Standard specifications

MZ07-02/MZ07P-02
MZ07L-02/MZ07LP-02

2nd edition

1412, SMZEN-077-002,001
 Table of contents

1. Outline........................................................................................................................ 1
2. Basic specifications.................................................................................................... 2
3. Robot dimensions and working envelope................................................................... 3
4. Details of load mounting face ..................................................................................... 7
5. Installation procedure ................................................................................................. 8
6. Allowable wrist load.................................................................................................. 10
7. Application wiring and tube diagram......................................................................... 12
8. Stickers .................................................................................................................... 13
9. Delivery style............................................................................................................ 14
10. Paint color .............................................................................................................. 14
11. Warranty ................................................................................................................. 14
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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.

“MZ series” is a small, simple structure, high speed and high accuracy robot which is optimal for
material handling and other application. Because of the hollow arm wrist, simplified wiring from the
robot body to the tool is possible. This can reduce the wiring burden of customer.

Base type
5 axes type 6 axes type
Normal arm (reach 723mm) MZ07P-02 MZ07-02
Long arm (reach 912mm) MZ07LP-02 MZ07L-02
Note) “5 axes type” does not have axis No.4, comparing with “6 axes type”. This robot
is optimal for picking work because its wrist is fixed to downward direction.

・KCS mark is not included.

・Controller is not included.
・Wire harness (between robot and controller) is not included.
・Zeroing pin and block is not included.
・Brand sticker is not included. ( Refer to “8. Stickers” for detail)
・Zeroing pin and block is not included.
・3 pneumatic solenoid vales are built in robot arm. Also I/O partner connector on both base
side and wrist side is prepared. ( Refer to “7. Application wiring and tube diagram” for detail)
・Document (instruction and maintenance manual) is not included.

Detail type
MZ07 * -02- 0 0 0
Connection variation
Mark Specification Notes
0 Rear connection Robot to controller cable is connected at robot rear
Installation variation
Mark Specification Notes
0 Standard Axis 1 working envelope ±30°at wall mounting
Application variation
Mark Specification Solenoid valve Signal wires Notes
0 Standard 3 10 wires
Arm variation
Mark Specification Notes
(none) 6 axes Standard arm Max reach 723mm
L 6 axes Long arm Max reach 912mm
P 5 axes Standard arm Max reach 723mm (does not have axis No.4)
LP 5 axes Long arm Max reach 912mm (does not have axis No.4)
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2. Basic specifications

Item Specifications
Robot model MZ07-02 MZ07P-02 MZ07L-02 MZ07LP-02
Construction Articulated
Number of axis 6 5 6 5
Drive system AC servo motor
Axis 1 ±170 °
Axis 2 -135 ～ 80 °
Max. working Axis 3 -136 ～ 270 ° -139 ～ 270 °
envelope Axis 4 ±190 ° － ±190 ° －
Axis 5 ±120 °
Axis 6 ±360 °
Axis 1 450 °/s 300 °/s
Axis 2 380 °/s 280 °/s
Axis 3 520 °/s 360 °/s
Max. speed *6
Axis 4 550 °/s － 550 °/s －
Axis 5 550 °/s
Axis 6 1000 °/s
Max. pay load Wrist 7 kg
Axis 4 16.6 N・m － 16.6 N・m －
Allowable static
Axis 5 16.6 N・m
load torque
Axis 6 9.4 N・m
Axis 4 0.47 kg・m2 － 0.47 kg・m2 －
Allowable moment 2
Axis 5 0.47 kg・m
of inertia *1
Axis 6 0.15 kg・m2
Position repeatability *2 ±0.02mm ±0.03mm
Max. reach 723mm 912mm
Air tubes φ6×2
Application signal wires 10 wires
Installation *3 Floor / Wall / Tilted / Inverted mount
Temperature: 0 to 45 ºC *4
Ambient conditions Humidity: 20 to 85%RH (No dew condensation allowed)
Vibration to the installation face: Not more than 0.5G (4.9 m/s2)
Dust-proof / Drip-proof
IP67 equivalent (dust and drain proof-type)
performance *5
Cleanliness *7 ISO 14644-1 Class 4 equivalent
Noise *8 70.2 dB
Robot mass 30kg 32kg
1[rad] = 180/π[°], 1[N･m] = 1/9.8[kgf･m]
- On controller display, axis 1 to 6 is displayed as J1 to J6 for each.
- The specification and externals described in this specifications might change without a previous notice for the improvement.
- Explosion-proof is not available.

*1: Allowable moment of inertia of wrist changes due to the load conditions of wrist. *2: This value conforms to "JIS B 8432".
*3: Working envelop is limited when wall mount and tilted mount. (Example; axis 1 working envelop is ±30° in case of wall
mount) *4: Permitted height is not higher than 1,000m above sea level. If used in higher place, permitted temperature is
affected by height. *5: Liquid such as organic compound, acidity, alkalinity, chlorine or gasoline cutting fluid which deteriorates
the seal material are not available to use. *6: The "Max. speed" in this table is the available maximum value and will change
depending on the work-program and the wrist load condition. *7: If this cleanliness needs to be kept, use robot in a clean room
where down flow air exists. Robot is not dust-tight packaged. If robot is used in clean room, abrasive or fine particles shall be
removed before carrying it in clean room. *8: Robot noise is A-weighted equivalent sound level measured under “JIS Z 8737-1”
(ISO 11201) with max. payload and max. speed.
 Page-3

3. Robot dimensions and working envelope

【MZ07-02】 【MZ07P-02】
 Page-4

【MZ07L-02】 【MZ07LP-02】
 Page-5

【MZ07-02】 【MZ07P-02】 Wall mount

This figure shows the working envelope in case that standard installation robot (MZ07-*-02-*0*) is
installed at wall mount. In this case, software parameter needs to be changed to restrict working
envelope as indicated above.
 Page-6

【MZ07L-02】 【MZ07LP-02】 Wall mount

This figure shows the working envelope in case that standard installation robot (MZ07-*-02-*0*) is
installed at wall mount. In this case, software parameter needs to be changed to restrict working
envelope as indicated above.
 Page-7

4. Details of load mounting face

For the tool fixing bolts, use the mounting P.C.D. shown in the following figures.

Be sure to screw the M5 tool fixing bolts in the wrist not deeper than the screw depth in
the mounting face. Screwing the bolts deeper than the screw depth may damage the
CAUTION wrist.

【MZ07-02】【MZ07P-02】【MZ07L-02】【MZ07LP-02】

depth 7
depth 7 range Wire hole
(same as opposite side)
range

Diameter of wire hole

POINT A

Tool flange center

(Center of wrist coordinate system)
(X,Y,Z) = (0,0,0)
 Page-8

5. Installation procedure
To install the robot, it is important to position the robot so that no workers will get
pinched by the robot inside or around a device to use the robot. The robot must not come
into contact with any peripheral equipment when operating in the maximum operating
WARNING
range with a tool mounted on it.
Be sure to install the robot according to the specified procedure. Otherwise it will cause
the robot to move or topple over while in operation, thus inducing an imminent hazardous
WARNING situation.
To make wire connections between the robot and the controller or the peripheral equipment,
fully understand the connection procedure for proper wire connections. Making wire
WARNING connections according to improper procedure will cause the robot to malfunction.
Be sure to establish a proper ground for the robot. If equipment such as a welder that
causes substantial noises is needed to use, establish the specified ground for the
WARNING equipment.
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
WARNING
forklift trucks or else.
Robot is not dust-tight packaged.
If robot is used in clean room, abrasive or fine particles shall be removed before carrying
it in clean room. It is recommended that robot should be cleaned by swabbing with
IMPORTANT isopropyl alcohol (IPA). Use of other solvents or pure water could contribute rust or peel
of coating materials.
It is to be noted that cleanliness of robot is worse if it has operated in poor conditions for
IMPORTANT a long time or if it has been left as it was.

■ Installation location and ambient conditions

Conditions (temperature, humidity, height and vibration) are written in “Chapter 2 Basic
Specifications”. Further ambient conditions listed below must be observed.
(1) Location with the drainage structure so that swivel base is not flooded, when the liquid such as
water or cutting fluid is splashed on the robot body
(2) Location with no flammable or corrosive fluid or gas.
(3) Type D grounding (the grounding resistance is 100 or less) is necessary.

■ Installation procedure
While robot moves, large reaction force is applied to the swiveling base from all directions.
Consequently, the robot should be installed in such a manner that the foundation endures reaction
force caused by accelerating or decelerating the speed to lock the robot, not to mention that it
endures static loads. Repair uneven spots, cracks, and others on the floor, and then install the robot
by following to the table below. If thickness of floor concrete is less than needed level, an
independent foundation should be constructed. Inspect the foundation prior to the robot installation,
and then construct the foundation, if necessary.

Standard mount and Rear connection

Thickness of floor concrete Not less than 150 mm
4 bolts of M10 X 30 (JIS: Strength class 12.9)
Installation parts *1 4 plain washers of not less than 3.2 mm in thickness
and HRC35 in hardness
Tightening torque *2 67 Nm
Allowable repeated tensile *3 Approximately 700 N
*1 : Installation parts are not accessory of robot.
*2 : Apply a coating of lubricating oil to the threaded parts of bolts, and then tighten bolts by using torque wrench to the
specified tightening torque.
*3 : This tensile is per installation bolt when robot is installed with all bolts written in table above.
 Page-9

■ Installation space
To install the robot, lock the swiveling base of the robot.
The mechanical stopper end is located in a position exceeding the specified working
envelope (software limit) of axis 1. To install the safety fence, with consideration given to
WARNING the wrist configuration and the shape of tool.

On axis 1, 2 and 3, the robot working envelope can be regulated for safety. Optional part
is necessary to enable this function.
WARNING

Standard mount
Cable rear connection

MZ07(P)-02-000
MZ07L(P)-02-000

■ Accuracy of installation surface

When installing robot, strictly observe precautions listed below to cause no deformation in the base.
(1) Make the deviation from the flatness of the 4 plates on the robot installation surface fall within 0.2
mm.
(2) Make the deviation in height between the 4 places of each base plate installation surface and the
robot installation surface fall in the range of 0.2 mm (0.1 mm).

■ Maximum robot generative force

Maximum Maximum Maximum Maximum

Vertical horizontal Vertical horizontal
Robot model generative force generative force generative moment generative moment
FV FH MV MH

MZ07-02
1,600N 1,200N 1,000Nm 900Nm
MZ07P-02

MZ07L-02
2,000N 1,500N 1,250Nm 1,130Nm
MZ07LP-02
 Page-10

6. Allowable wrist load

Load fixed on the tip of wrist is regulated by “allowable payload mass”, “allowable
static load torque”, and “allowable moment of inertia”. Strictly keep the wrist load
within each allowable value. If wrist load exceeds the allowable value, this robot is
CAUTION out of guarantee. Refer to the table of “2. Basic specifications” and following figures for
the detail of each specification.

■ Torque map for wrist load

Use the robot under condition that COG of wrist load falls in the range shown in the torque map.

【MZ07-02】
【MZ07P-02】
【MZ07L-02】
【MZ07LP-02】

■ Moment of inertia map for wrist load

Use the robot under condition that static load torque and moment of inertia fall in the range shown
in the figures below.
Axis 4, 5
【MZ07-02】
【MZ07P-02】
【MZ07L-02】
【MZ07LP-02】

Axis 6

If the moment of inertia exceeds the specification, maximum speed is automatically

IMPORTANT limited by the software to protect the robot.
 Page-11

■ How to find the inertia moment of each axis

The following section shows general methods of calculating the inertia moment around each axis.
lZ X: Axis 5 rotation in the basic wrist configuration
Y: Axis 6 and axis 4 rotation in the basic wrist configuration
Z: Axis at right angles to the X and Y axes in the basic wrist
configuration
Z x: Axis parallel to the X axis in the load gravity center
lz y: Axis parallel to the Y axis in the load gravity center
z: Axis parallel to the Z axis in the load gravity center
Ix: Inertia moment around the X axis passing through the
lX load gravity center
Iy: Inertia moment around the Y axis passing through the
lx z load gravity center
x Iz: Inertia moment around the Z axis passing through the
load gravity center
X m: Load mass
(Xm, Ym, Zm): Gravity center coordinates of load

m
y (Xm, Ym, Zm)
ly Y

lY Note: This figure differs from MZ07 wrist.

・Inertia moment around axis 6

I J 6  IY  m  ( X m 2  Z m 2 )  I y

・Inertia moment around axis 4 and axis 5 (The inertia moment around axis 4 and axis 5 varies with
axis 6 configuration. Consequently, in order to simplify the calculation, take a maximum value around
the X and Z axes in above figure, as the inertia moment.)
I J 4J 5  max ( I X , I Z )

 I X  m  (Ym 2  Z m 2 )  I x
 I Z  m  ( X m 2  Ym 2 )  I z
 Page-12

7. Application wiring and tube diagram

■ Solenoid valves and wiring connection
Silencer

Air outlet
(for the tool such
☆ as gripper)

3 Solenoid
valves

☆ ☆

Base Frame Arm Gear box Wrist 1

Wrist 2 ☆
Air outlet Note)
- Only 2 air lines (AIR1 to Port1 and AIR2 to
Wrist 1
Port7) are connected directly inside gear box.
Gear box Plugs are attached on air outlet.
- Solenoid valves and silencer are mounted.

Solenoid valve type;

SYJ3220-5GR-M3 (SMC), 2 position double
solenoid, Coil voltage DC24V, Consuming
Arm power 0.35W, With surge voltage protector
circuit (no pole), No-lock push type manual
operation, Without sub-plate for tube, Without
bracket (Pressure range : 0.1 to 0.5MPa, Coil
voltage : DC24V)
Frame

Base

☆ ☆

☆ marks indicate the names only for NACHI.

 Page-13

■ Detailed diagram of the application connectors

6 5 4 3 2 1 CN10A

D G A20 A19 A18 A17 A16 A03 A02 A01

3 2 1
C A15 A14 A13 A12 A11 A07 A06 A05 A04
7 6 5 4
A10 A09 A08
B A22 A10 A09 A08 A07 A06 10 9 8

A A21 A05 A04 A03 A02 A01

Connector CNR010 on base Connector CN10A on wrist 1

Tyco AMP 1939839-1, 1939840-1, 1903112-2 JAE JN1AS10ML1-R
Partner connector type Partner connector type
Tyco AMP 1939847-1, 1939850-1, 1827570-2 JAE JN1DS10SL2

Partner connector on both base side (CNR010) and wrist side (CN10A) is prepared.
(NOTE) The “CNR010” and the “CN01A” are the connector names only in case of NACHI.

8. Stickers
Brand sticker (NACHI), machine type sticker (MZ07), working envelope sticker, pinch point sticker,
and connector name stickers etc. are not affixed. We will affix Adept sticker before shipment, if
provided.

(NOTE1) The stickers of × mark are omitted.

(NOTE2) The stickers of ○ mark are attached in NACHI factory.
 Page-14

9. Delivery style
Style Details
Robot is delivered on the truck near the entrance of
1 Delivery on the truck
customer’s plant. (Installation and test-run is not included)

10. Paint color

Standard color Robot cover and wrist 1 Munsell 6.5PB9/1
Arm Munsell N5.5
Base Munsell N5.5

11. Warranty
Elapse of 1 year after delivery. (8 hours/day running)
But following case is out of warranty even within warranty term.

1) Damage happened because robot was used under condition of exceeding robot specification or
reduction gear specification or motor specification.
2) Damage happened because of customer’s controller trouble or peripheral equipment (for
example; primary power).
3) Damage happened because robot was used under condition that its lifespan is estimated shorter
than 1 year.
 http://www.nachi-fujikoshi.co.jp/

Shiodome Sumitomo Bldg. 17F,

Phone: Fax:
Japan Main Office 1-9-2 Higashi-Shinbashi
+81-3-5568-5245 +81-3-5568-5236
Minato-ku, TOKYO, 105-0021 JAPAN
Nachi Robotic Systems Inc. (NRS) http://www.nachirobotics.com/

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Phone: Fax: 11F Royal Wealth Centre, No.7
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+86-(0)21-6915-2200 +86-(0)21-6915-2200 Lane 98 Danba Road Putuo District, Shanghai 200062, China

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Phone: Fax:
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Copyright NACHI-FUJIKOSHI CORP.

Robot Division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511
Phone +81-76-423-5137
Fax +81-76-493-5252
NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or
reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document
may be modified without notice. Any missing page or erratic pagination in this document will be replaced.
In case that an end user uses this product for military purpose or production of weapon, this product may be liable
for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Control Law. Please go
through careful investigation and necessary formalities for export.
Original manual is written in Japanese.