The MZ04-MZ04E Handling Robot, ideal for material handling and other applications, it boasts ultra-fast speeds and internal cable routing for a clean setup.
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Smart cable routing in hollow wrist
Compact with a wide working envelope
Fastest operating speed in its class improves productivity
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Sophisticated and Smooth form
Its design prevents dust and dirt from accumulating and makes it easy to remove.
Smart Cable Routing
Cable and tubes can be routed through hollow wrist
Application Examples
 MZ04-MZ04E Handling Robot dimensions and Working envelope
The MZ04-MZ04E Handling Robot base dimensions diagram
Detail of wrist
(*1)Â The specifications are subject to changes without notice.
(*2)Â 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.
Basic specification of MZ04-MZ04E Handling Robot
| Robot Model | MZ04-01 (MZ04D-01) |
MZ04E-01Â *3 (MZ04DE-01) |
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|---|---|---|---|---|---|
| Number of Axis | 6 | ||||
| Drive System | AC Servo Drive | ||||
| Max. Speed [rad/s(°/s)] |
Arm | J1 | Swivel | 8.38 (480) | 3.49 (200) |
| J2 | Forward/Backward | 8.03 (460) | 2.62 (150) | ||
| J3 | Upward/Downward | 9.08 (520) | 3.32 (190) | ||
| Wrist | J4/J5 | Rotation 2/Bend | 9.77 (560) | ||
| J6 | Rotation 1 | 15.71 (900) | |||
| Max. Payload [kg] | 4 | ||||
| Allowable Static Loading Torque | J4/J5 | Rotation 2/Bend | 8.86 | ||
| J6 | Rotation 1 | 4.9 | |||
| Position Repeatability*2 | ±0.02mm | ||||
| Ambient Temperature [°C] | 0   45 |
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| Installation | Floor / Wall / Tilted / Invert mount | Floor / Invert mount | |||
| Robot Mass [kg] | 26Â *5 | 25Â *5 | |||
| Max. Reach [mm] | 541 | ||||
| Dust Proof, Drip Proof | IP40 equivalent *4 | ||||
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
(*2)Â JIS B 8432 compliant.
(*3)Â MZ04E/MZ04DE has 80W motor or smaller in all axis.
(*4)Â MZ04/MZ04E is IP40 equivalent, MZ04D/MZ04DE is IP67 (dust proof, drip proof).
(*5)Â Wall mount Bottom Connection Type +4Kg.
Bottom Connection Type +6kg.
Bottom Connection Type +6kg.
Specification of controller
| Controlled Axis | 6-Axes |
|---|---|
| Maximum Control Axis | 7-Axes |
| Program Number | 9,999 programs |
| Memory Capacity | 256MB (2,560,000 program steps equivalent) |
| Memory Device | USB Port |
| External Dimension | 369(W) x 490(D) x 173(H) |
| Weight | Approx. 17kg |
| Primary Power Supply | 3-Phase AC200-230V ±10% Single Phase AC200-230V ±10% |
| Consuming Power | 0.4KVA |
| Dust Proof, Drip Proof | IP20 |
| Ambient Temperature | 0 to 40°C |
| Ambient Humidity | 20 to 85% (Non-condensing) |
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