NACHI-FUJIKOSHI CORP.
Robots
Main text
ST-CF series
ST133CF/166CF/210CF-01
| 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 | |
| J5 | Bending | 745N·m | 951N·m | 1337N | ||
| J6 | Rotation1 | 411N·m | 490N·m | 720N | ||
| Max. allowable moment of inertia of wrist*2 |
J4 | Rotation2 | 60.9kg·m2 | 88.9kg·m2 | 141.1kg2 | |
| J5 | Bending | 60.9kg·m2 | 88.9kg·m2 | 141.1kg2 | ||
| J6 | Rotation1 | 30.2kg·m2 | 45.0kg·m2 | 79.0kg2 | ||
| 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.