NACHI
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ST210TP
Product Description
**High speed transfer·Improved durability** * Highly rigid design and vibration suppression control ensure high speed motion and durability improvement. (Transfer capability : Max.12spm under condition of light load) **New swivel arm for press tending** * Thin and light arm, payload up to 80kg. (hand tool + work piece) * Available various orientations of work transfer. (parallel transfer, 180°/90° rotated transfer) * Maximum press pitch up to 8m. * Change tools while press dies are being changed by installing the Auto Tool Changer(option). **Internal air hose and application cable** * Air: Ø12 x 4 line, Application cable: 40 wires. **Controller** * FD11
Technical Specifications
| Item | Specification |
|---|---|
| Robot model | ST210TP-01 |
| Construction | Articulated construction |
| Number of axes | 7 |
| Drive system | AC servo system |
| Max. operating area | |
| J1 (Arm) | ±3.14 rad |
| J2 (Arm) | +2.09 ~ –0.61 rad |
| J3 (Arm) | +3.67 ~ –1.68 rad |
| J4 (Wrist) | ±6.28 rad |
| J5 (Wrist) | ±2.09 rad |
| J6 (Wrist) | ±6.28 rad |
| J7 (Swivel arm) | ±1.13 rad |
| Max. speed | |
| J1 (Arm) | 1.92 rad/s |
| J2 (Arm) | 1.57 rad/s |
| J3 (Arm) | 1.66 rad/s |
| J4 (Wrist) | 2.27 rad/s |
| J5 (Wrist) | 2.27 rad/s |
| J6 (Wrist) | 4.36 rad/s |
| J7 (Swivel arm) | 2.09 rad/s |
| Max. Payload | Wrist: 80 kg / Forearm: 30 kg |
| Max. allowable moment of inertia | J7: 80 kg·m² |
| Position repeatability | ±0.3 mm |
| Ambient temperature | 0 ~ 45°C |
| Ambient humidity | 20 ~ 80% RH (Non condensing) |
| Vibration value | Less than 0.5 G |
| Installation conditions | Shelf mount (20° inclined) |
| Robot mass | 1,650 kg |
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