# Nachi NB04L

Hardware · `NB04L` · verification: source checked

The Nachi NB04L is a six-axis vertical articulated robot intended for arc welding, with a 4 kg payload, a 2008 mm reach and 277 kg mass. The welding cable runs coaxially through the arm in an enclosed cable design, which the document states improves wire feeding and prevents snags. It can be mounted on the floor, wall or ceiling, and positional repeatability is ±0.08 mm at the tool centre point.

## Specification

| Property | Value |
|---|---|
| Category | industrial robot |
| Axes | 6 |
| Payload | 4 kg |
| Reach | 2008 mm |
| Repeatability | 0.08 mm |
| Weight | 277 kg |
| Operating temp min | 0 °C |
| Operating temp max | 45 °C |

### Joints

| Name | Range min (°) | Range max (°) | Max speed (°/s) |
|---|---|---|---|
| J1 | -170 | 170 | 195 |
| J2 | -155 | 100 | 200 |
| J3 | -170 | 190 | 200 |
| J4 | -155 | 155 | 420 |
| J5 | -45 | 225 | 420 |
| J6 | -205 | 205 | 600 |

## Connected

- Manufacturer: [Nachi Robotics](https://machineschema.com/manufacturer/nachi-robotics.md)

## 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.

## 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.

## Sources

1. [NB04L](https://www.nachirobotics.com/product/nb04l/) (accessed 2026-10-25)

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