CZ10
Robot Dimensions and Working Envelope
CZ10
by Nachi
Collaborative people-friendly design
Nachi's new robot, CZ10, has several people-friendly functions and structures. Makes it easier to install a robot with various applications.
Stops safely when contact is made with person.
Stops when collision is detected.
Easy Programming
Pinch Points Eliminated.
User-friendly Design
Pinch points and sharp edges eliminated for safer human interaction.
Application examples
Mutual harmony with people
Specification
Basic Specification of Robot
| Model | CZ10 | |
|---|---|---|
| Number of axis | 6 | |
| Drive System | AC servo motor | |
| Max.Working Envelope | Axis 1 | ±2.96rad (±170°) |
| Axis 2 | -1.30 to +3.92rad (-75 to +225°) | |
| Axis 3 | -1.34 to +3.96rad (-77 to +227°) | |
| Axis 4 | ±3.14rad (±180°) | |
| Axis 5 | ±2.96rad (±170°) | |
| Axis 6 | ±6.28rad (±360°) | |
| Max. Speed*1 | Axis 1 | 2.09rad/s (120°/s) |
| Axis 2 | 2.09rad/s (120°/s) | |
| Axis 3 | 3.14rad/s (180°/s) | |
| Axis 4 | 3.14rad/s (180°/s) | |
| Axis 5 | 3.14rad/s (180°/s) | |
| Axis 6 | 3.14rad/s (180°/s) | |
| Max. Payload | Wrist | 10kg |
| Allowable Static Loading Torque |
Axis 4 | 25.9N·m |
| Axis 5 | 25.9N·m | |
| Axis 6 | 5.9N·m | |
| Allowable Moment of Inertia*2 |
Axis 4 | 0.75kg·m2 |
| Axis 5 | 0.75kg·m2 | |
| Axis 6 | 0.08kg·m2 | |
| Position Repeatability *3 | ±0.1mm | |
| Max. Reach | 1300mm | |
| Air Piping | Ø4×1 | |
| Application signal line | DI×4, DO×3 | |
| Installation | Floor / Inverted | |
| Ambient Conditions | Temperature : 0 to 45C°*4 Humidity : 20 to 85%RH (No dew condensation) Vibration to the installation face: 0.5G (4.9m/s2) or less |
|
| Dust-proof Drip-proof performance *6 |
IP54 equivalent (dust and drain proof-type) | |
| Robot mass | 61kg | |
| Safety certification | ISO 10218-1(Equivalent) TS 15066(Equivalent) |
|
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
*1: The "Max. speed" in this table is the available maximum value and will change depending on the work-program and the wrist load condition.
*2: The allowable moment of inertia of wrist changes with load conditions.
*3: Based on JIS B8432
*4: Range of motion limited when robot is invert mounted.
*5: Permitted installation is less than 1,000m above sea level.
Allowable operating temperature dependent on installation height.
Allowable operating temperature dependent on installation height.
*6: Limit use in applications where liquids, such as, organic compound, acidity, alkalinity, chlorine, gasoline and/or cutting fluids. These could deteriorate seal material.
Wire harness is IP54 equivalent, controller is IP20 equivalent.
Wire harness is IP54 equivalent, controller is IP20 equivalent.