Nachi SRA220H Series, Manual

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2. Basic specifications
Item Specifications
Robot model SRA220H-01 SRA220HV-01
Construction Articulated
Number of axis 6
Drive system AC servo motor
Axis 1 ±3.14 rad
（
±180°
） ±
2.88 rad
（
±165°
）
Axis 2 -1.40
～
+1.05rad
（
-80
～
+60°
）
Axis 3 -2.69
～
+2.62rad(-154
～
+150°)
Axis 4 ±3.66 rad
（
±210°
）
Axis 5 ±2.27 rad
（
±130°
）
Max. working
envelope
Axis 6 ±3.66 rad
（
±210°
）
Axis 1 2.01 rad/s
（
115°/s
）
Axis 2 1.83 rad/s
（
105°/s
）
Axis 3 1.97 rad/s
（
113°/s
）
Axis 4 2.27 rad/s
（
130°/s
）
Axis 5 2.27 rad/s
（
130°/s
）
Max. speed
Axis 6 3.58 rad/s
（
205°/s
）
Wrist 220 kg
Max. pay load
Forearm *1
20kg (45kg at maximum
）
Axis 4 1,337 N
･
m
Axis 5 1,337 N
･
m
Allowable
static load
torque
Axis 6 720 N
･
m
Axis 4 141.1 kg
･
m
2
Axis 5 141.1 kg
･
m
2
Allowable
moment of
inertia *2
Axis 6 79.0 kg
･
m
2
Position repeatability *3 ±0.15 mm
Installation Floor mount Inverted mount
Ambient conditions
Temperature: 0 to 45 ºC *4
Humidity: 20 to 85%RH (No dew condensation allowed)
Vibration to the installation face: Not more than 0.5G (4.9 m/s
2
)
Dust-proof / Drip-proof performance
Wrist & Body ; IP54 equivalent
Noise *5 79.6 dB
Robot mass 1,100 kg
1[rad] = 180/π[°], 1[N
･
m] = 1/9.8[kgf
･
m]
- On controller display, axis 1 to 6 is displayed J1 to J6 for each.
- The specification and externals described in this specifications might change without a previous notice for the improvement.
- Explosion-proof is not available.
*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: Robot noise is A-weighted equivalent sound level measured under “JIS Z 8737-1” (ISO 11201) with max. payload and max. speed.