NACHI MZ04
| Name | MZ04 | ||
| Type | MZ04-01 | ||
| Number of Axes | 6 | ||
| Drive system | AC | ||
| Wrist Pay Load Capacity | ±0.02 mm | ||
| Positional Repeatability | 4 kg | ||
| Maximum Speed | Arm | J1 (Rotation) | ±2.97 rad (±170°) |
| J2 (Lower arm) | -2.53~+1.57 rad(-145°～+90°) | ||
| J3 (Upper arm) | -2.18～+4.88 rad（-125°～+280°） | ||
| Wrist | J4 (Swing) | ±3.32 rad (±190°) | |
| J5 | ±2.09 rad (±120°) | ||
| J6 | ±6.28 rad (±120°) | ||
| Max. Speed | Arm | J1 (Rotation) | 8.38 rad/s (480°/s) |
| J2 (Lower arm) | 8.03 rad/s (460°/s) | ||
| J3 (Upper arm) | 9.08rad/s (520°/s) | ||
| Wrist | J4 (Swing) | 9.77 rad/s (560°/s) | |
| J5 | 9.77 rad/s (560°/s) | ||
| J6 | 15.7 rad/s (900°/s) | ||
| Wirst Allowable Load | Allowable Moment | J4 (Swing) | 8.86 N・m |
| J5 | 8.86 N・m | ||
| J6 | 4.9 N・m | ||
| Allowable Moment Of Inertia | J4 (Swing) | 0.2kg・m2 | |
| J5 | 0.2kg・m2 | ||
| J6 | 0.07kg・m2 | ||
| Ambient Temperature/Humidity | 0~45°C | ||
| Environmental resistance | Meets the IP40 | ||
| Installation Method | Floor-/Ceiling-/Wall-mounted | ||
| Mass (weight) | 26 kg | ||
