Nachi ES06-01-CFD, Manual

Page 1: ...Standard specifications ES06 01 CFD ES12 01 CFD 1st edition 1512 SESEN 087 001 001 ...

Page 2: ...ons 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 3: ...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 0...

Page 4: ...on to the installation face Not more than 0 5G 4 9 m s2 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 ...

Page 5: ...bration to the installation face Not more than 0 5G 4 9 m s2 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...

Page 6: ...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 7: ...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 8: ...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 9: ...535 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 10: ...035 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 ...

Page 11: ...535 01 ES12 8545 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 12: ...ing below CAUTION When mounting end effecter do not to apply excessive force to the shaft Especially never hit the shaft by hammer and or so Ball screw shaft may be broken by excessive force ES06 01 ES12 01 Penetrated hole Penetrated hole Cross section view Z Z Cross section view Z Z ...

Page 13: ... to use establish the specified ground for the equipment WARNING During transport or installation of the robot pay utmost care not to cause damage to wirings Furthermore after installing the robot take protective measures such as using protective guards so that the wirings will not be damaged by workers or other persons or forklift trucks or else IMPORTANT Robot is not dust tight packaged If robot...

Page 14: ...at no transformation and vibration occur on it by robot moving force and by static force from robot and peripheral equipment 4 After installation finished do not forget to dismount fixing plate standing plate hanging fixture and or so CAUTION When installing robot please do not forget to secure the enough space around the robot cable accessing space behind robot battery replacement space in front ...

Page 15: ...nstall the robot lock the base of the robot ES06 01 ES12 01 Installation face Installation face φ8 hole for positioning pin Installation hole Installation face hole Installation face φ8 hole for positioning pin Installation hole hole ...

Page 16: ...ontact base plate sufficiently Maximum robot generative force While robot moves large reaction force is applied to the installation base from all directions Consequently foundation must be considered sufficient stiffness and rigidity Please refer to the following values to determine the foundation Dimension Value ES06 01 series Tambling moment ML N m 1 640 Twisting moment MT N m 710 Horizontal gen...

Page 17: ...may occur Caution Overhang amount such as moment and inertia written here is a dynamic limitation which is determined by motor and reduction gear specification Guaranteed repeatability is at the center of mechanical interface surface If long and low rigidity tool is mounted and working point is far from the center positioning repeatability becomes worse or vibration on arm occur Allowable offset d...

Page 18: ...m I 2 2 x m m X I Z Y m I 2 2 y m m Y I Z X m I 2 2 X Axis parallel to X axis on tool COG Y Axis parallel to Y axis on tool COG Z Axis parallel to Z axis on tool COG Ix Inertia moment around X axis passing through the tool COG Iy Inertia moment around Y axis passing through the tool COG Iz Inertia moment around Z axis passing through the tool COG m Load mass Xm Ym Zm OCG of load Edge of shaft ...

Page 19: ...ype 1 valve OP H7 003 Source type 2 valves OP H7 004 Source type 3 valves 2 Solenoid valve set OP H7 005 Source type 4 valves 3 Gripper output cable OP F10 015 With robot connector other side is not manufactured OP F10 013 With robot connector other side is not manufactured 4 Gripper input cable OP F10 014 With robot connector other side is not manufactured OP H1 019 For 4 valves φ4 8 5 Gripper cu...

Page 20: ...Standard Option Prepared by customer OP H1 021 200mm stroke OP H1 022 340mm stroke Internal wires and tubes set for gripper OP H2 003 External wires and tubes box This option Solenoid valve set With gripper output cables OP F10 015 4 valves Gripper output cable OP F10 013 Gripper input cable OP H1 019 Gripper curl tube This option OP H4 0 Sink type 10 13 1 4 valves OP H5 0 Source type 12 15 1 4 va...

Page 21: ...d by customer Standard Option Prepared by customer OP H1 023 350mm stroke OP H1 024 450mm stroke Internal wires and tubes set for OP H2 004 External wires and tubes box This option Solenoid valve set With gripper output cables OP F10 015 4 valves Gripper output cable OP F10 014 Gripper input cable OP H1 020 Gripper curl tube OP S5 030 Axis1 changing operation range This option Notes ...

Page 22: ...N RETURN イーサネットケーブル 多機能ハンド 専用電源線引出口 グロメット 機器間ケーブル 電源用 コネクタ CN1 機器間ケーブル 信号用 コネクタ CN2 機器間ケーブル 信号用 コネクタ CN2 カバーの内側 機器間ケーブル 電源用 コネクタ AMP1 AMP2 カバーの内側 カバーの内側 機器間ケーブル ブレーキ用 コネクタ BRK Ａ 1 2 2 3 4 5 6 Primary air horse air out return 3 Gripper input signal connector HC1 2 3 Gripper output signal connector GR1 2 Secondary air horse option or prepared by customer RH 6FH series φ4 horse 8 at maximum RH 12FH 2...

Page 23: ...gnals Gripper output signal connector Gripper output signal connector Gripper input signal connector Gripper input signal connector Controller Connection to solenoid valve prepared by customer with gripper output cables of option Joint board in robot body or Direct connection to solenoid valve set of option Connection to gripper prepared by customer with gripper input cables of option White Black ...

Page 24: ... and robot body 3 After installing robot dismount the fixing plate A and B CAUTION Never hold left right side of robot arm and never hold robot cover CAUTION Do not apply excessive force to the shaft axis 3 Shaft may be damaged and overload error may occur when operating robot CAUTION When mounting fixing plate again for transportation make the robot pose written in table 9 1 CAUTION Do not make r...

Page 25: ...rocedure as above If hanging robot arm with improper tool or hanging robot of improper pose robot components may be broken or robot will fall down because its COG position is not in center CAUTION Use 4 wires without fail when transporting robot CAUTION When mounting fixing plate again for transportation make the robot pose written in table 9 2 CAUTION Do not make robot side way Grease may ooze ou...

Page 26: ...1 series Axis ES12 55 01 ES12 70 01 ES12 85 01 J1 37 5 21 4 15 1 J2 127 5 111 4 105 1 J3 0mm J4 Not fixed When J3 axis is operated to the end of stopper its shaft will hit the floor So never forget to move robot arm to the above pose before transportation ...

Page 27: ...use the expense is different which form to choose be sufficiently examined 2 Operation and maintenance education The special spot operation guide and the special spot preservation guide are the outside of the estimation Consult with each NACHI FUJIKOSHI office for the details as for the schooling system 11 Consuming power Robot Controller 0 4 kVA at maximum may vary according to the application an...

Page 28: ...botic Division Victoria office Phone 61 0 3 9796 4144 Fax 61 0 3 9796 3899 38 Melverton Drive Hallam Victoria 3803 AUSTRALIA Sydney office Phone 61 0 2 9898 1511 Fax 61 0 2 9898 1678 Unit 1 23 29 South Street Rydalmere N S W 2116 AUSTRALIA Brisbane office Phone 61 0 7 3272 4714 Fax 61 0 7 3272 5324 7 96 Gardens Dr Willawong QLD 4110 AUSTRALIA NACHI SHANGHAI CO LTD http www nachi com cn Shanghai of...