SRA166/210-01A

Speed Robot

Product pecification

Robot model				SRA166-01A	SRA210-01A
instructure				joint type
number of joint				6
drive mode				AC servo mode
Maximum working range	arm	J1	rotate	±3.14rad (±180°)
		J2	front&behind	+1.05～-1.40rad (+60°～-80°)
		J3	up&down	+2.62～-2.56rad (+150°～-146.5°)
	wrist	J4	rotate2	±3.67rad (±210°)
		J5	bending	±2.09rad (±120°)
		J6	rotate1	±3.58rad (±205°)
Maximum speed	arm	J1	rotate	2.18rad/s (125°/s)	2.01rad/s (115°/s)
		J2	front&behind	2.01rad/s (115°/s)	1.83rad/s (105°/s)
		J3	up&down	2.11rad/s (121°/s)	1.97rad/s (113°/s)
	wrist	J4	rotate2	3.14rad/s (180°/s)	2.44rad/s (140°/s)
		J5	bending	3.02rad/s (173°/s)	2.32rad/s (133°/s)
		J6	rotate1	4.54rad/s (260°/s)	3.49rad/s (200°/s)
Transportable weight		wrist		166kg	210kg
Transportable weight		arm^※1		15kg (Max 60kg)
Allowable static load torque		J4	rotate2	951N・m	1,337N・m
		J5	bending	951N・m	1,337N・m
		J6	rotate1	490N・m	720N・m
Allowable maximum moment of inertia^※2		J4	rotate2	88.9kg・m²	141.1kg・m²
		J5	bending	88.9kg・m²	141.1kg・m²
		J6	rotate1	45.0kg・m²	79.0kg・m²
Position repeatability ^※3				±0.1mm	±0.15mm
ambient temperature				0～45°C
Set conditions				Ground installation, elevation below 1,000m
Body weight (kg)				1,060kg	1,090kg