Overview

This document details the technical specifications, mechanical and electrical interfaces, controller features, options, accessories, application notes, and support information for the MZ25-01 articulated robot and its FD18 controller.

1. Robot Specifications

• Type: 6-axis articulated robot.
• Motion Range: Joint ranges vary, e.g., J1 ±170°, J6 full 360° rotation.
• Maximum Velocity: Wrist joints up to 11.73 rad/s (672°/s).
• Payload: Maximum wrist payload of 25 kg.
• Static Load Torque: Up to 52 N·m for J4/J5, 32 N·m for J6.
• Moment of Inertia: J4/J5 up to 2.4 kg·m², J6 up to 1.3 kg·m².
• Maximum Reach: 1882 mm.
• Position Repeatability: ±0.05 mm.
• Protection Class: IP67 equivalent (dust and moisture resistant).
• Weight: 250 kg.
• Operating Environment: Temperature 0–45°C, humidity 20–85% RH (no dew/frost), altitude ≤1000 m.

2. Mechanical and Electrical Interfaces

• Precise base and wrist dimensions with mounting hole specifications.
• Application cables: 24 wires including optional valve wiring.
• Pneumatic air tubes: φ6×1 and φ10×1.
• LAN cable for network communication.
• Support for additional axis motor and encoder cables.

3. Controller Specifications

• FD18 controller size: 300 mm (W) × 600 mm (D) × 530 mm (H).
• Designed for flexible, space-saving installation.
• Equipped with an improved, easy-to-read teach pendant.

4. Options and Accessories

Options are classified as essential (red) or optional (blue), installed by the customer per manual instructions.

• Communication Boards: EtherNet/IP, DeviceNet, CC-Link (master/slave), PROFINET for slots A and B.
• Installation Parts: Plates for chemical/hammer anchors, leveling plates, bolts, washers, pins.
• Mechanical Accessories: Adjustable stoppers (axes 1-3), inverted mount jig (mandatory for inverted mounting), transfer jig, ISO flange adapter (P.C.D.63), wrist wire clamps.
• Valve Units: Solenoid valves (2/3-position, single/double), air blow valve unit.
• Cables and Harnesses: I/O cables (1.5 m), teach pendant cables (8–30 m), wire harnesses (2–25 m), motor/encoder extension harnesses (5–20 m), shielded I/O harnesses (2.5–25.5 m).
• Input/Output Units: Digital I/O units with photo coupler inputs and transistor or relay outputs; compact units with up to 14 inputs and 10 outputs.
• Teach Pendant and Accessories: Programming pendant, jumper plug for separation from controller.
• Other Accessories: Portable brake release switch (5 m cable), USB flash drive (1 GB) for data transfer.

5. Application and Usage Notes

• Suitable for machine loading, deburring, picking, mounting, and other flexible tasks.
• Features a powerful wrist and hollow wrist structure for internal cable/tube routing.
• Rust-proof bolts and coolant-resistant paint enhance durability.
• Complies with JIS B 8432 standards.
• Use restricted for military or weapon production due to export regulations under the Foreign Exchange and Foreign Trade Act.

6. Contact and Support

Manufacturer: Nachi Robotic Systems Inc., with global offices in Japan, USA, Canada, Mexico, Brazil, Germany, Thailand, Singapore, Indonesia, India, and China.

Critical Information Summary

• Ensure correct option selection based on installation type (e.g., inverted mount requires specific jig).
• Verify I/O unit compatibility with other options as input/output availability depends on combinations.
• Respect ambient temperature, humidity, and altitude limits for safe operation.
• Select cables and harnesses according to required lengths and connector types.
• Export restrictions apply for military-related use; compliance with legal requirements is mandatory.