NACHI
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SRA100/166/210/166L/120EL
Product Description
**World Class Speed Robot** * Robot motion makes minimum cycle times unbeatable. Light weight and high rigidity design makes high acceleration and minimum vibration. Maximum speed on all axes reduces cycle time. Improved productivity by these design. **Easy to use** * Improved motor drive controls for accurate positioning and repeatability. * Slim and compact design allows closer installation in less floor space. * Improved maintenance item. It can do easy parts replacement and inspection. **Energy saving** * Power consumption reduced 15% from existing model by reducing the robot’s weight by 20% and using newest motor drive controls. **Controller** * FD11
Technical Specifications
| Robot model | SRA100 | SRA166 | SRA210 | SRA166L | SRA120EL |
| Structure | Articulated construction | ||||
| Number of axes | 6 | ||||
| Drive system | AC servo system | ||||
| Max. operating area (rad[°]) | |||||
| J1 Swivel | ±3.14 [±180] | ±3.14 [±180] | ±3.14 [±180] | ±3.14 [±180] | ±3.14 [±180] |
| J2 Back & forth | #ERROR! | #ERROR! | #ERROR! | #ERROR! | #ERROR! |
| J3 Up & down | #ERROR! | #ERROR! | #ERROR! | #ERROR! | #ERROR! |
| J4 Rotation 2 | ±6.28 [±360] | ±6.28 [±360] | ±6.28 [±360] | ±6.28 [±360] | ±6.28 [±360] |
| J5 Bend | ±2.36 [±135] | ±2.27 [±130] | ±2.27 [±130] | ±2.36 [±135] | ±2.36 [±135] |
| J6 Rotation 1 | ±6.28 [±360] | ±6.28 [±360] | ±6.28 [±360] | ±6.28 [±360] | ±6.28 [±360] |
| Max. velocity (rad/s[°/s]) | |||||
| J1 Swivel | 2.37 [136] | 2.18 [125] | 2.01 [115] | 2.01 [115] | - |
| J2 Back & forth | 2.36 [135] | 2.01 [115] | 1.83 [105] | 1.83 [105] | - |
| J3 Up & down | 2.36 [135] | 2.11 [121] | 1.97 [113] | 1.97 [113] | - |
| J4 Rotation 2 | 4.19 [240] | 3.14 [180] | 2.44 [140] | 2.44 [140] | - |
| J5 Bend | 4.07 [233] | 3.02 [173] | 2.32 [133] | 3.02 [173] | - |
| J6 Rotation 1 | 6.31 [351] | 4.54 [260] | 3.49 [200] | 4.54 [260] | - |
| Payload (kg) | |||||
| Wrist | 100 | 166 | 210 | 166 | 120 |
| Forearm | 45 (maximum 90) | 45 (maximum 90) | 45 (maximum 90) | 45 (maximum 90) | 45 (maximum 90) |
| Allowable static load torque (N·m) | |||||
| J4 Rotation 2 | 580 | 951 | 1337 | 951 | 687 |
| J5 Bend | 580 | 951 | 1337 | 951 | 687 |
| J6 Rotation 1 | 290 | 490 | 720 | 490 | 353 |
| Max. allowable moment of inertia (kg·m²) | |||||
| J4 Rotation 2 | 60 | 88.9 | 141.1 | 88.9 | 60 |
| J5 Bend | 60 | 88.9 | 141.1 | 88.9 | 60 |
| J6 Rotation 1 | 30 | 45 | 79 | 45 | 30 |
| Max. reach (mm) | 2654 | 2674 | 2674 | 2951 | 3099 |
| Position repeatability (mm) | ±0.06 | ±0.06 | ±0.06 | ±0.06 | ±0.06 |
| Installation | Floor mounted | ||||
| Ambient conditions | Temperature: 0–45°C; Humidity: 20–85% RH (without condensation); Vibration: ≤0.5G (4.9m/s²) | ||||
| Robot mass (kg) | 960 | 990 | 990 | 980 | 985 |
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