NACHI SRA166/210-01
| Name | SRA166-01 | SRA210-01 | ||
| Structure |
Articulated construction
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| Number of Axes |
6
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| Payload | Arm | 166kg | 210kg | |
| Wrist |
45kg(max.90kg)
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| Positional Repeatability | ±0.1mm | ±0.15mm | ||
| Drive system |
AC
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| Working Range | Arm | J1(Rotation) | ±3.14rad(±180°) | |
| J2(Lower arm) | +1.05~-1.40rad(+60°~-80°)) | |||
| J3(Upper arm) | +2.62~-2.56rad(+150°~-146.5°) | |||
| Wrist | J4(Swing) | ±6.28rad(±360°) | ||
| J5 | +2.36rad(±135°) | ±2.27rad(±130°) | ||
| J6 | ±6.28rad(±360°) | |||
| Max. Speed | Arm | J1(Rotation) | 2.18rad/s(125°/s) | 2.01rad/s(115°/s) |
| J2(Lower arm) | 2.01rad/s(115°/s) | 1.83rad/s(105°/s) | ||
| J3(Upper arm) | 2.11rad/s(121°/s) | 1.97rad/s(113°/s) | ||
| Wrist | J4(Swing) | 3.14rad/s(180°/s) | 2.44rad/s(140/s°) | |
| J5 | 3.02rad/s(173°/s) | 2.32rad/s(133°/s) | ||
| J6 | 4.54rad/s(260°/s) | 3.49rad/s(200°/s) | ||
| Wirst Allowable Load | Allowable Moment | J4(Swing) | 951N・m | 1337N・m |
| J5 | 951N・m | 1337N・m | ||
| J6 | 490N・m | 720N・m | ||
| Allowable Moment Of Inertia | J4(Swing) | 88.9kg・m2 | 141.1kg・m2 | |
| J5 | 88.9kg・m2 | 141.1kg・m2 | ||
| J6 | 45.0kg・m2 | 79.0kg・m2 | ||
| Ambient temperature | 0~45℃ | |||
| Mass (Weight) | 960 kg | 990kg | ||
| Setting method | Floor , elevation above sea level 1.000m following | |||
