Motion range per axis arc = published range J1 -170° / 170° 195°/s J2 -155° / 100° 200°/s J3 -170° / 190° 200°/s J4 -155° / 155° 420°/s J5 -45° / 225° 420°/s J6 410° 600°/s Quick answers
What is the payload of the Nachi NB04L? 4 kg, per NB04L (nachirobotics.com).
What is the reach of the Nachi NB04L? 2008 mm, per NB04L (nachirobotics.com).
What is the repeatability of the Nachi NB04L? ±0.08 mm, per NB04L (nachirobotics.com).
How many axes does the Nachi NB04L have? 6, per NB04L (nachirobotics.com).
How much does the Nachi NB04L weigh? 277 kg, per NB04L (nachirobotics.com). Study notes The specification table lists the manipulator name as NB04L-02. Structure is vertical articulated type with 6 axes: J1 revolving, J2 lower arm, J3 upper arm, J4 swing, J5 bending, J6 twist. Drive system is AC servo motors with absolute encoder position feedback; drive capacity is 4650 W. Upper arm payload capacity is 20 kg, specified for when the maximum payload is loaded as the end effector. Wrist allowable moment listed as J4 10.1 N*m, J5 11.0 N*m; 2.94 N*m is listed against J6. Allowable moment of inertia listed as J4 0.38 kg*m2, J5 0.38 kg*m2, J6 0.03 kg*m2. Positional repeatability is measured at the TCP in accordance with ISO 9283. Wall-hung condition values in parentheses: J1 range ±50° and J1 speed 3.05 rad/s (175°/s). Arm operation cross-sectional area is 6.37 m2 x 340°. Ambient conditions are 0 to 45 °C and 20 to 80 %RH with no condensation. Paint colour is white (Munsell 10GY9/1). Application is arc welding; installation types are floor, wall mount and invert/ceiling mount. Safety The document states advanced collision detection is provided. Operating limits: ambient temperature 0 to 45 °C, humidity 20 to 80 %RH, no condensation. J6 operation range may be restricted depending on the J5 axis posture. J2 operation range may be restricted. 