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SRA series SRA100/166/210/166L/120EL

World class Speed Robot

Robot specifications

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) ±0.06
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.
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