NB04/04L Specifications
| Robot model |
NB04 |
NB04L |
| Construction |
Articulated construction |
| Number of axes |
6 |
| Drive system |
AC servo system |
| Max. operating area |
Arm |
J1 |
Swivel |
+/-2.97rad(+/-0.87rad)*1 |
| J2 |
Forward/
backward |
-2.71 to 1.57rad |
-2.71 to 1.75rad |
| J3 |
Upward/
downward |
-2.97 to 3.14rad |
-2.97 to 3.32rad |
| Wrist |
J4 |
Rotation2 |
+/-2.71rad |
| J5 |
Bending |
-0.79 to 3.93rad |
| J6 |
Rotation1 |
+/-3.58rad |
| Max. speed |
Arm |
J1 |
Swivel |
3.66rad/s |
3.40rad/s
(3.05rad/s)*1 |
| J2 |
Forward/
backward |
3.66rad/s |
3.49rad/s |
| J3 |
Upward/
downward |
3.66rad/s |
3.49rad/s |
| Wrist |
J4 |
Rotation2 |
7.33rad/s |
| J5 |
Bending |
7.33rad/s |
| J6 |
Rotation1 |
10.5rad/s |
| Max. Payload |
Wrist |
4kg |
| Forearm |
10kg *2 |
20kg *2 |
Allowable static load
torque of wrist |
J4 |
Rotation2 |
10.1N·m |
| J5 |
Bending |
10.1N·m |
| J6 |
Rotation1 |
2.94N·m |
Max. allowable moment
of inertia of wrist
*4 |
J4 |
Rotation2 |
0.38kg·m2 |
| J5 |
Bending |
0.38kg·m2 |
| J6 |
Rotation1 |
0.03kg·m2 |
| Position repeat accuracy |
+/-0.08mm *3 |
| Ambient temperature |
0 to 45°C |
| Ambient humidity |
20 to 80%RH (Non condensing) |
| Vibration value |
Not more than 0.5G |
| Installation parameters |
Floor mounted, Ceiling mounted, Wall installation |
| Robot mass |
170kg |
280kg |
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
(*1) Values in (parenthesis) are for wall installations.
(*2) Maximum allowed loading capacity when end effector is used.
(*3) Value measured is for maximum load on upper arm for adequate repetitions of automatic operations in stable robot operating conditions.
(*4) Note that wrist moment of interia varies depending on wrist and conditions.
NV06/06L Specifications
| Robot model |
NV06 |
NV06L |
| Construction |
Articulated construction |
| Number of axes |
6 |
| Drive system |
AC servo system |
| Max. operating area |
Arm |
J1 |
Swivel |
+/-2.97rad(+/-0.87rad) *1 |
| J2 |
Forward/
backward |
-2.71 to 1.57rad |
-2.71 to 1.75rad *2 |
| J3 |
Upward/
downward |
-2.97 to 3.32rad |
-2.97 to 4.54rad *3 |
| Wrist |
J4 |
Rotation2 |
+/-3.14rad |
| J5 |
Bending |
-0.87 to 4.01rad |
| J6 |
Rotation1 |
+/-6.28rad |
| Max. speed |
Arm |
J1 |
Swivel |
3.66rad/s
(2.61rad/s)*1 |
3.40rad/s
(3.05rad/s)*1 |
| J2 |
Forward/
backward |
3.66rad/s |
3.49rad/s |
| J3 |
Upward/
downward |
3.66rad/s |
3.49rad/s |
| Wrist |
J4 |
Rotation2 |
7.33rad/s |
| J5 |
Bending |
7.33rad/s |
| J6 |
Rotation1 |
10.82rad/s |
| Max. Payload |
Wrist |
6kg |
| Forearm |
10kg *4 |
20kg *4 |
Allowable static load
torque of wrist |
J4 |
Rotation2 |
11.8N·m |
| J5 |
Bending |
9.8N·m |
| J6 |
Rotation1 |
5.9N·m |
Max. allowable moment
of inertia of wrist
*6 |
J4 |
Rotation2 |
0.30kg·m2 |
| J5 |
Bending |
0.25kg·m2 |
| J6 |
Rotation1 |
0.06kg·m2 |
| Position repeat accuracy |
+/-0.08mm*5 |
| Ambient temperature |
0 to 45°C |
| Ambient humidity |
20 to 80%RH (Non condensing) |
| Vibration value |
Not more than 0.5G |
| Installation parameters |
Floor mounted, Ceiling mounted, Wall installation |
| Robot mass |
160kg |
280kg |
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
(*1) Values in (parenthesis) are for wall installations.
(*2) Wall installation may limit range of motion of J2 axis.
(*3) For floor installation for welding, range of motion of J3 axis is limited to -2.97 rad to 3.58 rad.
(*4) Maximum allowed loading capacity when end effector is used.
(*5) Values messured is for maximum load on upper arm for adequate repetitions of automatic operations in stable robot operating conditions.
(*6) Note that wrist moment of interia varies depending on wrist and conditions.
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