Nachi ES06-01-CFD User manual

Standard specifications
ES06-01-CFD
ES12-01-CFD
1st edition
1512, SESEN-087-001,001

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. Option specifications ................................................................................................ 17
8. Application wires and tubes diagram........................................................................ 20
9. Transport procedure................................................................................................. 22
10. Delivery style (specification which contains a robot) .............................................. 25
11. Consuming power (Robot + Controller) .................................................................. 25
12. Paint color (Robot + Controller).............................................................................. 25
13. Warranty................................................................................................................. 25

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. Hollow wrist enables easier rooting of wires from robot
body to the tool. This can reduce customer’s work for connection greatly.
We provide full line-up of robot which has different forward/backward and up/down stroke.
Please refer to Standard specification of CFD controller (SCFEN-010) for the detail of
controller and electric options.
Robot specification
Specification
Payload Reach up/down
stroke
Robot type
200mm ES06-3520-01
350mm 340mm ES06-3534-01
200mm ES06-4520-01
450mm 340mm ES06-4534-01
200mm ES06-5520-01
6kg
550mm 340mm ES06-5534-01
350mm ES12-5535-01
550mm 450mm ES12-5545-01
350mm ES12-7035-01
700mm 450mm ES12-7045-01
350mm ES12-8535-01
12kg
850mm 450mm ES12-8545-01
Controller specification
Type Specification ES06 ES12
Body CFD-0000 Refer to controller spec. sheet ○ ○
S101C-J1-02-A 2m
S101C-J1-05-A 5m
S101C-J1-10-A 10m
S101C-J1-15-A 15m
Motor encoder
harness
S101C-J1-20-A 20m
○ ○
IOCABLE-70-02M 2m
IOCABLE-70-05M 5m
IOCABLE-70-10M 10m
IOCABLE-70-15M 15m
Application
cable
IOCABLE-70-20M 20m
○ ○

Page-2
2. Basic specifications
2.1 ES06-01 basic specification
Item Specifications
Robot model ES06
-3520-01
ES06
-3534-01
ES06
-4520-01
ES06
-4534-01
ES06
-5520-01
ES06
-5534-01
Construction Horizontally Articulated
Number of axis 4
Drive system AC servo motor
Brake Axis 1, 2 and 4 ; without brake Axis 3 ; with brake
Axis 1 ±2.97 rad （±170 °）
Axis 2 ±2.53 rad （±145 °）
Axis 3 200 mm 340 mm 200 mm 340 mm 200 mm 340 mm
Max. working envelope
Axis 4 ±6.28 rad （±360 °）
Axis 1 6.98 rad/s （400 °/s）
Axis 2 11.69 rad/s （670 °/s）
Axis 3 2400 mm/s
Max. speed *4
Axis 4 43.63 rad/s （2500 °/s）
Rated pay load (maximum) 3 kg ( 6 kg )
Maximum pushing down force of axis 3 *7 165 N
Allowable moment of inertia *1 0.12 kg･m2 (rated 0.01 kg・m2 )
X-Y plane ±0.012 mm
J3 (Z) ±0.01 mm
Position repeatability
J4 (θ) ±0.004 °
Longest reach 350 mm 450 mm 550 mm
Air tubes Primary ：φ6×2 Secondary ：φ4×8 *5
Application signals
Gripper 8 input / 8 output (20 core)
Specified wires for multi purpose gripper (2core + power 2core)
Ethernet cable ×1 <100BASE-TX> (8core) *6
Installation Floor mounting
Ambient conditions
Temperature: 0 to 40 ºC *2
Humidity: 45 to 85%RH (No dew condensation allowed)
Vibration to the installation face: Not more than 0.5G (4.9 m/s
2
)
Environmental performance *3 IP20
Robot mass 36 kg 37 kg
1[rad] = 180/π[°], 1[N･m] = 1/9.8[kgf･m]
- On controller display, axis 1 to 4 is displayed as J1 to J4 for each.
- The specification and externals described in this specification might change without a previous notice for the improvement.
- The explosion proof specification is not available.
*1: The Allowable moment of inertia of a wrist changes with load conditions of a wrist. *2: Permitted height is not higher than
1,000m above sea level. If used in higher place, permitted temperature is affected by height. *3: Liquid such as organic
compound, acidity, alkalinity, chlorine or gasoline cutting fluid which deteriorates the seal material are not available to use. *4:
The "Max. speed" in this table is the available maximum value and will change depending on the work-program and the wrist
load condition. *5: Secondary tube φ4 is a set of solenoid valve option. *6: LAN cable (8core) can be used for auxiliary
wires. *7: This is a maximum pushing down force at tool top point when maximum payload is mounted and axis 1, 2 and 4
does not move. Please use robot under specified limit. In case that continuous pushing down force is applied, overload error
may occur. Please use robot under the condition of which no overload error occurs.

Page-3
2.2 ES12-01 basic specification
Item Specifications
Robot model ES12
-5535-01
ES12
-5545-01
ES12
-7035-01
ES12
-7045-01
ES12
-8535-01
ES12
-8545-01
Construction Horizontally Articulated
Number of axis 4
Drive system AC servo motor
Brake Axis 1, 2 and 4 ; without brake Axis 3 ; with brake
Axis 1 ±2.97 rad （±170 °）
Axis 2 ±2.53 rad （±145 °）±2.67 rad （±153 °）
Axis 3 350 mm 450 mm 350 mm 450 mm 350 mm 450 mm
Max. working envelope
Axis 4 ±6.28 rad （±360 °）
Axis 1 7.33 rad/s （420 °/s）4.89 rad/s （280 °/s）
Axis 2 7.85 rad/s （450 °/s）
Axis 3 2800 mm/s
Max. speed *4
Axis 4 41.89 rad/s （2400 °/s）
Rated pay load (maximum) 3 kg ( 12 kg )
Maximum pushing down force of axis 3 *7 200 N
Allowable moment of inertia *1 0.3 kg･m2 (rated 0.025 kg・m2 )
X-Y plane ±0.012 mm ±0.015 mm
J3 (Z) ±0.01 mm
Position repeatability
J4 (θ) ±0.005 °
Longest reach 550 mm 700 mm 850 mm
Air tubes Primary ：φ6×2 Secondary ：φ4×8 *5
Application signals
Gripper 8 input / 8 output (20 core)
Specified wires for multi purpose gripper (2core + power 2core)
Ethernet cable ×1 <100BASE-TX> (8core) *6
Installation Floor mounting
Ambient conditions
Temperature: 0 to 40 ºC *2
Humidity: 45 to 85%RH (No dew condensation allowed)
Vibration to the installation face: Not more than 0.5G (4.9 m/s
2
)
Environmental performance *3 IP20
Robot mass 65 kg 67 kg 69 kg
1[rad] = 180/π[°], 1[N･m] = 1/9.8[kgf･m]
- On controller display, axis 1 to 4 is displayed as J1 to J4 for each.
- The specification and externals described in this specification might change without a previous notice for the improvement.
- The explosion proof specification is not available.
*1: The Allowable moment of inertia of a wrist changes with load conditions of a wrist. *2: Permitted height is not higher than
1,000m above sea level. If used in higher place, permitted temperature is affected by height. *3: Liquid such as organic
compound, acidity, alkalinity, chlorine or gasoline cutting fluid which deteriorates the seal material are not available to use. *4:
The "Max. speed" in this table is the available maximum value and will change depending on the work-program and the wrist
load condition. *5: Secondary tube φ4 is a set of solenoid valve option. *6: LAN cable (8core) can be used for auxiliary
wires. *7: This is a maximum pushing down force at tool top point when maximum payload is mounted and axis 1, 2 and 4
does not move. Please use robot under specified limit. In case that continuous pushing down force is applied, overload error
may occur. Please use robot under the condition of which no overload error occurs.

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-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-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-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-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-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.

Page-10
4. Detail of load mounting plate
To mount end effecter, please refer to drawing below.
CAUTION
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.
【ES06-01】【ES12-01】
Penetrated
hole
Penetrated
hole
Cross section view Z-Z Cross section view Z-Z

Page-11
5. Installation procedure
DANGER
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
arm.
WARNING
To install the robot, it is important to position the robot so that no workers will get
pinched by the robot inside or around a device to use the robot. The robot must not come
into contact with any peripheral equipment when operating in the maximum operating
range with a tool mounted on it.
WARNING
Be sure to install the robot according to the specified procedure. Otherwise it will cause
the robot to move or topple over while in operation, thus inducing an imminent hazardous
situation.
WARNING
To make wire connections between the robot and the controller or the peripheral equipment,
fully understand the connection procedure for proper wire connections. Making wire
connections according to improper procedure will cause the robot to malfunction.
WARNING
Be sure to establish a proper ground for the robot. If equipment such as a welder that
causes substantial noises is needed to use, establish the specified ground for the
equipment.
WARNING
During transport or installation of the robot, pay utmost care not to cause damage to
wirings. Furthermore, after installing the robot, take protective measures such as using
protective guards so that the wirings will not be damaged by workers or other persons, or
forklift trucks or else.
IMPORTANT
Robot is not dust-tight packaged.
If robot is used in clean room, abrasive or fine particles shall be removed before carrying
it in clean room. It is recommended that robot should be cleaned by swabbing with
isopropyl alcohol (IPA). Use of other solvents or pure water could contribute rust or peel
of coating materials.
IMPORTANT
It is to be noted that cleanliness of robot is worse if it has operated in poor conditions for
a long time or if it has been left as it was.
■ Installation location and ambient conditions
Conditions (temperature, humidity, height and vibration) are written in “2. Basic Specifications”.
Further ambient conditions listed below must be observed.
(1) Location with the drainage structure so that swivel base is not flooded, when the liquid such
as water or cutting fluid is splashed on the robot body
(2) Location with no flammable or corrosive fluid or gas.
(3) Type D grounding (the grounding resistance is 100Ωor less) is necessary.

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.
3) Prepare sufficient high rigidity basement in order that no transformation and vibration occur
on it by robot moving force and by static force from robot and peripheral equipment.
4) After installation finished, do not forget to dismount fixing plate, standing plate, hanging
fixture and or so.
CAUTION
When installing robot, please do not forget to secure the enough space around the robot
(cable accessing space behind robot, battery replacement space in front of robot).
Do not install robot under direct sunshine or under direct lightening heat. Temperature
inside robot body is raised and heat error may occur.
Flat washer
Spring washer
4-M8x40 (RH-3FH/6FH series)
4-M12x45 (RH-12FH/20FH series)
(4 locations)

Page-13
■ Installation space
To install the robot, lock the base of the robot.
【ES06-01】
【ES12-01】
Installation face
Installation face
φ8 hole for positioning pin
Installation
hole
Installation face
hole
Installation face
φ8 hole for positioning pin
Installation
hole
hole

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. Rough surface may
cause the position deviation trouble because robot can not contact base plate sufficiently.
■ Maximum robot generative force
While robot moves, large reaction force is applied to the installation base from all directions.
Consequently, foundation must be considered sufficient stiffness and rigidity. Please refer to the
following values to determine the foundation.
Dimension Value
ES06-01 series
Tambling moment：ML N･m 1,640
Twisting moment：MT N･m 710
Horizontal generative force：FH N 1,653
Vertical generative force：Fv N 2,318
ES12-01 series
Tambling moment：MLN･m 3,190
Twisting moment：MTN･m 1,840
Horizontal generative force：FHN 2,240
Vertical generative force：FvN 2,500

Page-15
6. Allowable wrist load
CAUTION
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. Basic specifications” and following figures for the detail of each
specification.
■ Torque map
Use the robot under condition that COG of wrist load falls on the range of following figure.
[Caution] Wrist load is greatly affected by robot speed and pose. If its weight is within the
permitted limit, vibration on arm or overload / over current error may occur. In that
case, slow down the robot speed or try to adjust acceleration (D1 to 3).
Also is tool constant was not set correctly, similar phenomenon may occur.
[Caution] Overhang amount such as moment and inertia written here is a dynamic limitation
which is determined by motor and reduction gear specification. Guaranteed
repeatability is at the center of mechanical interface surface. If long and low rigidity
tool is mounted and working point is far from the center, positioning repeatability
becomes worse or vibration on arm occur.
Allowable offset distance (Z direction) from bottom edge of shaft to tool COG is
100mm.
[Caution] Although tool is within the permitted limit, overload error may occur if robot
continuously moves to upward in extremely slow speed. In such case, robot speed
needs to be modified much faster.
[Caution] Acceleration is automatically limited if tool COG becomes further from shaft center.
Allowable offset distance from shaft center to tool COG is
ES06 : 200mm or shorter ES12 240mm or shorter.
ES06-01 series ES12-01 series
Rated moment of inertia
Shaft center Shaft center
Maximum moment of inertia
Rated moment of inertia
Maximum moment of inertia

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.
Inertia moment around each axis
zmmZ IYXmI ++⋅= )( 22
・
xmmX IZYmI ++⋅= )( 22
・
ymmY IZXmI ++⋅= )( 22
・
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
Iz: Inertia moment around Z axis passing through the tool COG
m: Load mass
(Xm, Ym, Zm): OCG of load
Edge of shaft

Page-17
7. Option specifications
Robot model
№ Name Parts No. Specifications
ES06-01 ES12-01
OP-S5-029
Attachment work needs to be done by customer
○
1 Axis1 changing operation
range OP-S5-030
Attachment work needs to be done by customer
○
OP-H4-010 Sink type 1 valve ○
OP-H4-011 Sink type 2 valves ○
OP-H4-012 Sink type 3 valves ○
OP-H4-013 Sink type 4 valves ○
OP-H5-012 Source type 1 valve ○
OP-H5-013 Source type 2 valves ○
OP-H5-014 Source type 3 valves ○
OP-H5-015 Source type 4 valves ○
OP-H6-006 Sink type 1 valve ○
OP-H6-007 Sink type 2 valves ○
OP-H6-008 Sink type 3 valves ○
OP-H6-009 Sink type 4 valves ○
OP-H7-002 Source type 1 valve ○
OP-H7-003 Source type 2 valves ○
OP-H7-004 Source type 3 valves ○
2 Solenoid valve set
OP-H7-005 Source type 4 valves ○
3 Gripper output cable OP-F10-015
With robot connector (other side is not manufactured)
○ ○
OP-F10-013
With robot connector (other side is not manufactured)
○
4 Gripper input cable OP-F10-014
With robot connector (other side is not manufactured)
○
OP-H1-019 For 4 valves φ4×8 ○
5 Gripper curl tube OP-H1-020 For 4 valves φ6×8 ○
OP-H2-003 For 4 valves φ4×8 ○
6 External wires and tubes box OP-H2-004 For 4 valves φ6×8 ○
OP-H1-021 8 input / 2 power / φ4-8 / for 200mmSt. ○
OP-H1-022 8 input / 2 power / φ4-8 / for 340mmSt. ○
OP-H1-023 8 input / 2 power / φ6-4 / for 350mmSt. ○
7 Internal wires and tubes set
For gripper
OP-H1-024 8 input / 2 power / φ6-4 / for 450mmSt. ○
8 Zeroing pin OP-T2-095 To adjust zero position (reference position) ○ ○

Page-18
<ES06-01 option specification>
ES06 series
Refer to “2.Basic specifications” for detail.
CR751 ｺﾝﾄﾛｰﾗ用
Gripper
(
prepared by customer)
・OP-S5-029
Axis1 changing operation range
[Notes]
Standard Option
Prepared by
customer
・OP-H1-021(200mm stroke)
・OP-H1-022(340mm stroke)
Internal wires and tubes set for gripper
・OP-H2-003
External wires and tubes box
This option
Solenoid valve set
With gripper output cables
・OP-F10-015(4 valves)
Gripper output cable
・OP-F10-013
Gripper input cable
・OP-H1-019
Gripper curl tube
This option
・OP-H4-0** (Sink type)
(**：10～13=1～4 valves)
・OP-H5-0** (Source type)
(**：12～15=1～4 valves)