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EZ-SERIES
FIRST
Unique kinematics
With its overhead head unit,
the Scara EZ03 from NACHI minimizes
the need for space at pick-and-place
WING SLICER ROBOT
Applications:
▶▶ Pick-and-place
Main Advantages:
▶▶ Intelligent wiring
▶▶ Hollow wrist
2
EZ-SERIES
Unique kinematics
FIRST With its overhead head unit,
the Scara EZ03 from NACHI
minimizes the need for space
at pick-and-place
"NACHI –
Always a Step Ahead"
Slim Sprinter:
The inverted mounted base unit of NACHI's EZ03 robot mini-
mizes the floor space required in pick-and-place applications.
3
WING SLICER ROBOT
Z-axis structure (along which whole arm moves) Slim, light weight and high
makes its arm compact. speed o peration is possi-
ble due to no s ervomotor
in the robot arm.
Line width reduced by 30%. Work space reduced by 40%. Reduce the amount of equipment significantly.
40 % reduction
750mm
850mm
650mm
970mm
WIDE OPERATING ENVELOPE HIGH SPEED WITH SHORTEST PATH (EXAMPLE OF TABLET ASSEMBLY LINE)
The small horizontal arm permits Potentially reduce cycle time by up to 30%
a wide operation envelope and (compared to a f loor mount type SCARA).
compact layout.
1
3
1
3
Conveyor 4 2
Reach
250mm
450mm Conveyor 4 2
4
EZ-SERIES
With the smart cable routing feature, risk of cable interference with peripheral devices is reduced a nd the
operational reliability is significantly improved.
Inverted mount type EZ Series
Wires and tubes are routed through the hollow wrist
Floor mount type SCARA
Wires and tubes are routed outside
Hollow wrist
φ36mm
Interference Entangled
cables
VARIOUS LINEUP
User can select a combination of following types and Z-axis strokes; Inverted mount /
Floor mount and 250mm / 150mm strokes.
Inverted mount type Inverted mount type Floor mount type Floor mount type
Z-axis 250mm Z-axis 150mm Z-axis 250mm Z-axis 150mm
EZ03V4-4525 EZ03V4-4515 EZ03F4-5525 EZ03F4-5515
Just 369 mm wide Multi-Controller CFDL can be placed within the support structure.
for each 4 unit independently. (They can work in synchronous manner too.)
Teach pendant
Controller
CFDL4-0000
(Controller for 3 or 4 arms)
5
WING SLICER ROBOT
Standard S pecifications
Robotertyp EZ -02-
BASIC SPECIFICATIONS ARM VARIATION
Mark 1 Mark 2 Mark 3 Notes Mark 1 Max. reach Mark 2 Mark 3 Notes
V 4 3kg payload, inverted mount, 4 axis 15 150mm
03 45 450mm Inverted mount
F 4 3kg payload, floor mount, 4 axis 25 250mm
V 6 2kg payload, inverted mount, 6 axis 15 150mm
02 55 550mm Floor mount
F 6 2kg payload, floor mount, 6 axis 25 250mm
ROBOT SPECIFICATIONS
Item Specifications
EZ03V4 EZ03V4 EZ03F4 EZ03F4 EZ02V6 EZ02V6 EZ02F6 EZ02F6
Robot model
-02-4515 -02-4525 -02-5515 -02-5525 -02-4515 -02-4525 -02-5515 -02-5525
Structure Horizontal articulated
Number of axis 4 6
Max. reach 450mm 550mm 450mm 550mm
Installation*1 Inverted mount Floor mount Inverted mount Floor mount
Drive system AC servo system
J1 Vertical 150mm 250mm 150mm 250mm 150mm 250mm 150mm 250mm
J2 ±170°
Max. J3 ±180° ±145° ±180° ±145°
operating
envelope J4 ±360° ±190°
J5 - ±110°
J6 - ±360°
J1 Vertical 1200mm/s 1400mm/s 1200mm/s 1400mm/s 1000mm/s 1200mm/s 1000mm/s 1200mm/s
J2 450°/s
J3 720°/s
Max. speed*2
J4 2400°/s 1200°/s
J5 - 720°/s
J6 - 720°/s
Payload (max) 2kg (3kg) 1kg (2kg)
Allowable J4 0.05kg·m2 (0.005kg·m2 rated) 0.03kg·m2 (0.013kg·m2 rated)
moment of
J5 - 0.03kg·m2 (0.013kg·m2 rated)
inertia for
wrist*3 J6 - 0.01kg·m2 (0.001kg·m2 rated)
Position repeatability*4 ±0.014mm ±0.02mm
Air piping φ6×2
Application wirings 10 wires
Ambient temperature: 0 to 45° C*5 Ambient humidity: 20 to 85% RH (without condensation) Allowable vibration of installation surface:
Installation conditions
Not more than 0.5 G (4.9m/s2)
Environmental conditions*6 IP20 * Explosion-proof version is not available.
Noise level 70dB
Robot mass 42kg 43kg 44kg 45kg
APPLICATION CONNECTOR
Port3 Port2 Port1
CN10A 4 axis Port5 Port3 6 axis
6 5 4 3 2 1 Port1
6
EZ-SERIES
Relay unit 8
EZ03
W/H 2, 5, 10, 15, 20m
a
External dimensions 369 (W) × 490 (D) × 187 (H) 369 (W) × 510 (D) × 263 (H)
Point A
Protection rating IP20
Point A
Power supply Single phase/3φ 200-230 VAC
55 b
Ambient temperature 0 to 40°C (50/60 Hz)
91
170°
145°
Network Ethernet
R225
PCI option 2 slots 1 slot
R225
Point A
225 325
Brake release Brake release mode
EZ03 55
Point A
c
Mechanism conversion No
4 axis 6 axis
65
57
2-φ6H7
Back view
150
150 ±0.05
4-15 369
3.6
φ57 h7 range
φ57φh7
85
φ80
Point A
140 ±0.06
155
(origin of wrist
280
310
φ34h7
φ34 h7 range
3
coordinates)
(X,Y,Z)=(0,0,0) φ52
4-M5, depth 11 φ66
254
P.C.D.47
φ36 hole diameter 4-M4, depth 7
for wiring hollow 186
206 Front view
Point A P.C.D.27
φ18 hole diameter
for wiring hollow
Both inverted and floor mount Figures in parentheses indicate the
CFDL1-0000, CFDL2-0000
7
WING SLICER ROBOT
Red I/F
Marking Mandatory option selection cki
ng
r tra
eyo
Blue nv
Options Co ve
Marking 17 sla
ET nt
FIN lia
PR
O mp
13 h co
t
S bo
IBU ave
OF /sl
2 PR a s ter
1 m
nk
-Li
CC
14 n
sio
4B an
exp ripher
CN al
uil R0
t-in
(co 10 I /O pe
sol nn 8 o m e r
en ect
t
s
cu en
t
oid or To uipm
val in clu
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et
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1A ss 22
dju
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om
TP 21
High
sto /O yc
ppe 1 0I are
db perf
orm
r R0 rep
ance
CN na
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/27
ig
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26 saf
et
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CF al
D ern
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(Co L co
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Ex
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ntr ntr
I/O ol o
un ller sh
con it) TP ion
nect 18 23 ns
or o ss Co xte
n ro rne ntro T Pe
CN
bot ha lle 24
2T 10
A
28 arm d er rp Con
ran I/O co rot n
sfe en ec cab ecto
or/ tio le (s r fo
r ji cab t n tan r pow
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Po pare
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lam to me
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rc
a
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we ed
Po epar sk Ligh ing
(Pr Pro t (s soft
(op tand wa
tio ard re
n) )
φ4×2.5
CN60A1
φ4×2.5 CNR010
Signal line inlet
4 axis specifications AWG23×3P
4 axis only
AIR1(φ6)
φ4×2.5 CN60A2 Exhaust (silencer) Air inlet
AIR2(φ6)
CN60B
76
Air outlet
(φ4 tube: 5 lines)
(to hand)
7
φ4×2.5
CN60A1
φ35 H7
CN10A
Port5
5-φ4×2.5
φ4×2.5 CNR010
Signal line inlet
φ61 H7 AWG23×3P
2-φ5 H7, depth 9
(P.C.D. 47 balanced)
CN60C
AWG23×3P
6 axis specifications φ4×2.5 CN60A2
CN60B
φ7
(wiring clamp hole)
3-φ4×2.5
5-φ4 10-AWG22
(tube clamp hole)
CN60C
AWG23×3P
8
EZ-SERIES
OPTIONS
No. Product name Specifications Parts No. Notes
② Transfer jig For both crane transport and inverted mount jig OP-S2-049
1 valve (4 and 6 axis specifications) OP-H4-009 Pressure range 0.1 to 0.5 MPa
④ Built-in solenoid valve
2 valves (4 axis specifications) OP-H5-011 Coil voltage rating 24 VDC
⑤ Wrist wiring clamp Wire/tube clamp for hollow in number 4 axis OP-W3-018 Air (φ4, 5 lines), signal lines (4-axis only)
⑦ Compact I/O board 8 point/8 point (relay output) Equipped on sequence board
⑪ DeviceNet (quick connect) Master 1CH + Slave 1CH CFD-OP129-C Occupies 1 slot
⑭ CC-Link Both master and slave supported 1CH CFD-OP98-B Occupies 1 slot
⑰ Conveyor tracking I/F RS422 Differential input encoder counter CFD-OP47-A Occupies 1 slot
Vision sensor unit for CFD (separate installation), cross laser CFD-OP139-A
Vision sensor unit for CFD (separate installation), monocular/stereo camera CFD-OP139-B
⑲ Vision sensor
Vision sensor unit for CFD (separate installation), 2 LED CFD-OP139-C
㉒ Mini TP Cable length 4m MINITP-10-04M Select one from 21, 22, or 23.
9
WING SLICER ROBOT
OPTIONS
5m CFDTP-RC05M User can choose either
㉔ TP extension cable
10m CFDTP-RC10M one connector on both ends.
2m E000E-J1-02-B
5m E000E-J1-05-B
15m E000E-J1-15-B
20m E000E-J1-20-B
2.5m IOCABLE-10-02M
5.5m IOCABLE-10-05M
CNR010 I/O harness
(loose wires for controller 10.5m IOCABLE-10-10M I/O cable between robot and controller.
㉖ connections on robot side) Controller side is open-ended. User needs to
15.5m IOCABLE-10-15M connect wires to match appropriate signals.
20.5m IOCABLE-10-20M
25.5m IOCABLE-10-25M
2.5m IOCABLE-40B-02M
5.5m IOCABLE-40B-05M
CNR010 I/O harness
10.5m IOCABLE-40B-10M I/O cable between the robot
Relay output supported
㉗ and sequence I/O board
(both terminals connected 15.5m IOCABLE-40B-15M (NPN type) in the controller.
to controller on robot side)
20.5m IOCABLE-40B-20M
25.5m IOCABLE-40B-25M
㉙ I/O connector on robot arm Connector only, connectors are soldered type IOCABLE-20-00
2.5m IOCABLE-30-1-02M
5.5m IOCABLE-30-1-05M
32-contact I/O harness
(connected to controller connector, 10.5m IOCABLE-30-1-10M Customer recommended to complete wiring
㉚ customer side is loose wires) on application side.
I/O expansion, 15.5m IOCABLE-30-1-15M Can be used with CFD-OP125-A or CFD-OP151-A.
1 board specifications
20.5m IOCABLE-30-1-20M
25.5m IOCABLE-30-1-25M
2.5m IOCABLE-30-2-02M
5.5m IOCABLE-30-2-05M
64-contact I/O harness
(connected to controller connector, 10.5m IOCABLE-30-2-10M Customer recommended to complete wiring on
㉛ customer side is loose wires) application side.
I/O expansion, 15.5m IOCABLE-30-2-15M Can be used with CFD-OP125-B or CFD-OP151-B.
2 board specifications
20.5m IOCABLE-30-2-20M
25.5m IOCABLE-30-2-25M
NACHI Europe GmbH org.sl. NACHI EUROPE GmbH NACHI EUROPE GmbH
Obchodni 132, Ataturk Mah. Mustafa Kemal Cad. Unit 3, 92 Kettles Wood Drive
Phone: +420 255 734-000 Phone: +90 (0)216 688-4457 Phone: +44 0121 423-5000
Fax: +420 255 734-001 Fax.: +90 (0)216 688-4458 Fax: +44 0121 421-7520
10
EZ-SERIES
Software for robot setting, programming ▶▶ Customizable teach pendant screen menu
OFFLINE SIMULATION TOOL – FD ON DESK LIGHT – STANDARD SUPPORT FOR VARIOUS FIELDBUS OPTIONAL
Application Examples
PICK-AND-PLACE LOAD & UNLOAD FROM / TO A NARROW ENTRANCE
11
TOKYO TOYAMA
Shiodome Sumitomo Bldg., 1-9-2 Higashi-shinbashi, Minato-ku Toko, JAPAN 1-1-1 Fujikoshi-Honmachi, Toyama, JAPAN
Phone: +81 3 5568-5240 | Fax: +81 3 5568-5236 Phone: +81 76 423-5111 | Fax: +81 76 493-5211
Web: www.nachi-fujikoshi.co.jp/