NEXTAGE - SPECIFICATIONS

LED display lamp
LED display lamp provides superior visibility for clear indication of NEXTAGE status.

Service ports (backside of cover)
Mounted with pipes (exterior shape Φ3×4 type/each arm) and cables (AWG24 x 10/ each arm) for air.

End effector attachment
Able to attach end effector optimal for specific application.
(Compatible via support from our company of the engineering manufacturer.)

Hand camera
Detailed position awareness during tasks.

Arm shape
Curved shape prevents finger pinching.

Axle structure
Arm component includes axle structure and inward tilt to prevent elbow protrusion.
The most unique component of the NEXTAGE exterior.

Head camera
Stereo vision enables environment recognition and position identification.

» Configuration

» Main unit dimensions

» Robot specification

» Control box specification

» Specification for operating ranges

Degree of freedom		15 axes (6 for arms × 2, 2 for neck, 1 for waist)
Axes configuration	Arms	Shoulder Y - Shoulder P - Elbow P - Wrist Y - Wrist P - Wrist R
	Neck	Neck Y ? Neck P
	Body	Waist Y
Payload (TCP)		1.5 kg (one arm)
Payload (TCP)		3.0 kg (two arms)
Position repeatability *1		Within 0.5 sec
Positioning repeatability *1		Within 30 μm
Max speed of each axis *2		Waist Y: 110 deg/s
		Neck Y: 150 deg/s
		Neck P: 250 deg/s
		Shoulder Y: 172 deg/s
		Shoulder P: 133 deg/s
		Elbow P: 215 deg/s
		Wrist Y: 263 deg/s
		Wrist P: 224 deg/s
		Wrist R: 300 deg/s
Operating environment	Ambient operating temperature	0 to + 40 °C
	Ambient operating humidity	20 to 80 % RH (no condensation shall occur)
	In storage	Same as the operating environment
Weight		29 kg

Control computer	Hardware	OS	QNX
		Empty slot	2 PCI slots

	Servo method	Digital servo
	PTP control	Linear, rotational
	Interpolation	Angle interpolation, linear spherical interpolation
	Command input	Position, Joint angle
	Velocity specification	Velocity specification in percent
Controller specification	Velocity control method	Trapezoidal control
	Joint angle sensor	Incremental encoder
	Origin seek operation	Initialization using absolute sensor
	Min command unit	Position: 0.01 (mm) or less, angle: 0.01 (deg)
	Position teaching method	JOG
	No. of coordinate systems	For system setting: 64, For users: 192
	No. of teaching positions	Unlimited
	Communication interface	Via CORBA (omniORB 4.01 or later) / Ethernet
Power supply	Input voltage	AC85 to 264V-1 (50Hz/60Hz)
Power supply	Supply cable	3 m, grounded plug
Pause function	Local pause	Pause the right hand, left hand, waist or neck independently
Pause function	Total pause	Pause the entire body of a robot

External I/O	Digital I/O	DIGITAL IN 32CH	16 CHs for system, 16 CHs for users
			5～48V、< 4.7mA
		DIGITAL OUT 32CH	16 CHs for system, 16 CHs for users
			5～48V、< 100mA
	Ethernet	1 line
	Emergency stop switch: Expansion interface		Emergency stop switch (or circuit) provided by users is connectable
	Pause switch: Expansion interface		Pause switch (or circuit) provided by users is connectable
	Indicator light: Expansion interface		Indicator light provided by users is connectable
	Switch box: Interface		Switch box (standard equipment) is connectable
			Emergency stop operation, pause operation

External dimension	W470 × D365 × H180 (mm/projections excluded)
Weight	20kg

Joint		Motion range (deg)
Body	Waist Y	±163
Neck	Neck Y	±70
Neck	Neck P	+75(+63),-23 *
Right arm	Shoulder Y	±88
	Shoulder P	＋60,-140
	Elbow P	＋0,-158
	Wrist Y	＋105,-165
	Wrist P	±100
	Wrist R	±163
Left arm	Shoulder Y	±88
	Shoulder P	＋60,-140
	Elbow P	＋0,-158
	Wrist Y	＋165,-105
	Wrist P	±100
	Wrist R	±163