SRA100/166/210/166L/120EL

Multifunctional Robot

Product pecification

Robot model				SRA100	SRA166	SRA210	SRA166L	SRA120EL
instructure				joint type
number of joint				6
drive mode				AC servo mode
Maximum working range (rad[°])	arm	J1	rotate	±3.14 [±180]
		J2	front&behind	+1.05 ～ -1.40 [+60～ -80]
		J3	up&down	+2.62 ～ -2.56 [+150～-146.5]			+2.62～-2.33 [+150～-133.4]	+2.62～-2.23 [+150～-127.7]
	wrist	J4	rotate2	±6.28 [±360]
		J5	bending	±2.36 [±135]		±2.27 [±130]	±2.36 [±135]
		J6	rotate1	±6.28 [±360]
Maximum speed (rad/s[°/s])	arm	J1	rotate	2.37 [136]	2.18 [125]	2.01 [115]
		J2	front&behind	2.36 [135]	2.01 [115]	1.83 [105]
		J3	up&down	2.36 [135]	2.11 [121]	1.97 [113]
	wrist	J4	rotate2	4.19 [240]	3.14 [180]	2.44 [140]
		J5	bending	4.07 [233]	3.02 [173]	2.32 [133]	3.02 [173]
		J6	rotate1	6.31 [351]	4.54 [260]	3.49 [200]	4.54 [260]
Transportable weight (kg)		wrist		100	166	210	166	120
Transportable weight (kg)		arm ^*1		45 (max 90)
Allowable static load torque (N・m)		J4	rotate2	580	951	1,337	951	687
		J5	bending	580	951	1,337	951	687
		J6	rotate1	290	490	720	490	353
maximum allowed moment of inertia^*2 (kg・m²)		J4	rotate2	60	88.9	141.1	88.9	60
		J5	bending	60	88.9	141.1	88.9	60
		J6	rotate1	30	45	79	45	30
Maximum working radius (mm)				2,654		2,674	2,951	3,099
Position repeatability ^*3(mm)				±0.1		±0.15
ambient temperature (°C)				0～45
Set conditions				Ground installation, altitude: below 1,000m above sea level
Body weight (kg)				960		990	980	985