Overview

The document details the specifications, options, and features of the Nachi CZ10-01 slim arm collaborative robot and its CCZ controller. It emphasizes the robot's people-friendly design, safety certifications, and modular option boards for enhanced connectivity and functionality.

1. Robot Basic Specifications

• Robot Type: CZ10-01 collaborative robot with 6 axes.
• Drive System: AC servo motor.
• Working Envelope: Axis ranges from ±170° to ±360°, with a maximum reach of 1300 mm.
• Max Speed: Up to 3.14 rad/s (180°/s) on most axes; Axis 1 and 2 at 2.09 rad/s (120°/s).
• Payload: Wrist can handle up to 10 kg.
• Allowable Static Load Torque: Axis 4 and 5: 25.9 N·m; Axis 6: 5.9 N·m.
• Allowable Moment of Inertia: Axis 4 and 5: 0.75 kg·m²; Axis 6: 0.08 kg·m².
• Position Repeatability: ±0.1 mm.
• Installation: Floor or inverted mounting.
• Environmental Conditions: Operating temperature 0–45°C (below 1000m altitude), humidity 20–85% RH (no condensation), vibration ≤0.5G.
• Protection Ratings: Robot wire harness IP54 equivalent; controller IP20 equivalent.
• Robot Mass: 61 kg.
• Safety Certifications: Conforms to ISO 10218-1 and TS 15066; TÜV SÜD certified.

2. User-Friendly and Safety Features

• Elimination of pinch points and sharp edges for safer human interaction.
• Double safety system: functional safety that stops the robot upon contact detection and intrinsic safety designed to avoid pinching.
• Intuitive programming by manually moving the robot arm.
• Designed for collaborative workspaces without safety fences, enabling space-saving installation and shared human-robot work areas.

3. Robot Dimensions and Working Envelope

The robot has a maximum reach radius of 1300 mm with detailed mounting dimensions provided for installation. Wrist dimensions and bolt hole specifications are included to assist with integration.

4. Option List and Accessories

The CZ10-01 supports a variety of optional components to enhance functionality and connectivity. Options are installed according to specific instructions and include:

• Controller and Connectivity Boards:
• Mini I/O board (photo coupler 8 inputs / relay or transistor outputs)
• EtherNet/IP board (master/slave configurations)
• DeviceNet board (master/slave configurations)
• Digital I/O board (NPN/PNP transistor outputs, various input/output counts)
• CC-Link board (master and slave 1CH)
• PROFIBUS board (master/slave configurations)
• PROFINET board (slave)
• Conveyor synchronous interface (RS 422 differential input encoder counter)
• Mechanical and Installation Accessories:
• Adjustable stopper for axis 1
• Transfer jig for crane transport
• Inverted installation jig
• Zeroing block for zero point positioning
• ISO flange (P.C.D. 31.5)
• Peripheral Devices and Cables:
• Vision device (visual sensor unit)
• Brake release switch (manual external unit)
• Smart Teach pendant with 4m cable
• Teach pendant extension cables (5m and 10m)
• Teach pendant shorting plug (for when pendant is not connected)
• Power cables (5m and 10m lengths)
• EtherCAT cables (5m and 10m lengths)
• USB memory (1GB)
• I/O cable on arm with L-shaped or straight connectors (1.5m length)

5. Standards and Trademarks

• DeviceNet and EtherNet/IP are trademarks of ODVA.
• CC-Link is a trademark of CC-Link Partner Association (CLPA).
• PROFIBUS and PROFINET are trademarks of PROFIBUS & PROFINET International.

6. Notes and Precautions

• Specifications are subject to change without notice.
• Use in military or weapon production may be subject to export restrictions under the Foreign Exchange and Foreign Trade Act; users must comply with necessary formalities.
• Limit use in environments with liquids such as organic compounds, acids, alkalines, chlorine, gasoline, or cutting fluids to avoid seal deterioration.

7. Manufacturer Contact

Nachi Robot Division, Tokyo and Toyama, Japan, with contact phone and fax numbers provided for inquiries.