Programming tool Graphic User Interface

PC-based Teaching Tool Standard Flex-GUI Option

■Software for robot setting, programming and debugging. ■Customizable teach pendant screen menu.
●User can manage setting and program files based on the project. ■Works as a system operation console which can control
●Exclusive editor for robot language peripheral devices.
●User can easily manage and input signal, position and parameter.
●User can control the robot without teach pendant.

3D view

Programs

Parameters

Programming Jog panel

Project tree

Off-line simulation tool

FD on Desk Light Standard

EZ
■Best simulator for a feasibility study.
Support for Various Fieldbus Option
■DeviceNet (master, slave)
●Off-line programming ■EtherNet/IP (master, slave)
●Operation and layout study ■EtherCAT (slave)
■CC-Link (master, slave) 
●Cycle time simulation
■PROFIBUS (master, slave)
●PLC program editing
●Operation instruction
■PROFINET (slave)
DeviceNet and EtherNet/IP are trademarks of ODVA. (Open DeviceNet Vender Association, Inc.)
SERIES
EtherCAT is trademarks of Beckhoff Automation GmbH.
CC-Link is a trademark of CC-Link association. (CC-Link Partner Association: CLPA) New Category
PROFIBUS and PROFINET are trademarks of PROFIBUS & PROFINET International. WING SLICER Robot

Application Examples
Picking Load・unload from/to a narrow entrance.

Conventional EZ series
SCARA robot (Inverted mount type)
(Inverted mount
type)

www.nachi.com
Head Office Shiodome Sumitomo Bldg. 17F, 1-9-2 Higashi-Shinbashi, Minato-ku, Tokyo 105-0021 Tel: +81-(0)3-5568-5247 Fax: +81-(0)3-5568-5237
Robot Division 1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, JAPAN Tel: +81-(0)76-456-2223 Fax: +81-(0)76-493-5251

NACHI ROBOTIC SYSTEMS INC. Michigan, U.S.A. Tel: +1-248-305-6545 Fax: +1-248-305-6542 http://www.nachirobotics.com
NACHI CANADA INC. CANADA Tel: +1-905-660-0088 Fax: +1-905-660-1146 http://www.nachicanada.com/
NACHI MEXICANA, S.A. DE C.V. MEXICO Tel: +52-442-153-2424 Fax: +52-442-153-2435 http://www.nachi.com.mx/
NACHI BRASIL LTDA. BRASIL Tel: +55-11-4793-8800 Fax: +55-11-4793-8870 http://www.nachi.com.br/
NACHI EUROPE GmbH GERMANY Tel: +49-(0)2151-65046-0 Fax: +49-(0)2151-65046-90 http://www.nachirobotics.com.eu/
NACHI TECHNOLOGY (THAILAND) CO., LTD. THAILAND Tel: +66-2-714-0008 Fax: +66-2-714-0740 http://www.nachi.co.th/
NACHI SINGAPORE PTE. LTD. SINGAPORE Tel: +65-65587393 Fax: +65-65587371 http://www.nachinip.com.sg/
PT.NACHI INDONESIA INDONESIA Tel: +62-21-527-2841 Fax: +62-21-527-3029 http://www.nachi.co.id/
NACHI TECHNOLOGY INDIA PVT. LTD. INDIA Tel: +91-(0)12-4450-2900 Fax: +91-(0)12-4450-2910
NACHI (AUSTRALIA) PTY. LTD. N.S.W, AUSTRALIA Tel: +61-(0)2-9898-1511 Fax: +61-(0)2-9898-1678 http://www.nachirobotics.com.au/
NACHI (SHANGHAI) CO., LTD. CHINA Tel: +86-(0)21-6915-2200 Fax: +86-(0)21-6915-5427 http://www.nachi-china.com.cn/

●The specifications are subject to changes without notice.

●In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated
 in the Foreign Exchange and Foreign Trade Act. Please go through careful investigation and necessary formalities for export.

CATALOG NO. R7804E-2

2017.11.V-ABE-ABE
Unique mechanism is employed in the robot body.
Z-axis Moving Structure Slim Horizontal Arm Smart Cable Routing

Z-axis structure (along which whole arm moves) Slim, light weight and high speed With the smart cable routing feature, risk of cable interference with peripheral devices is reduced
makes its arm compact. operation is possible due to no and the operational reliability is significantly improved.
servomotor in the robot arm. Floor mount type SCARA Inverted mount type EZ Series
Wires and tubes are routed outside Wires and tubes are routed through the hollow wrist

Hollow wrist
φ36 mm

Interference Entangled
cables

Wires and tubes are

routed through the hollow wrist

Cut Back on Equipment (Example of Tablet Assembly Line)

Line width reduced by 30 %. Work space reduced by 40 %. Reduce the amount of equipment significantly. Various Lineup
User can select a combination of following types and Z-axis strokes; 6 axis specifications (EZ02)
Inverted mount/Floor mount and 250 mm/150 mm strokes. Dexterous operation is possible to add
Floor mount Inverted mount
2- axis structure to tip of robot.
type SCARA type EZ Series
0.8 m2 0.5 m2

40 % reduction

750 mm
850 mm

650 mm Inverted mount type Inverted mount type Floor mount type Floor mount type
970 mm
Z-axis 250 mm Z-axis 150 mm Z-axis 250 mm Z-axis 150 mm
EZ03V4-4525 EZ03V4-4515 EZ03F4-5525 EZ03F4-5515

Wide Operating Envelope High Speed with Shortest Path (Example of Tablet Assembly Line) Compact Controller Option

The small horizontal arm permits a wide
operation envelope and compact layout.
Potentially reduce cycle time by up to 30 % (compared to a Just 369 mm wide Controller for 1 or 2 arms
CFDL1-0000
floor mount type SCARA). Multi-controller CFDL can be placed within the support structure. CFDL2-0000
Floor mount type SCARA Inverted mount type EZ Series
■ It can control up to 4 robot unit.
■ Emergency stop and operation switches are provided for each 4 unit independently.
(they can work in synchronous manner too.)

1
3
1
3

Conveyor
Co 4 2
Teach pendant
Conveyor 4 2
Reach Controller
250 mm
450 mm CFDL4-0000
(Controller for 3 or 4 arms)

360° operating envelope. Eliminates Operation distance is 3,400 mm Operation distance is 2,000 mm
center dead zone inaccessible by Cycle time is 2.3 sec. Cycle time is 1.6 sec.
conventional SCARA robots.
 Robot model
Standard EZ□□□□-02-□□□□
Specifications
Basic specifications Arm variation Robot dimensions and operating envelope Basic specifications of controller
Mark 1 Mark 2 Mark 3 Notes Mark 1 Max. reach Mark 2 Vertical axis stroke Notes
Inverted mount Item Specifications
V 4 3 kg payload, inverted mount, 4 axis 15 150 mm Inverted
03 45 450 mm mount a b 170°
F 4 3 kg payload, floor mount, 4 axis 25 250 mm 50 Model CFDL1-0000 CFDL2-0000 CFDL4-0000
EZ03V4-02-4525 665 250 180° R4
V 6 2 kg payload, inverted mount, 6 axis 15 150 mm Floor EZ03V4-02-4515 565 150
02 55 550 mm mount R225
F 6 2 kg payload, floor mount, 6 axis 25 250 mm EZ02V6-02-4525 730 250
Maximum controllable units 1 unit 2 units 4 units
R225
EZ02V6-02-4515 630 150 Maximum controllable axis 6 axis/unit
180°
170° Compatible motor AC servo motor
Robot specifications LOCUS Compatible encoder 17-bit absolute encoder
(Point A)
Item Specifications 266 Safety performance PLd Category-3, *ISO10218 compliant
133 133 225 225 286 Teach pendant Option
EZ03V4 EZ03V4 EZ03F4 EZ03F4 EZ02V6 EZ02V6 EZ02F6 EZ02F6
Robot model Operating switches Emergency stop, mode switching
-02-4515 -02-4525 -02-5515 -02-5525 -02-4515 -02-4525 -02-5515 -02-5525
Relay unit 8
Structure Horizontal articulated
EZ03 W/H 2, 5, 10, 15, 20 m
Number of axis 4 6
External dimensions 369 (W) × 490 (D) × 187 (H) 369 (W) × 510 (D) × 263 (H)

a
Max. reach 450 mm 550 mm 450 mm 550 mm
*1 Protection rating IP20
Installation Inverted mount Floor mount Inverted mount Floor mount Point A
Power supply Single phase/3φ 200-230 VAC
Drive system AC servo system Point A
Ambient temperature 0 to 40°C (50/60 Hz)
J1 Vertical 150 mm 250 mm 150 mm 250 mm 150 mm 250 mm 150 mm 250 mm

b
55 Ambient humidity 20 to 85 % (without condensation)
J2 ±170°
Max. J3 ±180° ±145° ±180° ±145°
operating
envelope J4 ±360° ±180°
J5 - ±105° Floor mount Controller options
J6 - ±360° c d Item Specifications
J1 Vertical 1200 mm/s 1400 mm/s 1200 mm/s 1400 mm/s 1000 mm/s 1200 mm/s 1000 mm/s 1200 mm/s EZ03F4-02-5525 420 250

R5

91
50

R1
J2 450°/s EZ03F4-02-5515 320 150 170° Model CFDL1-0000 CFDL2-0000 CFDL4-0000
EZ02F6-02-5525 335 250
Max. J3 720°/s 145°
EZ02F6-02-5515 255 150 External memory USB memory
speed*2 J4 2400°/s 1200°/s R225

R225
Network Ethernet
J5 - 720°/s
PCI option 2 slots 1 slot
J6 - 720°/s 145°
LOCUS Fieldbus DeviceNet, PROFIBUS, EtherCAT, CC-Link, and others
Payload (max) 2 kg (3 kg) 1 kg (2 kg) (Point A) 170°
266 EtherCAT and CC-Link are only compatible as a slave
Allowable J4 0.05 kg·m2 (0.005 kg·m2 rated) 0.03 kg·m2 (0.013 kg·m2 rated) 133 133
moment Digital I/O Maximum 64/64
J5 - 0.03 kg·m2 (0.013 kg·m2 rated)
of inertia Software PLC Yes
2 2
for wrist*3 J6 - 0.01 kg·m (0.001 kg·m rated)

d
*4 Built-in visual sensor Option
Position repeatability ±0.014 mm ±0.02 mm Point A
225 325 Brake release Brake release mode
Air piping φ 6×2 EZ03 55
Mechanism conversion No

c
Point A
Application wirings 10 wires
*5 2 Overseas compliance UL, CE, KCs
Installation conditions Ambient temperature: 0 to 45° C Ambient humidity: 20 to 85 % RH (without condensation) Allowable vibration of installation surface: Not more than 0.5 G (4.9 m/s )
Welder I/F None (not compliant with RWC, MEDAR, etc.)
Environmental conditions*6 IP20
*7
Noise level 70 dB
Robot mass 42 kg 43 kg 44 kg 45 kg
Wrist dimensions Installation dimensions Controller dimensions
1 [rad] = 180/π[°], 1 [N・m] = 1/9.8 [kgf・m]
*1: The maximum speed in the chart is a maximum value. The maximum value may change depending on work programs and load conditions of the wrist.
4 axis 6 axis
*2: The allowable moment of inertia of a wrist changes with the load conditions of a wrist.
*3: JIS B 8432 compliant.

2-φ6H7
65
57
*4: Using at 1000 m or lower sea level. Ambient temperature has limitations when allowable altitude is exceeded.
150 ±0.05
*5: Fluids that cause the deterioration of sealants, such as gasoline-based cutting fluids, chlorine, alkali, acids, and organic solvents, cannot be used. 4-15

150
*6: A-weighted equivalent sound level measured according to JIS Z 8737-1 (ISO 11201). (while operating at maximum speed with rated load) Back view

3.6
φ57 h7 range

140 ±0.06
φ57φh7
369

155
85
φ80
Point A

280
310
Application connector Tool flange origin

510(490)
(origin of wrist

φ34 h7 range
3

5
φ34h7
coordinates)
(X,Y,Z)=(0,0,0) φ52

254
Port3 Port2 4-M5, depth 11 φ66
Port1
CN10A 4 axis Port5 Port3 6 axis
6 5 4 3 2 1 Port1 160 95

4-φ9
2-φ5 H7, depth 7
D G A20 A19 A18 A17 A16 Left view Top view Right view
A03 A02 A01
3 2 1
C A15 A14 A13 A12 A11 A07 A06 A05 A04 2-φ4 H7, depth 7
P.C.D.47
7 6 5 4 4-M4, depth 7
φ36 hole diameter

263(187)
B A22 A10 A09 A08 A07 A06 A10 A09 A08 186
10 9 8 Port2 for wiring hollow
206
A A21 A05 A04 A03 A02 A01
Point A P.C.D.27
Port4 CN10A CN10A φ18 hole diameter
for wiring hollow Both inverted and floor mount Front view
Figures in parentheses indicate the CFDL1-0000, CFDL2-0000
 Options

Option drawings Option list

No. Product name Specifications Parts No. Notes

1 Adjustable stopper For number 2 axis OP-S5-032

I/F
k ing 2 Transfer jig For both crane transport and inverted mount jig OP-S2-049
r ac 3 Accessory tools For 4 axis, zeroing pin and block OP-T2-099 For 1 to 4 axis
rt
yo For 6 axis, zeroing pin and block OP-T2-094 For 1 to 6 axis
n ve
Co ve 4 Built-in solenoid valve 1 valve (4 and 6 axis specifications) OP-H4-009 Pressure range 0.1 to 0.5 MPa
17 sla nt
ET lia 2 valves (4 axis specifications) OP-H5-011 Coil voltage rating 24 VDC
F IN omp
P RO t hc 5 Wrist wiring clamp Wire/tube clamp for hollow in number 4 axis OP-W3-018 Air ( φ4, 5 lines), signal lines (4-axis only)
13 e bo 6 USB memory 1 GB FD11-OP93-A
IB US lav 7 Compact I/O board 8 point/8 point (relay output) Equipped on sequence board
OF /s
PR s ter 8 I/O expansion I/O 32 point/32 point (NPN 1 board expansion) CFD-OP125-A Occupies 1 slot
12 ma I/O 64 point/64 point (NPN 2 board expansion) CFD-OP125-B Occupies 2 slots
nk
-Li I/O 32 point/32 point (PNP 1 board expansion) CFD-OP151-A Occupies 1 slot
CC
14 ion I/O 64 point/64 point (PNP 2 board expansion) CFD-OP151-B Occupies 2 slots
ns
4 pa ra
l
9 EtherNet/IP Master 1CH CFD-OP130-A Occupies 1 slot
Bu CN ex rip
he
ilt-
in (co
R0
10 I/O me
r pe Slave 1CH CFD-OP130-B
so 8 sto t
len nn cu en Master 1CH + Slave 1CH CFD-OP130-C
oid ec To uipm et
tor Slave 2CH CFD-OP130-D
eN
e q
va inc vic
lve lud
ed De Master 2CH CFD-OP130-E
in 1 10 DeviceNet Occupies 1 slot
3 EZ
(ro 03-0 the /1 IP
Master 1CH CFD-OP131-A
Ac 10 t/
sor Slave 1CH CFD-OP131-B
bo 2 I/O
ce tb e
ss
or
od
y) ha sen e rN Master 1CH + Slave 1CH CFD-OP131-C
yt rne ion Eth
oo ss Vis 9 Slave 2CH CFD-OP131-D
ls op 19
tio s
n) es Master 2CH CFD-OP131-E
1A rn r)
dju ha me 22 11 DeviceNet (quick connect) Master 1CH CFD-OP129-A Occupies 1 slot
sta I/O cu
sto M
ini 2 Slave 1CH CFD-OP129-B
TP 1 Hig
0 y
ble db
sto R 01 p ar
e
h Master 1CH + Slave 1CH CFD-OP129-C
ppe re per
r CN na
l (p form Slave 2CH CFD-OP129-D
7 anc
6/
2
fet
y sig
p lug eT Master 2CH CFD-OP129-E
a P
2 CF na
ls
rting le
29 (Co DL c ter
ho ab 12 PROFIBUS Master 1CH CFD-OP132-A Occupies 1 slot
ntr ont
r
Ex
s nc
I/O sio
ol Slave 1CH CFD-OP132-B
un oller TP
con ss 1 it) n
nec a rn
e 8 23 e xte Master 1CH + Slave 1CH CFD-OP132-C
Co
tor rh ntr TP Slave 2CH CFD-OP132-D
CN
10 on
rob o de oll 24
2 A 28 nc er Co Master 2CH CFD-OP132-E
Tra ot e pr nn
ns I/O arm r/ e
ote cable ( ctor fo 13 PROFINET Slave 1CH CFD-OP136-B Occupies 1 slot
fer ca oto cti st r
jig ble M on andard power Slave 2CH CFD-OP136-D
on 25 bo ) 6
ro x US 14 CC-Link Both master and slave supported 1CH CFD-OP98-B Occupies 1 slot
bo B
ta me 15 FL-net 1CH CFD-OP101-B Occupies 1 slot
rm r) mo
le tome ry, 16 Analog output Analog output 4CH CFD-OP46-B Occupies 1 slot
ab cus 1
20 r c by GB 17 Conveyor tracking I/F RS422 Differential input encoder counter CFD-OP47-A Occupies 1 slot
Unit we ed
Po epar
com (Pr 18 Controller protection box 1 to 2 units (CFDL1, CFDL2) CFD-OP133-A IP54 protection class compliant (dust-
pat
5 ible 4 units (CFDL4) CFDL-OP133-A proof and drip-proof box)
W with
ris C Off 19 Vision sensor Vision sensor unit for CFD (separate installation), cross laser CFD-OP139-A
tw
irin ) (U E spec FD line
er L, if Vision sensor unit for CFD (separate installation), monocular/stereo camera CFD-OP139-B
gc sto
m KC ication FE on prog
lam le
ab by c
u s) s on Des ram Vision sensor unit for CFD (separate installation), 2 LED CFD-OP139-C
p rc De k L in
we red Vision sensor unit for CFD (separate installation), 3D CFD-OP139-D
Po epa sk ig g
(P
r
Pr ht ( soft 20 UL specifications UL standard compliant CFDL-UL-A
o ( sta wa
op r
tio ndar e CE specifications CE marking compliant CFDL-CE-A
n) d) KCs specifications Korean KCs compliant CFDL-KCS-A
21 High performance TP Cable length 4 m CFDTP-10-04M Select one from 21, 22, or 23.
●Options are installed by customer according to their installation instruction manual.
22 Mini TP Cable length 4 m MINITP-10-04M
●TP is an acronym for teach pendant 23 TP shorting plug To disconnect teach pendant CFD-OP153-A
24 TP extension cable 5m CFDTP-RC05M User can choose either one connector on
10 m CFDTP-RC10M both ends.
25 Motor/encoder harness 2m E000E-J1-02-B It is necessary to select one of them.
Wiring and piping inside machine body Wrist dimensions (option 5) 5m E000E-J1-05-B
10 m E000E-J1-10-B
φ4×2.5
CN60A1 15 m E000E-J1-15-B
20 m E000E-J1-20-B
4 axis Built-in solenoid valve
φ4×2.5 CNR010
6 axis specifications 4 axis only 26 CNR010 I/O harness 2.5 m IOCABLE-10-02M I/O cable between robot and controller.
Signal line inlet
(1 to 2 valves) AWG23×3P (loose wires for controller 5.5 m IOCABLE-10-05M Controller side is open-ended. User needs
specifications AIR1(φ6) connections on robot side) 10.5 m IOCABLE-10-10M to connect wires to match appropriate
CN60A2 Exhaust (silencer) Air inlet
φ4×2.5
AIR2(φ6)
φ4×2.5
CN60A1 15.5 m IOCABLE-10-15M signals.
CN60B

20.5 m IOCABLE-10-20M
69

76

φ4×2.5 CNR010
Built-in solenoid valve
Signal line inlet
25.5 m IOCABLE-10-25M
(1 valve)
AWG23×3P 27 CNR010 I/O harness 2.5 m IOCABLE-40B-02M I/O cable between the robot and
Relay output supported 5.5 m IOCABLE-40B-05M sequence I/O board (NPN type) in the
7

φ4×2.5 CN60A2
Air outlet (both terminals connected 10.5 m IOCABLE-40B-10M controller.
CN60B

(φ4 tube: 5 lines) to controller on robot side) 15.5 m IOCABLE-40B-15M

(to hand) φ35 H7
20.5 m IOCABLE-40B-20M
Port2(SOL1B)

Port4(SOL2B)
Port1(SOL1A)

Port3(SOL2A)

Signal line outlet Air outlet 25.5 m IOCABLE-40B-25M

φ61 H7
(φ4 tube: 3 lines) 28 I/O cable on robot arm 1.5 m IOCABLE-20-01M
CN10A

2-φ5 H7, depth 9

Port5

(to hand)
5-φ4×2.5 (P.C.D. 47 balanced) 29 I/O connector on robot arm Connector only, connectors are soldered type IOCABLE-20-00
Port2(SOL1B)
Port1(SOL1A)

AIR1(φ6)
Exhaust (silencer) Air inlet
30 32-contact I/O harness 2.5 m IOCABLE-30-1-02M Customer recommended to complete
Signal line outlet
AIR2(φ6) (connected to controller 5.5 m IOCABLE-30-1-05M wiring on application side.
Port3
CN10A

CN60C connector, customer side is 10.5 m IOCABLE-30-1-10M Can be used with CFD-OP125-A or CFD-
22.5°
AWG23×3P loose wires) 15.5 m IOCABLE-30-1-15M OP151-A.
10-AWG22 3-φ4×2.5 22.5° I/O expansion, 1 board 20.5 m IOCABLE-30-1-20M
4-M5, depth 9 specifications 25.5 m IOCABLE-30-1-25M
10-AWG22
(P.C.D. 47 balanced) 31 64-contact I/O harness 2.5 m IOCABLE-30-2-02M Customer recommended to complete
CN60C (connected to controller wiring on application side.
φ7
5.5 m IOCABLE-30-2-05M
AWG23×3P
(wiring clamp hole) connector, customer side is 10.5 m IOCABLE-30-2-10M Can be used with CFD-OP125-B or CFD-
loose wires) 15.5 m IOCABLE-30-2-15M OP151-B.
5-φ4 I/O expansion, 2 board 20.5 m IOCABLE-30-2-20M
(tube clamp hole) specifications 25.5 m IOCABLE-30-2-25M
32 Power voltage converter CFDL1-0000, CFDL2-0000 CFD-OP154-A Portable transformer for 100 VAC
CFDL4-0000 CFDL-OP154-A