SRA166/210-01A
by Nachi
World Class Speed Robot
- Robot motion makes minimum cycle times unbeatable. Light weight and high rigidity design results in high acceleration and minimum vibration. Maximum speed on all axes reduces move time. All this provides dramatically improved productivity.
Superior Spot Welding Capability
- Industry leading advanced servo gun software features and technologies.
SRA robot ease of use improves the bottom line
- Improved drives and motors for accurate positioning and better repeatability.
- Compact design allows closer installation in less floor space.
Improved energy efficiency
- Power consumption reduced 15% from existing models by reducing the robot’s weight by 20% and using cutting edge motor drive controls.
Controller
- FD11
Specification
Robot specifications
| Robot model | SRA166-01A | SRA210-01A | |||
|---|---|---|---|---|---|
| Structure | Articulated construction | ||||
| Number of axes | 6 | ||||
| Drive system | AC servo system | ||||
| Max. operating area | Arm | J1 | Swivel | ±3.14rad (±180°) | |
| J2 | Forward/ backward |
+1.05 to -1.40rad (+60° to -80°) | |||
| J3 | Upward/ downward |
+2.62 to -2.56rad (+150° to -146.5°) | |||
| Wrist | J4 | Rotation2 | ±3.67rad (±210°) | ||
| J5 | Bending | ±2.09rad (±120°) | |||
| J6 | Rotation1 | ±3.58rad (±205°) | |||
| Max. velocity | Arm | J1 | Swivel | 2.18rad/s (125°/s) | 2.01rad/s (115°/s) |
| J2 | Forward/ backward |
2.01rad/s (115°/s) | 1.83rad/s (105°/s) | ||
| J3 | Upward/ downward |
2.11rad/s (121°/s) | 1.97rad/s (113°/s) | ||
| Wrist | J4 | Rotation2 | 3.14rad/s (180°/s) | 2.44rad/s (140°/s) | |
| J5 | Bending | 3.02rad/s (173°/s) | 2.32rad/s (133°/s) | ||
| J6 | Rotation1 | 4.54rad/s (260°/s) | 3.49rad/s (200°/s) | ||
| Payload | Wrist | 166kg | 210kg | ||
| Forearm(*1) | 15kg (maximum 60kg) | ||||
| Allowable static load torque | J4 | Rotation2 | 951N·m | 1,337N·m | |
| J5 | Bending | 951N·m | 1,337N·m | ||
| J6 | Rotation1 | 490N·m | 720N·m | ||
| Max. allowable moment of inertia (*2) | J4 | Rotation2 | 88.9kg·m2 | 141.1kg·m2 | |
| J5 | Bending | 88.9kg·m2 | 141.1kg·m2 | ||
| J6 | Rotation1 | 45.0kg·m2 | 79.0kg·m2 | ||
| Position repeatability (*3) | ±0.1mm | ±0.15mm | |||
| Ambient temperature | 0 to 45°C | ||||
| Installation | Floor mounted | ||||
| Robot mass | 1,060kg | 1,090kg | |||
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
(*1) Load specification of number 1 arm varies according to wrist load conditions and installation position.
(*2) Note that the allowable moment of inertia of wrist varies with the wrist load conditions.
(*3) JIS B 8432 compliant.