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SRA series

SRA166/210-01A

Robot specifications

Robot model SRA166-01A SRA210-01A
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 ±3.67rad (±210°)
J5 Bending ±2.09rad (±120°)
J6 Rotation1 ±3.58rad (±205°)
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) 15kg (maximum 60kg)
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 1,060kg 1,090kg

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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