Specification
Robot model | MZ07-01 (MZ07P-01) |
MZ07L-01 (MZ07LP-01) |
MZ03EL-01 | MZ10-01 | |||
---|---|---|---|---|---|---|---|
Construction | Articulated | ||||||
Number of axis | 6(5) | 6 | |||||
Drive system | AC Servodrive | ||||||
Max. Working Envelope |
Arm | J1 | Swivel | ±2.97rad (±170°) | |||
J2 | Forward/ Backward |
-2.36 to +1.40rad (-135°to +80°) | |||||
J3 | Upward/ Downward |
-2.37 to +4.71rad (-136° to +270°) |
-2.43 to +4.71rad (-139° to +270°) |
-2.71 to +4.71rad (-155° to +270°) |
-2.37 to +4.71rad (-136° to +270°) |
||
Wrist | J4*3 | Rotation2 | ±3.32rad (±190°) | ||||
J5 | Bend | ±2.09rad (±120°) | |||||
J6 | Rotation1 | ±6.28rad (±360°) | |||||
Max. Speed |
Arm | J1 | Swivel | 7.85rad/s (450°/s) | 5.24rad/s (300°/s) | ||
J2 | Forward/ Backward |
6.63rad/s (380°/s) | 4.89rad/s (280°/s) | 4.01rad/s (230°/s) | 4.36rad/s (250°/s) | ||
J3 | Upward/ Downward |
9.08rad/s (520°/s) | 6.28rad/s (360°/s) | ||||
Wrist | J4*3 | Rotation2 | 9.60rad/s (550°/s) | 7.85rad/s (450°/s) | |||
J5 | Bend | 9.60rad/s (550°/s) | 5.93rad/s (340°/s) | ||||
J6 | Rotation1 | 17.5rad/s (1000°/s) | 12.22rad/s (700°/s) | ||||
Max. Payload | Wrist | 7kg | 3.5kg | 10kg | |||
Allowable Static Loading Torque |
J4*3 | Rotation2 | 16.6N·m | 6.0N·m | 17.9N·m | ||
J5 | Bend | 16.6N·m | 6.0N·m | 17.9N·m | |||
J6 | Rotation1 | 9.4N·m | 2.9N·m | 10.4N·m | |||
Max. Allowable Moment of Inertia*1 |
J4*3 | Rotation2 | 0.47kg·m2 | 0.12kg·m2 | 0.47kg·m2 | ||
J5 | Bend | 0.47kg·m2 | 0.12kg·m2 | 0.47kg·m2 | |||
J6 | Rotation1 | 0.15kg·m2 | 0.03kg·m2 | 0.15kg·m2 | |||
Position Repeatability*2 | ±0.02mm | ±0.03mm | |||||
Ambient Conditions | 0 to 45°C | ||||||
Installation | Floor / Wall / Tilted / Inverted mount | Floor / Inverted mount | |||||
Robot Mass | 36kg *5 | 38kg *5 | 39kg | 36kg | |||
Max. Reach | 723mm | 912mm | 1102mm | 723mm | |||
Dust Proof, Drip Proof | IP67 |
1[rad]=180/p[°] 1[N·m]=1/9.8[kgf·m]