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.
상세스펙
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 +1.05rad (-80° +60°)
J3
-2.56 +2.62rad
(-146.5° +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 : 045°C *4 Ambient humidity : 2085%RH (without condensation) Vibration : Not more than 0.5G (4.9m/s2)
Noise level *5
79.6dB
Robot mass
1040kg
1100kg
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