SRA133H/SRA166H/SRA210H
by Nachi
Improved reliability for welding cables and hoses
- The reliability is improved by stabilizing cable performance to avoid damage due to interference with peripheral equipment.
Shortened the startup time
- We greatly decreased the time to check work programs because cables do not interfere with peripheral equipment.
Expanded the operating range of the wrist
- Compared to the existing A-Trac, we expanded the operating range of J5 ±10° and J6 ±5° (payload class 210kg), increasing the range of linear movement 20%.
Improved accessibility
- When compared to the existing A-Trac, we have decreased the interference range of the wrist 27%, making access to narrow places possible.
Speed
- The hollow arm can also operate at the same high speeds as the SRA.
Specification
Robot specifications
| Robot model | SRA133H-01 | SRA166H-01 | SRA210H-01 | |
|---|---|---|---|---|
| Structure | Articulated | |||
| Number of axes | 6 | |||
| Drive system | AC servo system | |||
| Max. operating envelope |
J1 | ±3.14rad (±180°) | ||
| J2 | -1.40  +1.05rad (-80° +60°) |
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| J3 | -2.56 +2.62rad (-146.5° +150°) |
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| J4 | ±3.66rad (±210°) | |||
| J5 | ±2.18rad (±125°) | |||
| J6 | ±3.66rad (±210°) | |||
| Max. velocity | J1 | 2.09rad/s (120°/s) | 2.01rad/s (115°/s) | |
| J2 | 1.92rad/s (110°/s) | 1.83rad/s (105°/s) | ||
| J3 | 2.06rad/s (118°/s) | 2.00rad/s (115°/s) | 1.97rad/s (113°/s) | |
| J4 | 3.66rad/s (210°/s) | 3.05rad/s (175°/s) | 2.27rad/s (130°/s) | |
| J5 | 3.05rad/s (175°/s) | 2.98rad/s (171°/s) | 2.27rad/s (130°/s) | |
| J6 | 5.41rad/s (310°/s) | 4.88rad/s (280°/s) | 3.58rad/s (205°/s) | |
| Payload | Wrist | 133kg | 166kg | 210kg |
| Forearm *1 | 20kg | |||
| Allowable static load torque for wrist |
J4 | 830N·m | 960N·m | 1337N·m |
| J5 | 830N·m | 960N·m | 1337N·m | |
| J6 | 441N·m | 520N·m | 720N·m | |
| Allowable moment of inertia for wrist *2 |
J4 | 85kg·m2 | 100kg·m2 | 200kg·m2 |
| J5 | 85kg·m2 | 100kg·m2 | 200kg·m2 | |
| J6 | 45kg·m2 | 50kg·m2 | 155kg·m2 | |
| Position repeatability *3 | ±0.1mm | ±0.15mm | ||
| Installation | Floor | |||
| Ambient conditions |
Ambient temperature : 0 |
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| Noise level *5 | 79.6dB | |||
| Robot mass | 1040kg | 1100kg | ||
1[rad]=180/π[°], 1[N·m]=1/9.8[kgf·m]
(*1) This value changes by placement and load conditions of a wrist.
(*2) The Allowable moment of inertia of a wrist changes with load conditions of a wrist.
(*3) This value conforms to “JIS B 8432”.
(*4) Permitted height is not higher than 1,000m above sea level. If used in higher place, permitted temperature is affected by height.
(*5) A-weighted equivalent sound level measured according to JIS Z 8737-1 (ISO 11201). (while operating at maximum speed with rated load)