Robot specifications
| Robot model |
SRA166-01 |
SRA210-01 |
| Structure |
Articulated construction |
| Number of axes |
6 |
| Drive system |
AC servo system |
| Max. operating area |
Arm |
J1 |
Swivel |
±3.14rad (±180°) |
| J2 |
Forward/
backward |
+1.05 to -1.40rad (+60° to -80°) |
| J3 |
Upward/
downward |
+2.62 to -2.56rad (+150° to -146.5°) |
| Wrist |
J4 |
Rotation2 |
±6.28rad (±360°) |
| J5 |
Bending |
±2.36rad (±135°) |
±2.27rad (±130°) |
| J6 |
Rotation1 |
±6.28rad (±360°) |
| Max. velocity |
Arm |
J1 |
Swivel |
2.18rad/s (125°/s) |
2.01rad/s (115°/s) |
| J2 |
Forward/
backward |
2.01rad/s (115°/s) |
1.83rad/s (105°/s) |
| J3 |
Upward/
downward |
2.11rad/s (121°/s) |
1.97rad/s (113°/s) |
| Wrist |
J4 |
Rotation2 |
3.14rad/s (180°/s) |
2.44rad/s (140°/s) |
| J5 |
Bending |
3.02rad/s (173°/s) |
2.32rad/s (133°/s) |
| J6 |
Rotation1 |
4.54rad/s (260°/s) |
3.49rad/s (200°/s) |
| Payload |
Wrist |
166kg |
210kg |
| Forearm(*1) |
45kg (maximum 90kg) |
| Allowable static load torque |
J4 |
Rotation2 |
951N·m |
1,337N·m |
| J5 |
Bending |
951N·m |
1,337N·m |
| J6 |
Rotation1 |
490N·m |
720N·m |
| Max. allowable moment of inertia (*2) |
J4 |
Rotation2 |
88.9kg·m2 |
141.1kg·m2 |
| J5 |
Bending |
88.9kg·m2 |
141.1kg·m2 |
| J6 |
Rotation1 |
45.0kg·m2 |
79.0kg·m2 |
| Position repeatability (*3) |
±0.1mm |
±0.15mm |
| Ambient temperature |
0 to 45°C |
| Installation |
Floor mounted |
| Robot mass |
960kg |
990kg |
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.
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