Nachi ES06-01-CFD Bedienungsanleitung
Standard specifications
ES06-01-CFD
ES12-01-CFD
1st edition
1512, SESEN-087-001,001
Table of contents
1. Outline........................................................................................................................ 1
2. Basic specifications.................................................................................................... 2
2.1 ES06-01 basic specification.................................................................................. 2
2.2 ES12-01 basic specification.................................................................................. 3
3. Dimensions ................................................................................................................ 4
4. Detail of load mounting plate.................................................................................... 10
5. Installation procedure............................................................................................... 11
6. Allowable wrist load.................................................................................................. 15
7. Option specifications ................................................................................................ 17
8. Application wires and tubes diagram........................................................................ 20
9. Transport procedure................................................................................................. 22
10. Delivery style (specification which contains a robot) .............................................. 25
11. Consuming power (Robot + Controller) .................................................................. 25
12. Paint color (Robot + Controller).............................................................................. 25
13. Warranty................................................................................................................. 25
Page-1
1. Outline
“NACHI ROBOT” has used mechatronic techniques, cultivated throughout the last few decades, to
supply robots suited for industries utilizing welding and the material handling techniques.
“ES06/12 series” is a robot of high speed and simple highly rigid structure which is optimal for
assembling and material handling application. Hollow wrist enables easier rooting of wires from robot
body to the tool. This can reduce customer’s work for connection greatly.
We provide full line-up of robot which has different forward/backward and up/down stroke.
Please refer to Standard specification of CFD controller (SCFEN-010) for the detail of
controller and electric options.
Robot specification
Specification
Payload Reach up/down
stroke
Robot type
200mm ES06-3520-01
350mm 340mm ES06-3534-01
200mm ES06-4520-01
450mm 340mm ES06-4534-01
200mm ES06-5520-01
6kg
550mm 340mm ES06-5534-01
350mm ES12-5535-01
550mm 450mm ES12-5545-01
350mm ES12-7035-01
700mm 450mm ES12-7045-01
350mm ES12-8535-01
12kg
850mm 450mm ES12-8545-01
Controller specification
Type Specification ES06 ES12
Body CFD-0000
Refer to controller spec. sheet
○ ○
S101C-J1-02-A 2m
S101C-J1-05-A 5m
S101C-J1-10-A 10m
S101C-J1-15-A 15m
Motor encoder
harness
S101C-J1-20-A 20m
○ ○
IOCABLE-70-02M 2m
IOCABLE-70-05M 5m
IOCABLE-70-10M 10m
IOCABLE-70-15M 15m
Application
cable
IOCABLE-70-20M 20m
○ ○
Page-2
2. Basic specifications
2.1 ES06-01 basic specification
Item Specifications
Robot model ES06
-3520-01
ES06
-3534-01
ES06
-4520-01
ES06
-4534-01
ES06
-5520-01
ES06
-5534-01
Construction Horizontally Articulated
Number of axis 4
Drive system AC servo motor
Brake Axis 1, 2 and 4 ; without brake Axis 3 ; with brake
Axis 1 ±2.97 rad （±170 °）
Axis 2 ±2.53 rad （±145 °）
Axis 3 200 mm 340 mm 200 mm 340 mm 200 mm 340 mm
Max. working envelope
Axis 4 ±6.28 rad （±360 °）
Axis 1 6.98 rad/s （400 °/s）
Axis 2 11.69 rad/s （670 °/s）
Axis 3 2400 mm/s
Max. speed *4
Axis 4 43.63 rad/s （2500 °/s）
Rated pay load (maximum) 3 kg ( 6 kg )
Maximum pushing down force of axis 3
*7 165 N
Allowable moment of inertia *1 0.12 kg･m2 (rated 0.01 kg・m2 )
X-Y plane ±0.012 mm
J3 (Z) ±0.01 mm
Position repeatability
J4 (θ) ±0.004 °
Longest reach 350 mm 450 mm 550 mm
Air tubes Primary ：φ6×2 Secondary ：φ4×8 *5
Application signals
Gripper 8 input / 8 output (20 core)
Specified wires for multi purpose gripper (2core + power 2core)
Ethernet cable ×1 <100BASE-TX> (8core) *6
Installation Floor mounting
Ambient conditions
Temperature: 0 to 40 ºC *2
Humidity: 45 to 85%RH (No dew condensation allowed)
Vibration to the installation face: Not more than 0.5G (4.9 m/s
2
)
Environmental performance *3 IP20
Robot mass 36 kg 37 kg
1[rad] = 180/π[°], 1[N･m] = 1/9.8[kgf･m]
- On controller display, axis 1 to 4 is displayed as J1 to J4 for each.
- The specification and externals described in this specification might change without a previous notice for the improvement.
- The explosion proof specification is not available.
*1: The Allowable moment of inertia of a wrist changes with load conditions of a wrist. *2: Permitted height is not higher than
1,000m above sea level. If used in higher place, permitted temperature is affected by height. *3: Liquid such as organic
compound, acidity, alkalinity, chlorine or gasoline cutting fluid which deteriorates the seal material are not available to use. *4:
The "Max. speed" in this table is the available maximum value and will change depending on the work-program and the wrist
load condition. *5: Secondary tube φ4 is a set of solenoid valve option. *6: LAN cable (8core) can be used for auxiliary
wires. *7: This is a maximum pushing down force at tool top point when maximum payload is mounted and axis 1, 2 and 4
does not move. Please use robot under specified limit. In case that continuous pushing down force is applied, overload error
may occur. Please use robot under the condition of which no overload error occurs.
Page-3
2.2 ES12-01 basic specification
Item Specifications
Robot model ES12
-5535-01
ES12
-5545-01
ES12
-7035-01
ES12
-7045-01
ES12
-8535-01
ES12
-8545-01
Construction Horizontally Articulated
Number of axis 4
Drive system AC servo motor
Brake Axis 1, 2 and 4 ; without brake Axis 3 ; with brake
Axis 1 ±2.97 rad （±170 °）
Axis 2 ±2.53 rad （±145 °）±2.67 rad （±153 °）
Axis 3 350 mm 450 mm 350 mm 450 mm 350 mm 450 mm
Max. working envelope
Axis 4 ±6.28 rad （±360 °）
Axis 1 7.33 rad/s （420 °/s）4.89 rad/s （280 °/s）
Axis 2 7.85 rad/s （450 °/s）
Axis 3 2800 mm/s
Max. speed *4
Axis 4 41.89 rad/s （2400 °/s）
Rated pay load (maximum) 3 kg ( 12 kg )
Maximum pushing down force of axis 3
*7 200 N
Allowable moment of inertia *1 0.3 kg･m2 (rated 0.025 kg・m2 )
X-Y plane ±0.012 mm ±0.015 mm
J3 (Z) ±0.01 mm
Position repeatability
J4 (θ) ±0.005 °
Longest reach 550 mm 700 mm 850 mm
Air tubes Primary ：φ6×2 Secondary ：φ4×8 *5
Application signals
Gripper 8 input / 8 output (20 core)
Specified wires for multi purpose gripper (2core + power 2core)
Ethernet cable ×1 <100BASE-TX> (8core) *6
Installation Floor mounting
Ambient conditions
Temperature: 0 to 40 ºC *2
Humidity: 45 to 85%RH (No dew condensation allowed)
Vibration to the installation face: Not more than 0.5G (4.9 m/s
2
)
Environmental performance *3 IP20
Robot mass 65 kg 67 kg 69 kg
1[rad] = 180/π[°], 1[N･m] = 1/9.8[kgf･m]
- On controller display, axis 1 to 4 is displayed as J1 to J4 for each.
- The specification and externals described in this specification might change without a previous notice for the improvement.
- The explosion proof specification is not available.
*1: The Allowable moment of inertia of a wrist changes with load conditions of a wrist. *2: Permitted height is not higher than
1,000m above sea level. If used in higher place, permitted temperature is affected by height. *3: Liquid such as organic
compound, acidity, alkalinity, chlorine or gasoline cutting fluid which deteriorates the seal material are not available to use. *4:
The "Max. speed" in this table is the available maximum value and will change depending on the work-program and the wrist
load condition. *5: Secondary tube φ4 is a set of solenoid valve option. *6: LAN cable (8core) can be used for auxiliary
wires. *7: This is a maximum pushing down force at tool top point when maximum payload is mounted and axis 1, 2 and 4
does not move. Please use robot under specified limit. In case that continuous pushing down force is applied, overload error
may occur. Please use robot under the condition of which no overload error occurs.
Page-4
3. Dimensions
【ES06-3520-01】【ES06-3534-01】
*1) Needed space to replace battery.
*2) Screws to fix tube and pipe for customer.
*3) Minimum bending radius of wire harness.
*4) Needed space to connect wire harness.
Page-5
【ES06-4520-01】【ES06-4534-01】
*1) Needed space to replace battery.
*2) Screws to fix tube and pipe for customer.
*3) Minimum bending radius of wire harness.
*4) Needed space to connect wire harness.
Page-6
【ES06-5520-01】【ES06-5534-01】
*1) Needed space to replace battery.
*2) Screws to fix tube and pipe for customer.
*3) Minimum bending radius of wire harness.
*4) Needed space to connect wire harness.
Page-7
【ES12-5535-01】【ES12-5545-01】
*1) Needed space to replace battery.
*2) Screws to fix tube and pipe for customer.
*3) Minimum bending radius of wire harness.
*4) Needed space to mount/dismount cover.
*5) Needed space to connect wire harness.
Page-8
【ES12-7035-01】【ES12-7045-01】
*1) Needed space to replace battery.
*2) Screws to fix tube and pipe for customer.
*3) Minimum bending radius of wire harness.
*4) Needed space to mount/dismount cover.
*5) Needed space to connect wire harness.
Dieses Handbuch passt für folgende Modelle
13
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