NACHI
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SRA133H/SRA166H/SRA210H
Product Description
**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.
Technical Specifications
| Spesifikasi | SRA133H-01 | SRA166H-01 | SRA210H-01 |
|---|---|---|---|
| Structure | Articulated | Articulated | Articulated |
| Number of axes | 6 | 6 | 6 |
| Drive system | AC servo system | AC servo system | AC servo system |
| Max. operating envelope | |||
| J1 | ±3.14rad (±180°) | ±3.14rad (±180°) | ±3.14rad (±180°) |
| J2 | -1.40 ~ +1.05rad (-80° ~ 60°) | -1.40 ~ +1.05rad (-80° ~ 60°) | -1.40 ~ +1.05rad (-80° ~ 60°) |
| J3 | -2.56 ~ +2.62rad (-146.5° ~ 150°) | -2.56 ~ +2.62rad (-146.5° ~ 150°) | -2.56 ~ +2.62rad (-146.5° ~ 150°) |
| J4 | ±3.66rad (±210°) | ±3.66rad (±210°) | ±3.66rad (±210°) |
| J5 | ±2.18rad (±125°) | ±2.18rad (±125°) | ±2.18rad (±125°) |
| J6 | ±3.66rad (±210°) | ±3.66rad (±210°) | ±3.66rad (±210°) |
| Max. velocity | |||
| J1 | 2.09rad/s (120°/s) | 2.01rad/s (115°/s) | 2.01rad/s (115°/s) |
| J2 | 1.92rad/s (110°/s) | 1.83rad/s (105°/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 | Wrist: 166kg | Wrist: 210kg |
| Forearm: 20kg | Forearm: 20kg | Forearm: 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 | |||
| J4 | 85kg·m² | 100kg·m² | 200kg·m² |
| J5 | 85kg·m² | 100kg·m² | 200kg·m² |
| J6 | 45kg·m² | 50kg·m² | 155kg·m² |
| Position repeatability | ±0.06mm | ±0.06mm | ±0.06mm |
| Installation | Floor | Floor | Floor |
| Ambient conditions | Temp: 045°C, Humidity: 2085%RH, Vibration: ≤0.5G (4.9m/s²) | Sama | Sama |
| Noise level | 79.6dB | 79.6dB | 79.6dB |
| Robot mass | 1040kg | 1100kg | 1100kg |
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