Nachi
Nachi SRA133H/SRA166H/SRA210H Spot Welding Robots
Manufacturer: NACHI
Model: SRA133H/SRA166H/SRA210H
Features
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.
Operating range
The specifications are subject to changes without notice.
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.
Specification
| Item | 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 (Swivel) | ±3.14 rad (±180°) | ±3.14 rad (±180°) | ±3.14 rad (±180°) |
| J2 (Horizontal) | -1.40 to +1.05 rad (-80° to +60°) | same | same |
| J3 (Vertical) | -2.56 to +2.62 rad (-146.5° to +150°) | same | same |
| J4 (Rotation 2) | ±3.66 rad (±210°) | ±3.66 rad (±210°) | ±3.66 rad (±210°) |
| J5 (Bend) | ±2.18 rad (±125°) | ±2.18 rad (±125°) | ±2.18 rad (±125°) |
| J6 (Rotation 1) | ±3.66 rad (±210°) | ±3.66 rad (±210°) | ±3.66 rad (±210°) |
| Max. velocity | |||
| J1 (Swivel) | 2.09 rad/s (120°/s) | 2.18 rad/s (125°/s) | 2.01 rad/s (115°/s) |
| J2 (Horizontal) | 1.92 rad/s (110°/s) | 2.00 rad/s (115°/s) | 1.83 rad/s (105°/s) |
| J3 (Vertical) | 2.06 rad/s (118°/s) | 2.00 rad/s (115°/s) | 1.97 rad/s (113°/s) |
| J4 (Rotation 2) | 3.66 rad/s (210°/s) | 3.05 rad/s (175°/s) | 2.27 rad/s (130°/s) |
| J5 (Bend) | 3.05 rad/s (175°/s) | 2.98 rad/s (171°/s) | 2.27 rad/s (130°/s) |
| J6 (Rotation 1) | 5.41 rad/s (310°/s) | 4.88 rad/s (280°/s) | 3.58 rad/s (205°/s) |
| Payload | Wrist: 133 kg Forearm (*1): 20 kg | Wrist: 166 kg Forearm (*1): 20 kg | Wrist: 210 kg Forearm (*1): 20 kg |
| Allowable static load torque (wrist) | |||
| J4 (Rotation 2) | 830 N·m | 960 N·m | 1337 N·m |
| J5 (Bend) | 830 N·m | 960 N·m | 1337 N·m |
| J6 (Rotation 1) | 441 N·m | 520 N·m | 720 N·m |
| *Allowable moment of inertia (wrist) (2) | |||
| J4 (Rotation 2) | 85 kg·m² | 100 kg·m² | 200 kg·m² |
| J5 (Bend) | 85 kg·m² | 100 kg·m² | 200 kg·m² |
| J6 (Rotation 1) | 45 kg·m² | 50 kg·m² | 155 kg·m² |
| *Position repeatability (3) | ±0.06 mm | ±0.06 mm | ±0.06 mm |
| Installation | Floor | Floor | Floor |
| Ambient conditions | Temp: 0–45°C (*4) Humidity: 20–85% RH (no condensation) Vibration ≤0.5G (4.9 m/s²) | Same | Same |
| *Noise level (5) | 79.6 dB | – | – |
| Robot mass | 1,040 kg | 1,100 kg | – |
(*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 1,000 m 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).
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