
lot B)
(maste
r or sla
ve)
Digital I/O
board (NPN/PNP)(slot B
, C)
CC-Link board (s
lot B)
(maste
r / sla
ve)PROFIBUS board (s
lot B)
(maste
r or sla
ve)PROFINET board (s
lot B, C
)
(slave)
FL-net b
oard (slot B
, C)
EtherCAT board (s
lot B)
(slave)
ISO flange(P.C.D.31.5)
Wires clamp
CNRO10(connector included
in the I/O harness option)
CN10A
MZ07*-01
I/O cable on robot arm(L=1.5m)
I/O connector on robot arm
Offline Program SimulationFDonDESK Ⅱ Light (Standard)FDonDESK Ⅱ Pro (Option)
USB memory (1GB)
Red Mark
Blue Mark
Selectable Essential Option
Figures shown indicate: MZ04, MZ07.
Wiring and Tubing in Robot Arm (When SOL installed in Arm)
(Standard)
*1 Grip force may vary according to the supplied air pressure (0.3 to 0.5 MPa) and finger length. *2 “TP” means teach pendant.● All option is shipped with robot by kit (sub assembly). Please install it by customer after reading option install procedure.
10-AWG22
AW
G24×6p
AW
G24×6p
2-φ4×2.5
φ6×4 AIR1(φ6)
CNR010
AIR2(φ6)PURGE AIR(φ6)
φ6×4
10-AWG23
CN
10A
Port
7
CN
61A
CN
62A
CN
60A
CN
60B
Port
1
Air outletSignal cable outlet
Air inlet
Signal cable inlet
MZ07MZ04
AW
G24
×6p φ4×2.5
CNR010
φ4×2.5AIR1(φ6)AIR2(φ6)PURGE AIR(φ6)
Air inlet
Signal cable inlet
10-AWG22
CN
10A
Port
5
CN
61A
Port
1
Air outletSignal cable outlet
2-φ4×2.5
10-AWG23
CN6
0A
Solenoid valves(1 pcs/ 2 pcs)
10-AWG22
5-φ4×2.5
CN
61A
CN
60A10-AWG2310-AWG23
AIR1(φ6)
CNR010
AIR2(φ6)PURGE AIR(φ6)
AW
G24
×6p
φ4×2.5
φ4×2.5
Air inlet
Signal inlet
Exhaust (silencer)
CN
10A
Po
rt5
Po
rt1(
SO
L1A
)Po
rt2(
SO
L1B)
Po
rt3(
SO
L2A
)Po
rt4(
SO
L2B)
Air outlet(φ4, 5 lines)(to gripper)
Signal outlet
MZ04 MZ07
*MZ04E/MZ04DE is permitted “O” only.
Mark 1 Mark 2 Specification Notes
4
(none) 4 kg payload, Standard arm
6 axes, Max reach 541mmD 4 kg payload, Standard arm, IP67
E 4 kg payload, Standard arm, Low power type
DE 4 kg payload, Standard arm, Low power, IP67
7
(none) 7 kg payload, Standard arm 6 axes, Max reach 723mm
L 7 kg payload, Long arm 6 axes, Max reach 912mm
P 7 kg payload, Standard arm 5 axes, Max reach 723mm (does not have J4)
LP 7 kg payload, Long arm 5 axes, Max reach 912mm (does not have J4)
IP20
0~40°C (50/60Hz)
Protection Rating
Ambient Temperature
20~85%(Without Condensation)Ambient Humidity
(to customer peripheral equipment)
Conveyor Tracking
I/F (slot B
, C)
Force sensor
I/F (slot B
, C)
No. Item SpecificationsParts No.
NotesMZ04 MZ07
① Adjustable stopper Restriction of axis 1 to 3 working envelope OP-S5-026 OP-S5-022
② Transfer jig Common for crane transporting, inverted and wall mount OP-S2-044 OP-S2-042
③ Tools Zeroing pin & Zeroing block OP-T2-089 OP-T2-078
④ IP67 set Air purge unit in robot body OP-H9-008 OP-H9-004
⑤ Solenoid valve 1 valve OP-H4-006 OP-H4-004 2 position double Pressure range : 0.1 to 0.5 MPa Coil voltage rating 24 VDC
MZ04 supports up to 2 solenoid valves
2 valves OP-H5-010 OP-H5-008
3 valves − OP-H6-004
⑥ Wires clamp Clamp for wires and air tubes inside wrist hollow OP-W3-016 OP-W3-012 MZ04: Air (φ4, 5 lines), signal lines MZ07: Air (φ4, 7 lines), signal lines
⑦ ISO flange ISO flange adapter (P.C.D.31.5) OP-W2-013 OP-W2-012
⑧ Standard gripper *1 Parallel gripper single S OP-F10-009 OP-F10-002 Grip force 320N (air source 0.5MPa) Stroke 24mm
MZ04 is available with a single gripper only
Parallel gripper double S − OP-F10-003
Parallel gripper single M OP-F10-010 OP-F10-004 Grip force 600N (air source 0.5MPa) Stroke 30mm
Three fingers single S OP-F10-011 OP-F10-005 Grip force 300N (air source 0.5MPa) Stroke 8mmThree fingers double S − OP-F10-006
Three fingers single M OP-F10-012 OP-F10-007 Grip force 410N (air source 0.5MPa) Stroke 10mmThree fingers double M − OP-F10-008
⑨ Mini I/O board I/O Photo coupler 8 inputs / NPN Transistor 8 outputs CFD-OP150-AMounted on sequence board of slot A
I/O Photo coupler 8 inputs / Relay contact 8 outputs CFD-OP150-B
⑩ EtherNet/IP board Master 1CH CFD-OP130-A
Occupies (1) slot
Up to (2) slots available
Slave 1CH CFD-OP130-B
Master 1CH + Slave 1CH CFD-OP130-C
Slave 2CH CFD-OP130-D
Master 2CH CFD-OP130-E
⑪ DeviceNet board Master 1CH CFD-OP131-A
Occupies (1) slot
Slave 1CH CFD-OP131-B
Master 1CH +Slave 1CH CFD-OP131-C
Slave 2CH CFD-OP131-D
Master 2CH CFD-OP131-E
⑫ Digital I/O board I/O Photo coupler 32 inputs / NPN Transistor 32 outputs CFD-OP125-A Occupies (1) slotI/O Photo coupler 64 inputs / NPN Transistor 64 outputs CFD-OP125-B Occupies (2) slotsI/O Photo coupler 32 inputs / PNP Transistor 32 outputs CFD-OP151-A Occupies (1) slotI/O Photo coupler 64 inputs / PNP Transistor 64 outputs CFD-OP151-B Occupies (2) slots
⑬ CC-Link board Both master and slave 1CH CFD-OP98-B Occupies (1) slot
⑭ PROFIBUS board Master 1CH CFD-OP132-A
Occupies (1) slot
Slave 1CH CFD-OP132-B
Master 1CH + Slave 1CH CFD-OP132-C
Slave 2CH CFD-OP132-D
Master 2CH CFD-OP132-E
⑮ PROFINET board Slave 1CH CFD-OP136-BOccupies (1) slot
Slave 2CH CFD-OP136-D
⑯ FL-net board 1CH CFD-OP101-C Occupies (1) slot Max 2CH (2 slots)
⑰ EtherCAT board Slave 1CH CFD-OP-169-B Occupies (1) slot
⑱ Conveyor Tracking I/F RS422 Differential input encoder counter CFD-OP47-A Occupies (1) slot
⑲ Force sensor I/F Force sensor unit for CFD (another box) CFD-OP152-A Occupies (1) slot
⑳ Vision sensor Vision sensor unit for CFD (another box) CFD-OP139-A Cameras, lighting, and cables are available. Contact us for information.
㉑ Robot monitoring unit Robot monitoring unit for CFD (another box) CFD-OP145-A
㉒ Brake release switch Brake release switch (portable type) FD11-OP90-E
㉓ Controller protection BOX Upgraded to IP54 equivalent by preparing dust-proof and drip-proof box CFD-OP133-A W540×D700×H270
㉔ UL specification Some parts are replaced to conform to UL standard CFD-UL-A
CE marking specification CE marking compliant, separate unit CFD-CE-A
KCs specification Some parts are replaced to conform to Korean KCs standard CFD-KCS-A
㉕ Smart TP *2 Cable length 4m CFDTP-10-04M
These are selectable options. One of them must be selected.㉖ Compact TP *2 Cable length 4m MINITP-10-04M
㉗ TP shorting plug *2 To disconnect teach pendant CFD-OP153-A
㉘ Teach Pendant additional cable
5m CFDTP-RC05M Only one cable can be added Both ends have a connector10m CFDTP-RC10M
㉙ Motor/Encoder harness 2m Z101C-J1-02-A
Connects robot to controller One of these options must be selected. Select one of them.
5m Z101C-J1-05-A
10m Z101C-J1-10-A
15m Z101C-J1-15-A
20m Z101C-J1-20-A
㉚ Motor/encoder additional harness (Flexible type extension harness)
5m Z102C-00-05-A,(Z102C-01-05-A) One extension, 25 m maximum Both ends have a connector Select one the following models if a flexible type cable is required Z102C-01-**-A (** indicates length, 05 is 5 m, 10 is 10 m, and 15 is 15 m)
10m Z102C-00-10-A,(Z102C-01-10-A)
15m Z102C-00-15-A,(Z102C-01-15-A)
㉛ I/O harness (I/O harness for connecting to Mini I/O board)
2.5m IOCABLE-10-02M,(IOCABLE-40-02M) I/O cable between robot and controller. IOCABLE-10-**M type Controller side is separate cable, so cable manufacturing and signal assignment must be done by customer. IOCABLE-40-**M type Connector on both ends to directly connect CFD-OP150-A (Mini I/O board) of CFD controller. IOCABLE-40B-**M type Connector on both ends to directly connect CFD-OP150-B (Mini I/O board) of CFD controller.
5.5m IOCABLE-10-05M,(IOCABLE-40-05M)
10.5m IOCABLE-10-10M,(IOCABLE-40-10M)
15.5m IOCABLE-10-15M,(IOCABLE-40-15M)
20.5m IOCABLE-10-20M,(IOCABLE-40-20M)
25.5m IOCABLE-10-25M,(IOCABLE-40-25M)
I/O cable on robot arm 1.5m IOCABLE-20-01M Tool side is separate cable. Manufacturing needs to be done by customer.
I/O connector on robot arm
Connector only Soldering type
IOCABLE-20-00 This is connector only. Manufacturing needs to be done by customer.
USB memory 1GByte FD11-OP93-A
FDonDESK Ⅱ Pro Robot Program Simulator FDONDESK2-Pro
Processedface forinstallation
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