NACHI Spot Welding Robot SRA133H/SRA166H/SRA210H : Spot welding robot with built-in cables

Robots

Robot specifications

Robot model		SRA133H-01	SRA166H-01	SRA210H-01
Structure		Articulated
Number of axes		6
Drive system		AC servo system
Max. operating envelope	J1	±3.14rad (±180°)
	J2	-1.40 +1.05rad (-80° +60°)
	J3	-2.56 +2.62rad (-146.5° +150°)
	J4	±3.66rad (±210°)
	J5	±2.18rad (±125°)
	J6	±3.66rad (±210°)
Max. velocity	J1	2.09rad/s (120°/s)		2.01rad/s (115°/s)
	J2	1.92rad/s (110°/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	166kg	210kg
Payload	Forearm ^*1	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 ^*2	J4	85kg·m²	100kg·m²	200kg·m²
	J5	85kg·m²	100kg·m²	200kg·m²
	J6	45kg·m²	50kg·m²	155kg·m²
Position repeatability ^*3		±0.06mm
Installation		Floor
Ambient conditions		Ambient temperature : 045°C ^*4 Ambient humidity : 2085%RH (without condensation) Vibration : Not more than 0.5G (4.9m/s²)
Noise level ^*5		79.6dB
Robot mass		1040kg	1100kg

1[rad]=180/π[°], 1[N·m]=1/9.8[kgf·m]

(*1) This value changes by placement and load conditions of a wrist.

(*2) The Allowable moment of inertia of a wrist changes with load conditions of a wrist.

(*3) This value conforms to “JIS B 8432”.

(*4) Permitted height is not higher than 1,000m above sea level. If used in higher place, permitted temperature is affected by height.

(*5) A-weighted equivalent sound level measured according to JIS Z 8737-1 (ISO 11201). (while operating at maximum speed with rated load)