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  • NACHI SRA SERIES

    SRA SERIES

    SRA100/166/210/166L/120EL

    Max Payload : 100 – 120 KG (wrist) 

    Max Reach    : 2654 – 3099 mm

     

    1. 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.

    2. 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.

    3. Energy saving

    • Power consumption reduced 15% from existing model by reducing the robot’s weight by 20% and using newest motor drive controls.

    4. Controller

    • FD11
    Robot model SRA100 SRA166 SRA210 SRA166L SRA120EL
    Structure Articulated construction
    Number of axes 6
    Drive system AC servo system
    Max.
    operating
    area
    (rad[°])
    Arm J1 Swivel ±3.14 [±180]
    J2 Back & forth +1.05 to -1.40 [+60 to -80]
    J3 Up & down +2.62 to -2.56
    [+150 to -146.5]
    +2.62 to -2.33
    [+150 to -133.4]
    +2.62 to -2.23
    [+150 to -127.7]
    Wrist J4 Rotation 2 ±6.28 [±360]
    J5 Bend ±2.36
    [±135]
    ±2.27
    [±130]
    ±2.36
    [±135]
    J6 Rotation 1 ±6.28 [±360]
    Max.
    velocity
    (rad/s[°/s])
    Arm J1 Swivel 2.37
    [136]
    2.18
    [125]
    2.01
    [115]
    J2 Back & forth 2.36
    [135]
    2.01
    [115]
    1.83
    [105]
    J3 Up & down 2.36
    [135]
    2.11
    [121]
    1.97
    [113]
    Wrist J4 Rotation 2 4.19
    [240]
    3.14
    [180]
    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 *1 45 (maximum 90)
    Allowable
    static load
    torque (N·m)
    J4 Rotation 2 580 951 1,337 951 687
    J5 Bend 580 951 1,337 951 687
    J6 Rotation 1 290 490 720 490 353
    Max. allowable
    moment of
    inertia *2
    (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) 2,654 2,674 2,951 3,099
    Position repeatability *3(mm) ±0.1 ±0.15
    Installation Floor mounted
    Ambient conditions *4

    Temperature : 0 to 45°C
    Humidity : 20 to 85% RH (without condensation)
    Vibration at the installation surface : Not more than 0.5G (4.9m/s2)

    Robot mass (kg) 960 990 980 985
    1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
    (*1) Load specification of number
    1 arm varies according to wrist load conditions and installation position.
    (*2) Note that the allowable moment of inertia of wrist varies with the wrist load conditions.
    (*3) JIS B 8432 compliant.
    (*4) Permitted height is not higher than 1,000m above sea level. If used in higher place, permitted temperature is affected by height.
    Exterior dimensions and operating envelope

    SRA100/166/210/166L/120EL

    SRA100/166/210/166L/120EL

    SRA100/166/166L/120EL

    SRA100/166/166L/120EL

    SRA210

    SRA210


    (*1) The specifications are subject to changes without notice.
    (*2) In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Law. Please go through careful investigation and necessary formalities for export.

    SRA166/210-01A

    Max Payload : 166 – 210 KG (wrist) 

     

    1. World Class Speed Robot

    • Robot motion makes minimum cycle times unbeatable. Light weight and high rigidity design results in high acceleration and minimum vibration. Maximum speed on all axes reduces move time. All this provides dramatically improved productivity.

    2. Superior Spot Welding Capability

    • Industry leading advanced servo gun software features and technologies.

    3. SRA robot ease of use improves the bottom line

    • Improved drives and motors for accurate positioning and better repeatability.
    • Compact design allows closer installation in less floor space.

    4. Improved energy efficiency

    • Power consumption reduced 15% from existing models by reducing the robot’s weight by 20% and using cutting edge motor drive controls.

    5. Controller

    • FD11
    Robot modelSRA166-01ASRA210-01A
    StructureArticulated construction
    Number of axes6
    Drive systemAC servo system
    Max. operating areaArmJ1Swivel±3.14rad (±180°)
    J2Forward/
    backward
    +1.05 to -1.40rad (+60° to -80°)
    J3Upward/
    downward
    +2.62 to -2.56rad (+150° to -146.5°)
    WristJ4Rotation2±3.67rad (±210°)
    J5Bending±2.09rad (±120°)
    J6Rotation1±3.58rad (±205°)
    Max. velocityArmJ1Swivel2.18rad/s (125°/s)2.01rad/s (115°/s)
    J2Forward/
    backward
    2.01rad/s (115°/s)1.83rad/s (105°/s)
    J3Upward/
    downward
    2.11rad/s (121°/s)1.97rad/s (113°/s)
    WristJ4Rotation23.14rad/s (180°/s)2.44rad/s (140°/s)
    J5Bending3.02rad/s (173°/s)2.32rad/s (133°/s)
    J6Rotation14.54rad/s (260°/s)3.49rad/s (200°/s)
    PayloadWrist166kg210kg
    Forearm(*1)15kg (maximum 60kg)
    Allowable static load torqueJ4Rotation2951N·m1,337N·m
    J5Bending951N·m1,337N·m
    J6Rotation1490N·m720N·m
    Max. allowable moment of inertia (*2)J4Rotation288.9kg·m2141.1kg·m2
    J5Bending88.9kg·m2141.1kg·m2
    J6Rotation145.0kg·m279.0kg·m2
    Position repeatability (*3)±0.1mm±0.15mm
    Ambient temperature0 to 45°C
    InstallationFloor mounted
    Robot mass1,060kg1,090kg

    1[rad]=180/π[°]  1[N·m]=1/9.8[kgf·m]

    (*1) Load specification of number 1 arm varies according to wrist load conditions and installation position.
    (*2) Note that the allowable moment of inertia of wrist varies with the wrist load conditions.
    (*3) JIS B 8432 compliant.
    Exterior dimensions and operating envelope

    SRA 166/210-01A

    SRA 166/210-01A

    (*1) The specifications are subject to changes without notice.
    (*2) In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Law. Please go through careful investigation and necessary formalities for export.

    SRA100/166/210/166L/120EL

    SRA100/166/210/166L/120EL

    SRA100/166/166L/120EL

    SRA100/166/166L/120EL

    SRA210

    SRA210

    (*1) The specifications are subject to changes without notice.
    (*2) In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Law. Please go through careful investigation and necessary formalities for export.

    SRA100B/100J

    Max Payload : 100 KG (wrist) 

     

    1. Compact

    • Compact arm construction allows installation in small places.
      Robot base: 500 mm wide
      Interference radius of frame: 366 mm

    2. High performance

    • High-speed control of SRA series ultra-fast robots Provides world-class production efficiency.
    • Plenty of lifting power.
      Payload capacity: 100 kg
      Wrist torque: 580 N·m (J4 and J5 axes)

    3. Controller

    • FD11
    Robot modelSRA100HS-01SRA100HB-01
    StructureArticulated
    Number of axes6
    Drive systemAC servo system
    Max.
    operating
    envelope
    J1±3.14rad (±180°)
    J2-2.09 to +1.05rad
    (-120°to +60°)
    -2.09 to +1.05rad
    (-120°to +60°)
    J3-2.18 to +1.57rad
    (-125°to +60°)
    -2.64 to +1.57rad
    (-151°to +90°)
    J4±3.66rad (±210°)
    J5±2.18rad (±125°)
    J6±3.66rad (±210°)
    Max. velocityJ12.37rad/s (136°/s)
    J22.00rad/s (115°/s)
    J32.79rad/s (160°/s)
    J43.66rad/s (210°/s)3.93rad/s (225°/s)
    J53.05rad/s (175°/s)
    J65.41rad/s (310°/s)5.50rad/s (315°/s)
    PayloadWrist100kg
    Forearm *120kg
    Allowable
    static load
    torque for
    wrist
    J4830N·m650N·m
    J5830N·m650N·m
    J6441N·m315N·m
    Allowable
    moment of
    inertia for
    wrist *2
    J485kg·m2
    J585kg·m2
    J645kg·m2
    Position repeatability *3±0.1mm
    InstallationFloor
    Ambient conditions

    Ambient temperature : 0to45°C *4
    Ambient humidity : 20to85%RH (without condensation)
    Vibration : Not more than 0.5G (4.9m/s2)

    Noise level *579.6dB
    Robot mass690kg750kg

     

    1[rad]=180/p[°] 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)
    Exterior dimensions and working envelope

    SRA100B-01

    SRA100B-01 Exterior dimensions and working envelope

    SRA100J-01

    SRA100J-01 Exterior dimensions and working envelope

    Details of wrist attachment (same for SRA100B and SRA100J)

    Details of wrist attachment (same for SRA100B and SRA100J)
    (*1) The specifications are subject to changes without notice.
    (*2) In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Law. Please go through careful investigation and necessary formalities for export.

    SRA100H/SRA133HL

    Max Payload : 100 – 133 KG (wrist) 

    Max Reach    : 2654 – 2951 mm

     

    1. Smart Cable Management

    • Spot welding cables and utility lines are routed through the hollow forearm and wrist for protection, ensuring long life. No surprises from swinging dress cables not modeled in simulation. Minimize interferences, much better than external dress solutions.

    2. World’s Fastest Robot

    • The best motion control in the class makes cycle times unbeatable. Light weight, highly rigid design robot for high acceleration with minimum vibration. The high speed of all axes provide minimized movement times. Dramatically improves manufacturing productivity.

    3. Controller

    • FD11
    Robot modelSRA100H-01SRA133HL-01
    StructureArticulated construction
    Number of axes6
    Drive systemAC servo system
    Max.
    working
    envelope
    ArmJ1Swivel±3.14rad (±180°)
    J2Horizontal-1.40 to +1.05rad (-80° to +60°)
    J3Vertical-2.56 to +2.62rad
    (-146.5° to +150°)
    -2.33 to +2.62rad
    (-133.4° to +150°)
    WristJ4Rotation 2±3.66rad (±210°)
    J5Bend±2.18rad (±125°)
    J6Rotation 1±3.66rad (±210°)
    Max. speedArmJ1Swivel2.18rad/s (125°/s)2.01rad/s (115°/s)
    J2Horizontal2.00rad/s (115°/s)1.83rad/s (105°/s)
    J3Vertical2.11rad/s (121°/s)1.97rad/s (113°/s)
    WristJ4Rotation 23.66rad/s (210°/s)
    J5Bend3.05rad/s (175°/s)
    J6Rotation 15.41rad/s (310°/s)
    PayloadWrist100kg133kg
    Forearm *120kg
    Allowable static
    load torque
    J4Rotation 2830N·m
    J5Bend830N·m
    J6Rotation 1441N·m
    Max. allowable
    moment of
    inertia *2
    J4Rotation 285.0kg·m2
    J5Bend85.0kg·m2
    J6Rotation 145.0kg·m2
    Max. reach2,654mm2,951mm
    Position repeatability *3±0.1mm±0.15mm
    InstallationFloor mount
    Ambient conditions

    Temperature : 0 to 45°C *4
    Humidity : 20 to 85% RH (without condensation)
    Vibration at the installation surface : Not more than 0.5G (4.9m/s2)

    Weight1040kg1070kg

     

    1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]

    ( * ) On controller display, axis 1 to 6 is displayed as J1 to J6 for each.
    ( * ) The specification and externals described in this specifications might change without a previous notice for the improvement.
    ( * ) Explosion proof is not available.

    (*1) Load specification of number 1 arm varies according to wrist load conditions and installation position.

    (*2) Note that the allowable moment of inertia of wrist varies with the wrist load conditions.
    (*3) JIS B 8432 compliant.
    (*4) Permitted height is not higher than 1,000m above sea level. If used in higher place, permitted temperature is affected by height.

    Exterior dimensions and working envelope

    SRA100H-01/SRA133HL-01

    SRA100H/SRA133HL Exterior dimensions and working envelope

    (*1) The specifications are subject to changes without notice.
    (*2) In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Law. Please go through careful investigation and necessary formalities for export.
     

     

    SRA133H/SRA166H/SRA210H

    Max Payload : 133 – 210 KG (wrist) 

     

    1. Improved reliability for welding cables and hoses

    • The reliability is improved by stabilizing cable performance to avoid damage due to interference with peripheral equipment.

    2. Shortened the startup time

    • We greatly decreased the time to check work programs because cables do not interfere with peripheral equipment.

    3. 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%.

    4. 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.

    5. Speed

    • The hollow arm can also operate at the same high speeds as the SRA.
    Robot modelSRA133H-01SRA166H-01SRA210H-01
    StructureArticulated
    Number of axes6
    Drive systemAC servo system
    Max.
    operating
    envelope
    J1±3.14rad (±180°)
    J2-1.40 to +1.05rad (-80°to +60°)
    J3-2.56 to +2.62rad (-146.5°to +150°)
    J4±3.66rad (±210°)
    J5±2.18rad (±125°)
    J6±3.66rad (±210°)
    Max. velocityJ12.09rad/s (120°/s)2.01rad/s (115°/s)
    J21.92rad/s (110°/s)1.83rad/s (105°/s)
    J32.06rad/s (118°/s)2.00rad/s (115°/s)1.97rad/s (113°/s)
    J43.66rad/s (210°/s)3.05rad/s (175°/s)2.27rad/s (130°/s)
    J53.05rad/s (175°/s)2.98rad/s (171°/s)2.27rad/s (130°/s)
    J65.41rad/s (310°/s)4.88rad/s (280°/s)3.58rad/s (205°/s)
    PayloadWrist133kg166kg210kg
    Forearm *120kg
    Allowable
    static load
    torque for
    wrist
    J4830N·m960N·m1337N·m
    J5830N·m960N·m1337N·m
    J6441N·m520N·m720N·m
    Allowable
    moment of
    inertia for
    wrist *2
    J485kg·m2100kg·m2200kg·m2
    J585kg·m2100kg·m2200kg·m2
    J645kg·m250kg·m2155kg·m2
    Position repeatability *3±0.1mm±0.15mm
    InstallationFloor
    Ambient conditions

    Ambient temperature : 0to45°C *4
    Ambient humidity : 20to85%RH (without condensation)
    Vibration : Not more than 0.5G (4.9m/s2)

    Noise level *579.6dB
    Robot mass1040kg1100kg

     

    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)

    Exterior dimensions and working envelope

     

    Exterior dimensions and working envelope SRA133H/SRA166H/SRA210H

    (*1) The specifications are subject to changes without notice.
    (*2) In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Law. Please go through careful investigation and necessary formalities for export.

    SRA100HS/SRA100HB

    Max Payload : 100 KG (wrist) 

     

    1. Cable built into the hollow arm

    Welding cables and hoses packed tightly inside arms with hollow construction.

    • Avoids interference with peripheral equipment through the displacement of cables.
    • Improved reliability and safety of cable performance through wrist operations
    • The embedded welding cables in the arm make the off-line programming easier.

    2. Compact body

    • Minimized robot height so it can be used in multilevel arrangements
    Robot modelSRA100HS-01SRA100HB-01
    StructureArticulated
    Number of axes6
    Drive systemAC servo system
    Max.
    operating
    envelope
    J1±3.14rad (±180°)
    J2-2.09 to +1.05rad
    (-120°to +60°)
    -2.09 to +1.05rad
    (-120°to +60°)
    J3-2.18 to +1.57rad
    (-125°to +60°)
    -2.64 to +1.57rad
    (-151°to +90°)
    J4±3.66rad (±210°)
    J5±2.18rad (±125°)
    J6±3.66rad (±210°)
    Max. velocityJ12.37rad/s (136°/s)
    J22.00rad/s (115°/s)
    J32.79rad/s (160°/s)
    J43.66rad/s (210°/s)3.93rad/s (225°/s)
    J53.05rad/s (175°/s)
    J65.41rad/s (310°/s)5.50rad/s (315°/s)
    PayloadWrist100kg
    Forearm *120kg
    Allowable
    static load
    torque for
    wrist
    J4830N·m650N·m
    J5830N·m650N·m
    J6441N·m315N·m
    Allowable
    moment of
    inertia for
    wrist *2
    J485kg·m2
    J585kg·m2
    J645kg·m2
    Position repeatability *3±0.1mm
    InstallationFloor
    Ambient conditions

    Ambient temperature : 0to45°C *4
    Ambient humidity : 20to85%RH (without condensation)
    Vibration : Not more than 0.5G (4.9m/s2)

    Noise level *579.6dB
    Robot mass690kg750kg

    1[rad]=180/p[°] 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)
     

    Exterior dimensions and working envelope

     SRA100HS-01

    Exterior dimensions and operating envelope SRA100HS-01

    SRA100HB-01

    Exterior dimensions and operating envelope SRA100HB-01

    (*1) The specifications are subject to changes without notice.
    (*2) In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Act. Please go through careful investigation and necessary formalities for export.
     
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