NACHI
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ST133CF/166CF/210CF-01
Product Description
**Heavy loads** * Maximum payload up to 210 kg, perfect for handling large panels. **Improved maneuverability** * Faster with improved rigidity reduces cycle times and minimizes flexure and vibration. **Clean room compatible** * ISO class 6 clean room compatibility for operating in clean room environments. **Easy operation** * Teaching pendent with large LCD has color graphics that simplify and clarify operations to greatly reduce Robot Programming times.
Technical Specifications
| Item | ST133CF-01 | ST166CF-01 | ST210CF-01 |
|---|---|---|---|
| Robot model | ST133CF-01 | ST166CF-01 | ST210CF-01 |
| Construction | Articulated construction | Articulated construction | Articulated construction |
| Number of axes | 6 | 6 | 6 |
| Drive system | AC servo system | AC servo system | AC servo system |
| Max. operating area | |||
| J1 Swivel | ±2.88 rad | ±2.88 rad | ±2.88 rad |
| J2 Forward/backward | -1.40 to +1.05 rad | -1.40 to +1.05 rad | -1.40 to +1.05 rad |
| J3 Upward/downward | +2.62 to -2.40 rad | +2.62 to -2.40 rad | +2.62 to -2.40 rad |
| J4 Rotation 2 | ±6.28 rad | ±6.28 rad | ±6.28 rad |
| J5 Bending | ±2.36 rad | ±2.36 rad | ±2.27 rad |
| J6 Rotation 1 | ±6.28 rad | ±6.28 rad | ±6.28 rad |
| Max. speed | |||
| J1 Swivel | 2.27 rad/s | 1.92 rad/s | 1.75 rad/s |
| J2 Forward/backward | 2.27 rad/s | 1.92 rad/s | 1.57 rad/s |
| J3 Upward/downward | 2.27 rad/s | 1.92 rad/s | 1.66 rad/s |
| J4 Rotation 2 | 4.01 rad/s | 2.97 rad/s | 2.27 rad/s |
| J5 Bending | 4.01 rad/s | 2.97 rad/s | 2.27 rad/s |
| J6 Rotation 1 | 5.32 rad/s | 4.54 rad/s | 3.49 rad/s |
| Max. Payload | |||
| Wrist | 133 kg | 166 kg | 210 kg |
| Forearm*1 | Max. 70 kg | Max. 70 kg | Max. 70 kg |
| Allowable static load torque of wrist | |||
| J4 Rotation 2 | 745 N·m | 951 N·m | 1337 N·m |
| J5 Bending | 745 N·m | 951 N·m | 1337 N·m |
| J6 Rotation 1 | 411 N·m | 490 N·m | 720 N·m |
| Max. allowable moment of inertia of wrist *2 | |||
| J4 Rotation 2 | 60.9 kg·m² | 88.9 kg·m² | 141.1 kg·m² |
| J5 Bending | 60.9 kg·m² | 88.9 kg·m² | 141.1 kg·m² |
| J6 Rotation 1 | 30.2 kg·m² | 45.0 kg·m² | 79.0 kg·m² |
| Position repeat accuracy *3 | ±0.06 mm | ±0.06 mm | ±0.06 mm |
| Cleanliness | ISO 14644-1 CLASS 6 compliant | ISO 14644-1 CLASS 6 compliant | ISO 14644-1 CLASS 6 compliant |
| Ambient temperature | 10 to 45 °C | 10 to 45 °C | 10 to 45 °C |
| Installation parameters | Floor mounted | Floor mounted | Floor mounted |
| Robot mass | 1120 kg | 1160 kg | 1160 kg |
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