Maximum payload up to 210 kg, perfect for handling large panels.
Improved maneuverability
Faster with improved rigidity reduces cycle times and minimizes flexure and vibration.
Clean room compatible
ISO class 6 clean room compatibility for operating in clean room environments.
Easy operation
Teaching pendent with large LCD has color graphics that simplify and clarify operations to greatly reduce Robot Programming times.
Controller
AX20
상세스펙
Robot model
ST133CF-01
ST166CF-01
ST210CF-01
Construction
Articulated construction
Number of axes
6
Drive system
AC servo system
Max. operating area
Arm
J1
Swivel
+/-2.88rad
J2
Forward/
backward
-1.40 to +1.05rad
J3
Upward/
downward
+2.62 to -2.40rad
Wrist
J4
Rotation2
+/-6.28rad
J5
Bending
+/-2.36rad
+/-2.27rad
J6
Rotation1
+/-6.28rad
Max. speed
Arm
J1
Swivel
2.27rad/s
1.92rad/s
1.75rad/s
J2
Forward/
backward
2.27rad/s
1.92rad/s
1.57rad/s
J3
Upward/
downward
2.27rad/s
1.92rad/s
1.66rad/s
Wrist
J4
Rotation2
4.01rad/s
2.97rad/s
2.27rad/s
J5
Bending
4.01rad/s
2.97rad/s
2.27rad/s
J6
Rotation1
5.32rad/s
4.54rad/s
3.49rad/s
Max. Payload
Wrist
133kg
166kg
210kg
Forearm*1
Max .70kg
Allowable static load
torque of wrist
J4
Rotation2
745N·m
951N·m
1337N￥m
J5
Bending
745N·m
951N·m
1337N￥m
J6
Rotation1
411N·m
490N·m
720N￥m
Max. allowable moment
of inertia of wrist*2
J4
Rotation2
60.9kg·m2
88.9kg·m2
141.1kg￥m2
J5
Bending
60.9kg·m2
88.9kg·m2
141.1kg￥m2
J6
Rotation1
30.2kg·m2
45.0kg·m2
79.0kg￥m2
Position repeat accuracy*3
+/-0.2mm
+/-0.3mm
Cleanliness
ISO 14644-1 CLASS 6 compliant
Ambient temperature
10 to 45°C
Installation parameters
Floor mounted
Robot mass
1120kg
1160kg
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
(*1) Varies according to wrist load conditions and installation position.
(*2) Note that wrist moment of interia varies depending on wrist and conditions.
(*3) JIS B 8432 compliant.
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