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SRA series SRA133H/SRA166H/SRA210H

Spot welding robot with built-in cables

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 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. 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
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 ±0.1mm ±0.15mm
Installation Floor
Ambient conditions

Ambient temperature : 0to45°C *4
Ambient humidity : 20to85%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)