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Chapter 2 NB04L-02 Basic Specifications

2.1 Specifications of NB04L-02 Manipulator

2.1.1 Basic Specifications

Table 2.1.1 NB04L-02 manipulator basic specifications

Item Specifications

Name NB04L-02

Structure Vertical articulated type

Number of axes 6

Max. payload capacity 4 kg

Positional repeatability

+/- 0.08 mm (Note 1)

Drive system AC Servo motor

Drive capacity 4650W

Position feedback Absolute encoder

Axis J1 (Revolving)

+/- 170° (+/-50°) (Note 2)

Axis J2 (Lower arm) -155°~ +100° (Note 5)

Arm

Axis J3 (Upper arm) -170°~ +190°

Axis J4 (Swing)

+/- 155°

Axis J5 (Bending) -45°~ +225°(Note 4)

Working

range

Wrist

Axis J6 (Twist)

+/- 205° (Note 4)

Axis J1 (Revolving) 3.40 rad/s {195°/s} (3.05rad/s{175°/s})(Notes 2)

Axis J2 (Lower arm) 3.49 rad/s {200°/s}

Arm

Axis J3 (Upper arm) 3.49 rad/s {200°/s}

Axis J4 (Swing) 7.33 rad/s {420°/s}

Axis J5 (Bending) 7.33 rad/s {420°/s}

Max. velocity

Wrist

Axis J6 (Twist) 10.5 rad/s {600°/s}

Axis J4 (Swing) 10.1 N*m

Axis J5 (Bending) 10.1 N*m

Allowable

Moment

Axis J6 (Twist) 2.94 N*m

Axis J4 (Swing) 0.38 kg*m

Axis J5 (Bending) 0.38 kg *m

Wrist load

Allowable

moment of

inertia

Axis J6 (Twist) 0.03 kg *m

Arm operation cross-sectional area 6.37 m

x 340°

Ambient conditions 0 ~ 45℃, 20 ~ 80 %RH (No condensation)

Mass (weight) 277 kg

Upper arm payload capacity 20 kg (Note 3)

Installation type Floor, ceiling or wall hanging type

Paint color White (Munsell 10GY9/1)

Note) 1. The value of the positional repeatability is at the tool center point (TCP) compliant to ISO 9283.

2. The value in the parentheses indicates the wall-hung condition.

3. When loading the Max. payload capacity as the end effector. For details, refer to section 2.1.7.

4. There are occasions where restrictions can be made to the operation range of the J6 axis,

depending on the J5 axis’s posture.

There are occasions where restrictions can be made to the operation range of the J2 axis.

1. The value of the positional repeatability is at the tool center point (TCP) compliant to ISO 9283.

2. The positional data of absolute encoder is backed up by the battery. The battery backup period with the primary power

OFF is approx. 3 years.

Exceeding this period will require the battery replacement and the absolute offset adjustments.

3. The battery backup period may be shorter depending on the environmental conditions, the use conditions and so on.

4. A holding brake is provided in all axes.

5. The robot itself or peripheral jigs can be cause of interference according to their postures. Please be careful about

any interference when you teach the robot.

6. The above specifications are subject to change without notice.

IMPORTANT

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