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Robot
Robot Catalog
NACHI-FUJIKOSHI CORP.
Head Office
Toyama Plant 1-1-1 Fujikoshi-Honmachi, Toyama 930-8511 Tel: 076-423-5111 Fax: 076-493-5211
Tokyo Head Office Shiodome Sumitomo Bldg. 17F, 1-9-2 Higashi-Shinbashi, Tel: 03-5568-5111 Fax: 03-5568-5206
Minato-ku, Tokyo 105-0021
URL : http://www.nachi-fujikoshi.co.jp/
E-mail : webmaster@nachi-fujikoshi.co.jp
Safety precautions
Before using the robots, review all documentation including operating instructions and other attached documents. Familiarize yourself with the contents in
order to ensure proper robot operation.
When a robot is to be used for an application where robot trouble or operating errors may directly threaten the life or cause physical harm to personnel, a
careful examination of its intended use is required. Contact a Nachi-Fujikoshi sales representative to provide details of the intended use.
Photos used in this document show the robots without safety fences, equipment, and devices that are required to comply with the applicable laws and
regulations for ensuring safety. These photos are only provided to illustrate what is being described.
The external appearances, specifications, etc. of the products portrayed in this catalog are subject to change without notice due to improvements in
performance.
CATALOG NO. R7001E-2
Printed in Japan 2008.07.V-MIZUNO
MC ST SC MR MV MA VS series
"Nimble" - performs actions with ease to create a smooth workflow.
Fast, Strong,
and
Accurate.
Handles heavy loads
SC series
Impressive size and mammoth strength allows for fast operations.
1 2
Presto ST166A
Presto ST166 Presto ST100
Camera
3 4
Applications
Seam Welding
Features of Robot-Mounted Seam Welding
Presto VS05E
●Residual Pressure Control Function
Prevents explosive discharges by monitoring the lateral pressure
Presto MV04
of pumps before gun activates to ensure proper pressure.
●Temperature Compensation
Compensates for bead width fluctuation caused by viscosity
changes incurred through material temperature variations.
5 6
SC300/400L
500/700
Robots for Handling Heavy Loads
These robots are the only ones in the world that can transport
Forte SC500
heavy loads, such as car bodies, previously done by specialized
machinery.
Forte SC700
Forte SC400L
7 8
Transferring large flat panel displays requires not only the ability to handle heavy objects,
but also the dexterity to quickly and gently carry delicate glass substrates.
The Artis series has the exceptional characteristics to meet these demands.
SH133C
166C/200C
Clean Robots with 6-Axis Vertical Articulation
Powerful wrist torque supports transfer of large glass
substrates up to the 9th generation. They can be used for
reverse operations and assembly that require a variety of
environments.
Artis SH200C
Artis SC400LC
Artis SJ120C
SC400LC SJ80C/120C
Clean Robot with 6-Axis Vertical Articulation Robots Designed for Transferring Glass Substrates
Unique robot can transfer multiple configurations of 10th Perfect for horizontal transfer of 5th generation (SJ25C) through 9th
generation glass substrates. generation (SJ120C) and other various-sized glass substrates.
SJ120C Demonstration
Loading a cassette
Substrate size: 2,500 x 2,200
SH200C Demonstration
Unloading glass substrate
from a canted pallet.
Substrate size: 2,500 x 2,200
9 10
AX Controller AX on Desk
●Easy operation using the touch panel Robot programming tool incorporated
●Programming using the software PLC into your office computer!
●Cooperative operation
using multiple robots
11 12
ST166-02 ST166T-02 ST200-02 ST200T-02 ST166-02A ST166T-02A ST200-02A ST200T-02A ST100 ST70L MV04 MV04L MV6 MV16 MR20 MC20 SC35F SC50F
Model
No. of Axes 6 6 7 6
J2 Back & Forth +1.40 ∼ −1.05rad +2.09 ∼ −1.13rad +1.40 ∼ −1.05rad +2.09 ∼ −1.13rad +1.40∼−1.05rad +2.09 ∼ −1.13rad +1.40∼−1.05rad +2.09 ∼ −1.13rad +2.09∼−1.05rad −2.70rad∼+1.57rad −2.70rad∼+1.74rad −2.71rad∼+1.57rad −2.71rad∼+1.75rad +2.09∼−0.96rad +2.53∼−1.05rad( +145∼−60°) +2.62∼−1.40rad
Arm
J7 Swivel 2 - - - - - ±3.14rad - -
Max.
Operating J3 Up & Down +2.62 ∼ −2.38rad +3.67 ∼ −1.85rad +2.62 ∼ −2.38rad +3.67 ∼ −1.85rad +2.62∼−2.38rad +3.67 ∼ −1.85rad +2.62∼−2.38rad +3.67 ∼ −1.85rad +1.57∼−2.18rad +1.57∼−2.04rad −2.97rad∼3.14rad −2.97rad∼3.31rad −2.97rad∼3.32rad −2.97rad∼3.58rad +2.35∼−2.89rad +4.22∼−2.84rad(+242∼−163°) +2.30∼−2.44rad
Area
J4 Rotation 2 ±6.28rad ±3.58rad ±6.28rad ±2.70rad ±3.14rad ±3.14rad ±3.14rad
( ±180°) ±4.71rad
Wrist J5 Bend ±2.36rad ±2.27rad ±2.09rad ±2.36rad −0.79rad∼3.93rad −0.87rad∼+4.01rad ±2.35rad ±2.42rad
( ±139°) ±2.18rad
J1 Swivel 1 1.75rad/s 1.75rad/s 1.57rad/s 2.62rad/s 2.97rad/s 2.62rad/s 2.88rad/s 2.96rad/s ( 170°/s)
2.96rad/s 2.79rad/s
J2 Back & Forth 1.57rad/s 1.57rad/s 1.57rad/s 2.79rad/s 2.97rad/s 2.79rad/s 2.88rad/s 2.96rad/s ( 170°/s)
2.96rad/s 2.79rad/s
Arm
J7 Swivel 2 - - - - - 2.96rad/s - -
Max. Velocity J3 Up & Down 1.66rad/s 1.66rad/s 1.57rad/s 2.97rad/s 3.05rad/s 2.97rad/s 3.05rad/s 2.96rad/s 2.96rad/s( 170°/s) 2.79rad/s
J4 Rotation 2 2.62rad/s 2.09rad/s 2.62rad/s 2.09rad/s 2.27rad/s 5.93rad/s 6.11rad/s 5.93rad/s 6.11rad/s 4.36rad/s 6.28rad/s( 360°/s) 3.93rad/s 3.14rad/s
Wrist J5 Bend 2.62rad/s 2.09rad/s 2.62rad/s 2.09rad/s 2.27rad/s 5.93rad/s 5.93rad/s 5.85rad/s 4.36rad/s 6.28rad/s( 360°/s) 3.93rad/s 3.14rad/s
J6 Rotation 1 3.67rad/s 3.32rad/s 3.67rad/s 3.32rad/s 3.14rad/s 9.08rad/s 5.23rad/s 10.5rad/s( 600°/s) 5.58rad/s 4.47rad/s
Wrist 166kg 200kg 166kg 200kg 100kg 70kg 4kg 6kg 16kg Max. 30 kg 35kg 50kg
Loading Weight Load Capacity Arm 1 Max. 90kg - Max. 25 kg 10kg 12kg 10kg 12kg - 20kg 30kg 15kg
J4 Rotation 2 951N・m 1,274N・m 951N・m 1,274N・m 818N・m 584N・m 10.1N・m 11.8N・m 36.3N・m 80.8N・m 49N・m 147N・m 196N・m
Wrist Torque J5 Bend 951N・m 1,274N・m 951N・m 1,274N・m 818N・m 584N・m 10.1N・m 9.8N・m 31.4N・m 80.8N・m 49N・m 147N・m 196N・m
J6 Rotation 1 490N・m 686N・m 490N・m 686N・m 411N・m 294N・m 2.94N・m 5.9N・m 15.7N・m 44.1N・m 23.5N・m 78N・m 98N・m
2 2 2 2 2 2 2 2 2 2 2
J4 Rotation 2 88.9kg・m 117.3kg・m 88.9kg・m 117.3kg・m 2
96.3kg・m 85.1kg・m 0.38kg・m 0.30kgm 0.90kgm 6.0kg・m 1.6kg・m 6.43kg・m 8kg・m2
Allowable Moment of 2
Inertia for Wrist J5 Bend 88.9kg・m2 117.3kg・m2 88.9kg・m2 117.3kg・m2 96.3kg・m2 85.1kg・m2 0.38kg・m 0.25kgm2 0.70kgm2 6.0kg・m2 1.6kg・m2 6.43kg・m2 8kg・m2
2 2 2 2 2 2 2 2 2 2 2
J6 Rotation 1 44.1kg・m 65.9kg・m 44.1kg・m 65.9kg・m 2
43.0kg・m 36.7kg・m 0.03kg・m 0.06kgm 0.20kgm 2.3kg・m 0.8kg・m 1.83kg・m 2kg・m2
Repeatability ±0.3mm ±0.3mm ±0.08mm ±0.10mm ±0.08mm ±0.10mm ±0.1mm ±0.06mm ±0.2mm ±0.3mm
Installation Floor Shelf Floor Shelf Floor Shelf Floor Shelf Floor Floor, Inverted, Wall Floor, Inverted Floor, Inverted Floor, Wall, Inverted
Environmental Compliance - - IP65 Compliant(dust and waterproof) IP65 Compliant(dust and waterproof) -
Body Weight 1,170kg 1,250kg 1,215kg 1,295kg 1,200kg 1,350kg 1,245kg 1,395kg 760kg 790kg 160kg 270kg 155kg 260kg 220kg 230kg 400kg
13 14
J6 Rotation 1 ±6.28rad ±0.17rad ±6.28rad ±6.28rad ±6.28rad ±6.28rad ±6.28rad Z Up & Down 1,050mm/sec 1,100mm/sec 1,450mm/sec
J1 Swivel 1 4.58rad/s 3.05rad/s 0.79rad/s 1.40rad/s 1.40rad/s 1.66rad/s 1.32rad/s 1.75rad/s 1.40rad/s X1 Back & Forth 1 Max. 90kg Max. 120kg
Load 80 kg Per Arm
Capacity (total 135kg)
Arm J2 Back & Forth 4.19rad/s 3.49rad/s 0.52rad/s 1.40rad/s 1.40rad/s 1.48rad/s 1.17rad/s 1.57rad/s 1.40rad/s X2 Back & Forth 2 Max. 120kg -
J3 Up & Down 5.24rad/s 3.49rad/s 0.52rad/s 1.40rad/s 1.40rad/s 1.48rad/s 1.25rad/s 1.66rad/s 1.40rad/s X1 Back & Forth 1 720N・m 780N・m 410N・m
Max. Velocity Allowable
Moment
J4 Rotation 2 5.24rad/s 0.52rad/s 1.57rad/s 1.57rad/s 1.92rad/s 1.56rad/s 3.40rad/s 2.27rad/s 1.57rad/s X2 Back & Forth 2 780N・m - 410N・m
Wrist J5 Bend 5.24rad/s 0.87rad/s 1.57rad/s 1.57rad/s 1.92rad/s 1.56rad/s 3.49rad/s 2.27rad/s 1.57rad/s Allowable X1 Back & Forth 1 135kg・m2 165kg・m2 100kg・m2
Momen
J6 Rotation 1 8.37rad/s 0.52rad/s 2.53rad/s 2.53rad/s 3.14rad/s 2.49rad/s 4.54rad/s 3.14rad/s 2.53rad/s of Inertia X2 Back & Forth 2 165kg・m2 - 100kg・m2
Wrist 5kg 700kg 500kg 400kg 300kg 150kg 133kg 166kg 400kg Repeatability ±0.3mm
Loading Weight Load Capacity Arm 1 - - 30kg 10kg 20kg 70kg 25kg 10kg Ambient Temperature 0∼35°C
J4 Rotation 2 11.9N・m 13,800N・m 1,960N・m 1,960N・m 1,666N・m 1,274N・m 745N・m 951N・m 1,960N・m Body Weight 1,880kg 1,680kg 1,175kg 1,200kg
Wrist Torque J5 Bend 11.9N・m 3,920N・m 1,960N・m 1,960N・m 1,666N・m 1,274N・m 745N・m 951N・m 1,960N・m Clean Rating Class 10
J6 Rotation 1 3.9N・m 2,940N・m 980N・m 980N・m 686N・m 686N・m 441N・m 490N・m 980N・m
J4 Rotation 2 0.295kgm2 3,000kg・m2 200kg・m2 200kg・m2 96.3kg・m2 117.3kg・m2 60.9kg・m2 88.9kg・m2 200kg・m2
Allowable Moment of
J5 Bend 0.295kgm2 1,800kg・m2 200kg・m2 200kg・m2 96.3kg・m2 117.3kg・m2 60.9kg・m2 88.9kg・m2 200kg・m2
Inertia for Wrist
J6 Rotation 1 0.045kgm2 1,000kg・m2 147kg・m2 147kg・m2 16.3kg・m2 65.9kg・m2 30.2kg・m2 44.1kg・m2 147kg・m2
X, Y, Z X, Y, Z
Repeatability All Directions: All Directions: ±0.5mm ±0.5mm ±0.5mm ±0.5mm ±0.3mm ±0.5mm
±0.02mm ±0.03mm
Environmental Compliance - -
Body
Weight Approx. 28kg Approx. 29kg 7,000kg
3,000kg 3,800kg 1,800kg 1,345kg
1,300kg 3,800kg
15 16
The centralized robot monitoring system offers monitoring of multiple robots connected by a network. The system supports preventative
maintenance by collecting statistical data, operation history, and maintenance support data to keep the robots operating smoothly. Nachi Canada Inc.
Nachi U.K. Branch
Nachi America Inc.
Nachi Europe GmbH (South Germany Office) Nachi Robotic Systems Inc.
NACHI Service Nachi-Fujikoshi Corp.
Center Robot operation status monitor Toyama Head Office/Main Plant
PC at customer site PC at Robot Service Site Korea
Remote failure
analysis Nachi-Fujikoshi Corp.
Customer site NACHI Tokyo Head Office
Shanghai
The internet Service Center
PC #1 Nachi Mexicana, S. A. DE C. V.
System Products Peripheral Devices for the Robot Offline Program System
Nachi’s system engineering team puts its Nachi provides proven highly-reliable Robot operations can be simulated before Head Office
wealth of experience to work for you, robot application devices. installation to check performance. Toyama Plant 1-1-1 Fujikoshi-Honmachi, Toyama 930-8511 Tel: 076-423-5111 Fax: 076-493-5211
providing system solutions that are easy to Creating an operation program Tokyo Head Office Shiodome Sumitomo Bldg. 17F, 1-9-2 Higashi-Shinbashi, Tel: 03-5568-5111 Fax: 03-5568-5206
use along with high-cost performance. beforehand allows the robot to be directly Minato-ku, Tokyo 105-0021
installed in the assembly line. URL : http://www.nachi-fujikoshi.co.jp/ E-mail : webmaster@nachi-fujikoshi.co.jp
Post-Installation Service
Overseas Subsidiaries
AMERICA NACHI MEXICANA, S.A. DE C.V. FUJIKOSHI-NACHI (MALAYSIA) SDN. BHD.
From Setup Through Startup The Right Parts When You Need Them Overhauls Urbina No.54, Parque Industrial Naucalpan, No.17, Jalan USJ 21/3, 47630 UEP Subang Jaya,
Nachi’s skilled technicians provide support Nachi’s nine service locations in Japan Nachi provides a selection of services NACHI AMERICA INC. HEADQUARTERS Naucalpan de Juarez, Selangor Darul Ehsan, MALAYSIA
during the installation process, from setup stocks important maintenance parts. All suited to the conditions of your robot and 17500 Twenty-Three Mile Road, Macomb, Estado de Mexico C.P. 53370, MEXICO Tel: +60-(0)3-80247900
to connection, teaching, movement, and Nachi service locations are linked via a performs overhauls to ensure that your Michigan, 48044, U.S.A. Tel: +52-55-3604-0832/0842/0081 Fax: +60-(0)3-80235884
Tel: +1-586-226-5151 Fax: +52-55-3604-0882
supervision, until the line is fully operational. network to quickly deliver required parts. robot is always in the best condition. Nachi
Fax: +1-888-383-8665 PT.NACHI INDONESIA
can also provide temporary replacement URL: http://www.nachiamerica.com/
Quick Response To Emergency Calls Periodic Inspections robots to keep your line operating during
EUROPE JI.H.R.Rasuna Said Kav.X-O Kuningan,
Jakarta 12950, INDONESIA
Nachi’s specialized technicians are As a trusted and reliable partner, Nachi repairs. INDIANA BRANCH NACHI EUROPE GmbH Tel: +62-021-527-2841
“on-call” to immediately respond to performs periodic inspections to extend 715 Pushville Road, Greenwood, Indiana, Bischofstrasse 99, 47809, Krefeld, GERMANY Fax: +62-021-527-3029
46143, U.S.A. Tel: +49-(0)2151-65046-0
customer emergencies. the life of your robot.
Tel: +1-317-535-5527 Fax: +49-(0)2151-65046-90
Fax: +1-317-535-3659 URL: http://www.nachi.de/ NACHI (SHANGHAI) CO., LTD.
Reliable Support From Remote Locations
Yitong Industry Zone 258, Fengmao Rd. Malu
Robots can be operated remotely when WEST COAST BRANCH U.K. BRANCH Town,Jiading, Shanghai 201801, CHINA
placed online, allowing specialized service 12652 E. AIondra Blvd. Cerritos, California, Unit 7, Junction Six Industrial Estate, Tel: +86-(0)21-6915-2200
professionals to provide accurate support 90703, U.S.A. Electric Avenue, Birmingham B6 7JJ, U.K. Fax: +86-(0)21-6915-5427
Tel: +1-562-802-0055 Tel: +44-(0)121-250-1890
to worldwide locations.
Fax: +1-562-802-2455 Fax: +44-(0)121-250-1899 NACHI-FUJIKOSHI CORP.
TAIPEI REPRESENTATIVE OFFICE
MIAMI BRANCH-LATIN AMERICA DIV. SPAIN BRANCH 3F No.276, Sec3, Chung Ching N. Road,
Teaching 2315 N.W. 107th Ave., Doral, Florida, Av. Alberto Alcocer 28, 1-A, 28036, Madrid, Taipei, TAIWAN
Overhauls Offline Programming 33172, U.S.A. SPAIN Tel: +886-(0)2-2596-0118
Tel: +1-305-591-0054/0059/2604 Tel: +34-(0)91-302-6440 Fax: +886-(0)2-2596-5346
Training Fax: +1-305-591-3110 Fax: +34-(0)91-383-9486
NACHI-FUJIKOSHI CORP.
ATLANTA OFFICE CZECH BRANCH KOREA REPRESENTATIVE OFFICE
Robot Training Course Six Concourse Parkway, Suite 2995 Atlanta, Mostni 73, kolin 4, 28002, CZECH 2F Dongsan Bldg. 276-4, Sungsu 2GA-3DONG
Nachi provides a curriculum to train operators about robot operations, daily inspections, GA 30328, U.S.A. Tel: +420-321-710-200 Sungdong-Ku. Seoul 133-831, KOREA
Tel: +1-770-393-0270 Fax: +420-321-710-200 Tel: +82-(0)2-469-2254
basic maintenance, and safety regulations.
Fax: +1-770-393-0271 Fax: +82-(0)2-469-2264
ASIA and OCEANIA
NACHI ROBOTIC SYSTEMS INC. NACHI (AUSTRALIA) PTY. LTD.
22285 Roethel Drive, Novi, Michigan,
NACHI-FUJIKOSHI CORP.
THAILAND REPRESENTATIVE OFFICE Unit 1, 23-29 South Street, Rydalmere, N.S.W,
48375,U.S.A. 2116, AUSTRALIA
Chai-ho Wongwaiwat Bldg. 889 Srinakarin
Tel: +1-248-305-6545 Tel: +61-(0)2-9898-1511
Road, Samutprakarn, 10270, THAILAND
Fax: +1-248-305-6542 Fax: +61-(0)2-9898-1678
Tel: +66-2-748-7322~4
URL: http://www.nachirobotics.com/ URL: http://www.nachi.com.au/
Fax: +66-2-748-7325
NACHI CANADA INC. NACHI-FUJIKOSHI CORP.
89 Courtland Ave., Unit No.2, Concord,
NACHI SINGAPORE PTE. LTD.
No.2 Joo Koon Way, Jurong Town, INDIA REPRESENTATIVE OFFICE
Ontario, L4K 3T4, CANADA A/9A, Sector-16, Noida-201301, Distt. Gautam
Singapore 628943, SINGAPORE
Tel: +1-905-660-0088 Budh Nagar, U.P. INDIA
Tel: +65-65587393
Fax: +1-905-660-1146 Tel: +91-120-4272257
Fax: +65-65587371
URL: http://www.nachicanada.com/ Fax. +91-120-4272256
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