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MC palletizing series MC470P

Heavy loader palletizing robot

Robot specifications

Item Specications
Robot model MC470P-01
Structure Articulated construction
No. of axes 6
Drive system AC servo system
Max.
working
envelope		 Arm J1 Swivel ±3.14rad (±180°)
J2 Horizontal -1.75 to +0.70rad (-100° to +40°)
J3 Vertical -3.14 to +0.61rad
(-180° to +35°)
Wrist J4 Rotation 2 ±6.28rad *5
(±360°)
J5 Bend ±2.18rad *5
(±125°)
J6 Rotation 1 ±6.28rad (±360°)
Max.
speed		 Arm J1 Swivel 1.83rad/s (105°/s)
J2 Horizontal 1.66rad/s
(95°/s)
J3 Vertical 1.66rad/s (95°/s)
Wrist J4 Rotation 2 1.92rad/s
(110°/s)
J5 Bend 1.92rad/s
(110°/s)
J6 Rotation 1 3.14rad/s
(180°/s)
Payload Wrist 470kg
Forearm *1 Max. 30kg
Allowable
static load
torque		 J4 Rotation 2 2750N·m
J5 Bend 2750N·m
J6 Rotation 1 0N·m
Max.
allowable
moment of
inertia *2		 J4 Rotation 2 400kg·m2
J5 Bend 400kg·m2
J6 Rotation 1 250kg·m2
Max. reach 2,771mm
Position repeatability *3 ±0.09mm
Ambient temperature 0 to 45°C
Ambient humidity 20 to 85% RH (without condensation)
Vibration 0.5G or less
Installation Floor mount
Weight 1,620kg

1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]

  (*1) Load specication of number 1 arm varies according to wrist load conditions and installation position.
  (*2) Note that the allowable moment of inertia of wrist varies with the wrist load conditions.
  (*3) JIS B 8432 compliant.
  (*4) Permitted height is not higher than 1,000m above sea level. If used in higher place, permitted temperature is affected by height.
  (*5) Software limits the downward vertical range of axis 5 to ±5°.
Axis 4 can move ±360° and axis 5 can move ±125° only when the encoder correction screen or the software limit settings screen is open.
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