NACHI Spot Welding Robot SRA100B/100J : Compact × High Performance
Robots
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SRA series SRA100B/100J
Compact × High Performance
Robot specifications
| Robot model | SRA100B-01 | SRA100J-01 | |||
|---|---|---|---|---|---|
| Structure | Articulated construction | ||||
| No. of axes | 6 | ||||
| Drive system | AC servo system | ||||
| Max. working envelope |
Arm | J1 | Swivel | ±3.14rad (±180°) | |
| J2 | Horizontal | -2.09 to +1.05rad (-120° to +60°) | |||
| J3 | Vertical | -2.62 to +3.14rad (-150° to +180°) |
-2.18 to +1.57rad (-125° to +90°) |
||
| Wrist | J4 | Rotation 2 | ±6.28rad (±360°) | ||
| J5 | Bend | ±2.36rad (±135°) | |||
| J6 | Rotation 1 | ±6.28rad (±360°) | |||
| Max. speed | Arm | J1 | Swivel | 2.37rad/s (136°/s) | |
| J2 | Horizontal | 1.92rad/s (110°/s) | 2.01rad/s (115°/s) | ||
| J3 | Vertical | 2.27rad/s (130°/s) | 2.79rad/s (160°/s) | ||
| Wrist | J4 | Rotation 2 | 4.19rad/s (240°/s) | ||
| J5 | Bend | 4.07rad/s (233°/s) | |||
| J6 | Rotation 1 | 6.13rad/s (351°/s) | |||
| Payload | Wrist | 100kg | |||
| Forearm *1 | 25kg (maximum 45kg) | ||||
| Allowable static load torque |
J4 | Rotation 2 | 580N·m | ||
| J5 | Bend | 580N·m | |||
| J6 | Rotation 1 | 290N·m | |||
Max. allowable inertia *2 |
J4 | Rotation 2 | 45kg·m2 | ||
| J5 | Bend | 45kg·m2 | |||
| J6 | Rotation 1 | 22.7kg·m2 | |||
| Max. reach | 2,071mm | 1,634mm | |||
| Position repeatability *3 | ±0.06mm | ||||
| Installation | Floor mount | ||||
| Ambient conditions *4 | Temperature : 0 to 45°C |
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| Weight | 690kg | 670kg | |||
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
(*1) Load speci cation 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.