Related Manuals for Nachi ES06-01-CFD
Summary of Contents for Nachi ES06-01-CFD
- Page 1 Standard specifications ES06-01-CFD ES12-01-CFD 1st edition 1512, SESEN-087-001,001...
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Page 2: Table Of Contents
Table of contents 1. Outline........................1 2. Basic specifications....................2 2.1 ES06-01 basic specification .................. 2 2.2 ES12-01 basic specification .................. 3 3. Dimensions ........................ 4 4. Detail of load mounting plate..................10 5. Installation procedure ....................11 6. Allowable wrist load....................15 7. -
Page 3: Outline
Page-1 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. “ES06/12 series” is a robot of high speed and simple highly rigid structure which is optimal for assembling and material handling application. -
Page 4: Basic Specifications
Page-2 2. Basic specifications 2.1 ES06-01 basic specification Item Specifications ES06 ES06 ES06 ES06 ES06 ES06 Robot model -3520-01 -3534-01 -4520-01 -4534-01 -5520-01 -5534-01 Construction Horizontally Articulated Number of axis Drive system AC servo motor Brake Axis 1, 2 and 4 ; without brake Axis 3 ;... -
Page 5: Es12-01 Basic Specification
Page-3 2.2 ES12-01 basic specification Item Specifications ES12 ES12 ES12 ES12 ES12 ES12 Robot model -5535-01 -5545-01 -7035-01 -7045-01 -8535-01 -8545-01 Construction Horizontally Articulated Number of axis Drive system AC servo motor Brake Axis 1, 2 and 4 ; without brake Axis 3 ;... -
Page 6: Dimensions
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 Page-7 【ES12-5535-01】【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 Page-8 【ES12-7035-01】【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 Page-9 【ES12-8535-01】【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.
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Page 12: Detail Of Load Mounting Plate
Page-10 4. Detail of load mounting plate To mount end effecter, please refer to drawing below. 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. -
Page 13: Installation Procedure
Page-11 5. Installation procedure Axis 1, 2 and 4 do not have brake. So arms are free to move while carrying it. Never forget to fix arm properly when carrying robot in order not to be caught by moving DANGER arm. - Page 14 Page-12 ■ Installation procedure 1) Installation base is processed surface. Utilizing 4 installations holes on base (4-φ9 holes for ES06 series, 4-φ16 hole for ES12 series), fix robot properly by installation bolts (hex socket head bolts) which is accessory of robot. 2) We recommend to use the common basement in order that positioning error does not occur between robot and peripheral equipment.
- Page 15 Page-13 ■ Installation space To install the robot, lock the base of the robot. 【ES06-01】 hole φ8 hole for positioning pin Installation hole Installation face 【ES12-01】 hole φ8 hole for positioning pin Installation hole Installation face...
- Page 16 Page-14 ■ Accuracy of installation surface When installing robot, strictly observe precautions below to cause no deformation in the swivel base. (1) Install robot on horizontal and flat plane. (2) Deviation on the robot installation surface must fall within 0.1 mm. (3) The roughness of surface of the base plate is recommended less than Rz25.
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Page 17: Allowable Wrist Load
Page-15 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 out of guarantee. Refer to the table of “2. - Page 18 Page-16 ■ How to find the inertia moment of each axis The following section shows general methods of calculating the inertia moment around each axis. 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...
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Page 19: Option Specifications
Page-17 7. Option specifications Robot model № Name Parts No. Specifications ○ Axis1 changing operation OP-S5-029 Attachment work needs to be done by customer range ○ OP-S5-030 Attachment work needs to be done by customer ○ OP-H4-010 Sink type 1 valve ○... - Page 20 Page-18 <ES06-01 option specification> ES06 series CR751 ｺﾝﾄﾛｰﾗ用 Refer to “2.Basic specifications” for detail. Axis1 changing operation range ・OP-S5-029 Solenoid valve set ・OP-H4-0** (Sink type) Internal wires and tubes set for gripper (**：10～13=1～4 valves) ・OP-H1-021(200mm stroke) ・OP-H5-0** (Source type) ・OP-H1-022(340mm stroke) (**：12～15=1～4 valves) This option With gripper output cables...
- Page 21 Page-19 <ES12-01 option specification> 水平多関節形 (ES12 シリーズ) Refer to “2.Basic specifications” for detail. Axis1 changing operation range ・OP-S5-030 Solenoid valve set ・OP-H6-0** (Sink type) Internal wires and tubes set for (**：06～09=1～4 valves) ・OP-H1-023 (350mm stroke) ・OP-H7-0** (Source type) ・OP-H1-024 (450mm stroke) (**：02～05=1～4 valves) This option With gripper output cables...
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Page 22: Application Wires And Tubes Diagram
Page-20 8. Application wires and tubes diagram ■ Exterior of Gripper wires and tubes (AIR OUT RETURN) Primary air horse (air out, return) Secondary air horse (option or prepared by customer) (HC1 2) (3) Gripper input signal connector (HC1,2) RH-6FH RH-6FH series :φ4 horse (8 at maximum) (GR1 2) RH-12FH/20FH... - Page 23 Page-21 ■ Connection of Gripper wires and tubes Gripper output signal connector White Gripper output signals White Black Direct connection to solenoid White valve set of option Black Gripper output signal connector Connection to solenoid valve Black prepared by customer with White gripper output cables of option Black...
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Page 24: Transport Procedure
Page-22 9. Transport procedure 【ES06-01 series】 Mass ES06-35**-01 series: Approx. 39kg Fore arm ES06-45**-01 series: Approx. 40kg ES06-55**-01 series: Approx. 41kg Upper arm Fixing plate B Fixing plate A In case of standard specification, anti-rust grease is applied at the edge of shaft (J3). - Page 25 Page-23 Table 9-1 Robot pose for transportation (ES06-01 series) Axis ES06-35**-01 ES06-45**-01 ES06-55**-01 57.5° 28° 19° -147.5° -118° -109° -49.6mm Not fixed 【ES12-01 series】 Mass ES12-55**-01 series: Approx. 65kg ES12-70**-01 series: Approx. 67kg ES12-85**-01 series: Approx. 69kg Wire Fore arm Wire hook Eye bolt Hanging tool...
- Page 26 Page-24 Table 9-2 Robot pose for transportation (ES12-01 series) Axis ES12-55**-01 ES12-70**-01 ES12-85**-01 -37.5° -21.4° -15.1° 127.5° 111.4° 105.1° ） 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.
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Page 27: Delivery Style (Specification Which Contains A Robot)
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 and motion pattern.) - Page 28 Phone +81-76-423-5137 +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.