Nachi SRA-H Series User manual

Standard specifications
SRA-H-01-FD11
SRA-HL-01-FD11
6th edition
1608, SSRAEN-071-006,001

Table of contents
1. Outline........................................................................................................................ 1
2. Basic specifications.................................................................................................... 2
3. Robot dimensions and working envelope................................................................... 3
4. Detail of load mounting plate...................................................................................... 6
5. Installation procedure................................................................................................. 8
6. Allowable wrist load.................................................................................................. 11
7. Option specifications ................................................................................................ 18
8. Application wiring and piping diagram ...................................................................... 21
9. Safety measures against transport........................................................................... 24
10. Delivery style (specification which contains a robot) .............................................. 26
11. Consuming power (Robot + Controller) .................................................................. 26
12. Paint color .............................................................................................................. 26
13. Warranty................................................................................................................. 26

Page-1
1. Outline
NACHI ROBOT “SRA-H series” is optimal robot for spot welding, material handling and other
applications, and provides dramatically improved productivity by its overwhelming speed and
compact body.
This series contains not only the “Standard type” but also the “Long arm type” which spreads its
operating range
Standard type
Installation Max. payload
100 kg
Max. payload
133 kg
Max. payload
166 kg
Max. payload
210 kg
Floor mount SRA100H-01 SRA133H-01 SRA166H-01 SRA210H-01
Long arm type
Installation Max. payload
133 kg
Floor mount SRA133HL-01
■ World class speed robot
・Cycle time reduced by 3 improvements of light weight, high rigidity and quick motion control,
resulting in high acceleration and minimum vibration.
■ Ease of use
・Operating range of robot is irrelevant to the payload mass. Axis 5 (wrist) operating range is
maximum in its class. These features open the robot to more diverse applications, thus resulting
in easier application design (*1).
・By installing the balance unit inside arm, swivel base becomes slim. Slim and compact design
allows closer installation in less floor space.
・Sufficient application wires and tubes are installed inside arm in order to apply to bigger and high
function tool.
■ Improved energy efficiency
・Power consumption reduced 15% from existing model by reducing the robot’s weight by 20% and
using cutting edge motor drive controls.
*1; “Application” is the purpose of robot’s usage. For example, spot welding and material handling.

Page-2
2. Basic specifications
Item Specifications
Robot model SRA100H-01 SRA133H-01 SRA166H-01 SRA210H-01 SRA133HL-01
Construction Articulated
Number of axis 6
Drive system AC servo motor
Axis 1 ±3.14 rad（±180°）
Axis 2 -1.40 ～+1.05 rad（-80 ～+60°）
Axis 3 -2.56 ～+2.62 rad
(-146.5 ～ +150°)
-2.33 ～ +2.62 rad
(-133.4
～ +150°)
Axis 4 ±3.66 rad（±210°）
Axis 5 ±2.18 rad（±125°）
Max. working
envelope
Axis 6 ±3.66 rad（±210°）
Axis 1
2.18 rad/s （ 125°/s ） 2.09 rad/s （ 120°/s ） 2.01 rad/s （ 115°/s ）
Axis 2 2.00 rad/s （ 115°/s ） 1.92 rad/s （ 110°/s ） 1.83 rad/s （ 105°/s ）
Axis 3 2.11 rad/s （ 121°/s ） 2.06 rad/s （ 118°/s ）
2.00 rad/s （ 115°/s ）
1.97 rad/s （ 113°/s ）
Axis 4 3.66 rad/s（210°/s）
3.05 rad/s （ 175°/s ）
2.27 rad/s （ 130°/s ） 3.66 rad/s （ 210°/s ）
Axis 5 3.05 rad/s（175°/s）
2.98 rad/s （ 171°/s ）
2.27 rad/s （ 130°/s ） 3.05 rad/s （ 175°/s ）
Max. speed
Axis 6 5.41 rad/s（310°/s）
4.88 rad/s （ 280°/s ）
3.58 rad/s （ 205°/s ） 5.41 rad/s （ 310°/s ）
Wrist 100 kg 133 kg 166 kg 210 kg 133 kg
Max. pay load
Forearm *1 20kg
Axis 4 830 N･m 960 N･m 1337 N･m 830 N･m
Axis 5 830 N･m 960 N･m 1337 N･m 830 N･m
Allowable
static load
torque Axis 6 441 N･m 520 N･m 720 N･m 441 N･m
Axis 4 85 kg･m2100 kg･m2200 kg･m285 kg･m2
Axis 5 85 kg･m2100 kg･m2200 kg･m285 kg･m2
Allowable
moment of
inertia *2 Axis 6 45 kg･m250 kg･m2155 kg･m245 kg･m2
Position repeatability *3 ±0.1 mm ±0.15 mm
Installation Floor 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/s2)
Dust-proof / Drip-proof performance Wrist & Body ; IP54 equivalent,
Noise *5 79.6 dB
Robot mass 1040 kg 1100 kg 1070 kg
1[rad] = 180/π[°], 1[N･m] = 1/9.8[kgf･m]
- On controller display, axis 1 to 6 is displayed JT1 to JT6 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.

Page-3
3. Robot dimensions and working envelope
【SRA100H-01】 【SRA133H-01】

Page-4
【SRA166H-01】 【SRA210H-01】

Page-5
【SRA133HL-01】

Page-6
4. Detail of load mounting plate
■ Wrist
For the end effecter fixing bolts, use the mounting P.C.D. shown in the following figures.
Another P.C.D. is prepared as option. Consult with each NACHI-FUJIKOSHI office for the details
CAUTION
Be sure to screw the M10 tool fixing bolts in the wrist not deeper than the screw depth in
the mounting face. Screwing the bolts deeper than the screw depth may damage the
wrist.
IMPORTANT
Cables and tubes are pulled out from the center portion of end effecter. So please make
a hole of φ100 on end effecter for easier maintenance without dismounting it.
If making hole on end effecter is impossible, extension flange (option) is prepared in
order to pull out cables from the side.
【SRA100H-01】【SRA133L-01】【SRA133HL-01】
【SRA166H-01】【SRA210H-01】
IMPORTANT
Be sure to use P.C.D.160 tap hole when tool weight is more than 166 kg.
Tightening torque of
M10 Hex. socket head cap screw
JIS: Strength class 10.9 55 N・m
JIS: Strength class 12.9 67 N・m
Tightening torque of
M10 Hex. socket head cap screw
JIS: Strength class 10.9 55 N・m
JIS: Strength class 12.9 67 N・m

Page-7
■ Upper part of forearm
Ancillary equipment can be mounted to the upper part of robot forearm.
【SRA100H-01】【SRA133H-01】【SRA166H-01】【SRA210H-01】【SRA133HL-01】
Cross section view of Z-Z (4 portions)
Gear box
Bracket
Tap depth

Page-8
5. Installation procedure
The installation location and the installation procedure of the robot are critical factors to maintain robot
functions. The ambient conditions of installation location not only have influence on the life of mechanical
sections of the robot, but also get involved in safety issues. Consequently, strictly observe the
environmental conditions shown below. Furthermore, utmost care should be exerted for the installation
procedure and the foundation for the robot in order to maintain the robot performance. Strictly observe
the installation procedure for the robot provided below.
Installation
To install the robot, give it first priority to thoroughly consider safety of workers and take safety
measures. The following describes precautions for this purpose.
Safety measures against entry in the robot operating area
WARNING
While the robot is in operation, workers are in danger of coming in contact with the
robot. To avoid that, install a guard fence so as to keep the worker away from the robot.
Not doing so will cause the workers or other persons to accidentally enter the operating
area, thus resulting in accidents.
■ Space surrounding robot
IMPORTANT
When installing this robot, open space written
in figure is necessary for maintenance work such
as motor replacement, balancer replacement and
other work.
■ Installation location and ambient conditions
Conditions (temperature, humidity, height and vibration) are written in “2. Basic Specifications”.
Further ambient conditions listed below must be observed.
(1) Location with the drainage structure so that swivel base is not flooded, when the liquid such
as water or cutting fluid is splashed on the robot body
(2) Location with no flammable or corrosive fluid or gas.
(3) Type D grounding (the grounding resistance is 100Ωor less) is necessary.
■ Installation procedure
While robot moves, large reaction force is applied to the swiveling base from all directions.
Consequently, the robot should be installed in such a manner that the foundation endures not
only the static loads but also the reaction force caused by robot movement.
Repair uneven spots, cracks, and others on the floor, and then install the robot by following to
the table below. If thickness of floor concrete is less than needed level, an independent
foundation should be constructed. Inspect the foundation prior to the robot installation, and then
construct the foundation, if necessary.
Robot Model SRA100H-01 SRA133H-01 SRA166H-01 SRA210H-01
SRA133HL-01
Thickness of floor concrete Not less than 160 mm
Installation parts *1
8 bolts of M20 (JIS: Strength class 12.9) not less than 65mm
8 plain washers of not less than 4.5 mm in thickness
and HRC35 in hardness
Tightening torque *2 560 ±30 Nm
Allowable repeated tensile *3 Approx.
22,000 N
Approx.
28,000 N
Approx.
30,000 N
Approx.
28,000 N
*1 : Installation parts are not accessory of robot.
*2 : Apply a coating of lubricating oil to the threaded parts of bolts, and then tighten bolts by using torque wrench to the
specified tightening torque.
*3 : This tensile is per installation bolt when robot is installed with all bolts written in table above.
Axis1 = 0 degree

Page-9
■ Installation space
To install the robot, lock the swiveling base of the robot.
CAUTION
The mechanical stopper end is located in a position exceeding the specified working
envelope (software limit) of axis 1 by 3°. To install the safety fence, with consideration
given to the wrist configuration and the shape of end effecter.
WARNING
On axes 1, 2 and 3, the robot working envelope can be regulated for safety (optional
function). Since optional parts should be installed to enable this function, do not
independently move the standard parts (e.g. mechanical stopper).
WARNING
If mechanical stopper collides and robot stops, it’s possible that some parts are already
damaged, for example, mechanical stopper is transformed or fixing bolts are broken. In
this case, sufficient intensity and function can not been kept. Mechanical stopper and
reduction gear of collided joint are needed to be replaced to the new one.
Robot type

Page-10
■ Accuracy of installation surface
When installing robot, strictly observe precautions listed below to cause no deformation in the swivel
base.
(1)
Make the deviation from the flatness of the 4 plates on the robot installation surface fall within 1.0 mm.
(2) Make the deviation in height between the 4 places of each base plate installation surface and the
robot installation surface fall in the range of 1.0 mm (±0.5 mm).
(3) If the two precautions above
cannot be observed, use jack bolts to
bring the four places into even contact
with the installation surface.
■ Welding of base plate
Protect the space (4 places of the front, back, left and right) on robot bottom and installed side by the
cover etc. as follows when you weld with the base plate installed in the robot body by the welding
spatter and the spark, etc. so that wiring in the robot should not receive damage. After welding the
outer line, once remove the robot and weld the inner line.
Temporary install the robot, and weld the outer line of
base plate.
Protection necessary for 4 positions
(front, rear, right and left)
Four
Base plates
Weld the outer line
of base plate
→
Once remove the robot and weld the inner
line.
Weld the inner line
of base plate
→
Installing
■ Maximum robot generative force
Robot model
Max. vertical
generative force
F
V
Max. horizontal
generative force
F
H
Max. vertical
generative moment
M
V
Max. horizontal
generative moment
M
H
SRA100H-01 43,500 N 31,800 N 88,200 N･m 75,700 N･m
SRA133H-01 46,800 N 35,200 N 92,300 N・m 79,700 N・m
SRA166H-01
SRA133HL-01 52,800 N 40,500 N 113,200 N・m 98,300 N・m
SRA210H-01 56,300 N 43,700 N 122,000 N・m 106,300 N・m

Page-11
6. Allowable wrist load
CAUTION
Load fixed on the tip of wrist is regulated by “allowable payload mass”, “allowable static
load torque”, and “allowable moment of inertia”. Strictly keep the wrist load within each
allowable value. If wrist load exceeds the allowable value, this robot is out of guarantee.
Refer to the table of “2. Basic specifications” and following figures for the detail of each
specification.
■ Torque map
C.O.G. of wrist load should exist inside the range shown below.
[SRA100H-01]
[SRA133H-01]
[SRA133HL-01]

Page-12
[SRA166H-01]
[SRA210H-01]

Page-13
■ Wrist load conditions
Static load torque and moment of inertia of wrist load should exist inside the range shown below.
IMPORTANT
If the real inertia is over the limit written in “2. Basic specifications”, maximum speed will
be restrained by software.
[SRA100H-01]
[SRA133H-01]
[SRA133HL-01]
Axis 4, 5
Axis 6
Axis 4, 5
Axis 6

Page-14
[SRA166H-01]
[SRA210H-01]
Axis 4, 5
Axis 6
Axis 4, 5
Axis 6

Page-15
■ How to find the inertia moment
X
Z
Y
I
Z
m
x
z
y
I
Y
I
X
l
z
l
y
l
x
（
X
m,
Y
m,
Z
m）
Tool
Wrist
coordinate
Wrist coordinate system
X: Perpendicular coordinate wit h Y, Z
Y: A
xis 5 rotation cen te r when wrist is in reference position
Z: A
xis 6 and 4 rotation cen te r when wrist is in reference position
Tool COG c oordinate sy st em
(Origin is COG of tool, and parallelto wrist coordinate system)
x: Parallel to X
y: Parallel to Y
z: Parallel t o Z
Ine r ti a mom en t
IX: Ar oun d X o n wr ist co ordina te sy stem
IY: Ar oun d Y on wrist coo rd inat e syst em
IZ: A ro un d Z on wri st co or din ate syste m
Ix: Ar ou nd x
on tool C OG coo rdinat e syst em
Iy: Ar ou nd y
on tool C OG coo rdinat e syst em
Iz: Ar ou nd z
on tool C OG coo rdinat e syst em
m: Tool mass
（Xm, Ym, Zm）: COG (ce nter of gravity) of tool
1 Calculate inertia moment on tool
COG coordinate system (xyz).
If tool is regarded as prism, it is
calculated as right formula.
)(
12
1
)(
12
1
)(
12
1
22
22
22
CBmI
CAmI
BAmI
z
y
x
+⋅=
+⋅=
+⋅=
lx
AB
C
If tool is regarded as prism
l
y
lz
m
Inertia moment example on tool COG coordinate system
2 Calculate inertia moment on wrist
coordinate system (XYZ).
If tool is regarded as aggregate of
more than one solid, all inertia
moment must be combined.
zmmZ
ymmY
xmmX
IYXmI
IZXmI
IZYmI
++⋅=
++⋅=
++⋅=
)(
)(
)(
22
22
22
Inertia moment
on wrist coordinate system
“Inertia moment on wrist coordinate system” is registered to controller.
3 Calculate inertia moment around
robot wrist joint (axis 4, 5 and 6).
This result must not be larger than
“Allowable moment of inertia”
written in robot specification sheet.
Axis 4 and 5 inertia moment is adopted larger value of
around wrist coordinate system X and Y. (Because this
depends on the axis 6 position.)
Axis 6 inertia moment is around wrist coordinate
system Z itself.
ZJ
YXJJ
II
IIII
=
==
6
54 ),(max

Page-16
■ Allowable forearm load
Use the robot under condition that COG of the ancillary equipment on the forearm falls in the
range shown below.
【SRA100H-01】
When wrist load
is 100kg
【SRA133H-01】
When wrist load
is 133kg
【SRA166H-01】
When wrist load
is 166kg
【SRA210H-01】
When wrist load
is 210kg

Page-17
【SRA133HL-01】
When wrist load
is 133kg

Page-18
7. Option specifications
○: Possible to correspond／－: Impossible to correspond
Robot model
No. Item Specifications Parts No.
SRA100H-01 SRA133H-01 SRA166H-01 SRA210H-01 SRA133HL-01
with pin hole
OP-F1-024 ○ ○ ○ ○ ○
Chemical anchor specification
Base plate welded (anchors not included) without pin hole
OP-F1-028 ○ ○ ○ ○ ○
with pin hole
OP-F2-018 ○ ○ ○ ○ ○
Ore anchor specification
Base plate welded (anchors not included) without pin hole
OP-F2-019 ○ ○ ○ ○ ○
Pins set (Installation pins & polyethylene plug)
OP-F1-025 ○ ○ ○ ○ ○
Leveling plate ( □200mm×t=32mm, 4 plates )
OP-F1-026 ○ ○ ○ ○ ○
Installation bolts & washers
OP-F1-027 ○ ○ ○ ○ ○
Chemical anchor
OP-F1-038 ○ ○ ○ ○ ○
1 Installation parts *1
Ore anchor
OP-F2-023 ○ ○ ○ ○ ○
2 Axis 1 adjustable stopper
*1 ， *2 ， *3
Restriction of axis 1 operation edge
(±2.61 rad
～ ±0 rad every 0.17 rad)
OP-S5-019 ○ ○ ○ ○ ○
3 Axis 2 adjustable stopper
*1 ， *3
Restriction of axis 2 operation edge
(-0.26 and -0.52 rad from the operation edge)
OP-A5-027 ○ ○ ○ ○ ○
4 Axis 3 adjustable stopper
*1 ， *3
Restriction of axis 3 upside operation edge
（ -0.52, -0.79 , -1.05 , -1.31 and -1.57 rad from the operation edge ）
OP-A6-027 ○ ○ ○ ○ ○
5 Axis 2 adjustable LS dog
*1 ， *3 Axis 2 axis adjustable limit switch dog set
OP-S8-007 ○ ○ ○ ○ ○
6 Axis 3 adjustable LS dog
*1 ， *3 Axis 3 axis adjustable limit switch dog set
OP-S4-013 ○ ○ ○ ○ ○
7 Dual circuit limit switch For axes 1, 2 and 3 (3pcs. of dual circuit LS)
OP-D7-013 ○ ○ ○ ○ ○
8 Transfer jig Fork bracket for floor mounting type
OP-S2-033 ○ ○ ○ ○ ○
9 Zeroing pin & Zeroing block
*1 For 100,133, 210kg payload
OP-T2-077 ○ ○ ○ ○ ○
Flange to pull out cable from side （ P.C.D.92/P.C.D125
and P.C.D160 ） (Pin arrangement vertical)
OP-W3-013 ○ ○ ○ ○ ○
10 Extension flange
Flange to pull out cable from side （ P.C.D.92/P.C.D125
and P.C.D160 ） (Pin arrangement horizontal)
OP-W3-014 ○ ○ ○ ○ ○
11 Scale seal For wrist three axes
OP-N2-020 ○ ○ ○ ○ ○
For 100,133kg payload
OP-N5-036 ○ ○ - - -
For 166kg payload
OP-N5-049 - - ○ - -
For 210kg payload
OP-N5-047 - - - ○ -
12 Water proof coolant Paint
For 133kg
Long arm type
OP-N5-037 - - - - ○
13 Encoder connector Protector For axis 3
OP-P6-005 ○ ○ ○ ○ ○
Bypass of motor and encoder cables
BCUNIT20-30 ○ ○ ○ ○ ○
Bypass of hollow arm cables
BCABLE-20 ○ ○ ○ ○ ○
14 Bypass cable *1
Attachment for bypass of hollow arm cables
KP-ZJ-027 ○ ○ ○ ○ ○
For axis 2
KP-ZD-005 ○ ○ ○ ○ ○
15 Arm fixed jig *1 For axis 3
KP-ZJ-011 ○ ○ ○ ○ ○
Analog pressure gauge
KP-ZJ-013 ○ ○ ○ ○ ○
16 Gas balancer unit
Pressure gauge *1 Digital pressure gauge
KP-ZJ-014 ○ ○ ○ ○ ○
Charging unit ( W22,picth14,Female )
KP-ZJ-015 ○ ○ ○ ○ ○
Charging unit ( W23,picth14,Male )
KP-ZJ-016 ○ ○ ○ ○ ○
17 Gas balancer unit
Charging equipment . *1 ， *4
Joint of Female->Male (W22) KP-ZJ-019 ○ ○ ○ ○ ○
*1 : These parts are packed separately from the robot. (Not attached on the robot)
*2 : A dog part for adjustable LS is included. If motion limit LS is not used, this dog is also not used.
*3 : Concerning the motion range limit options, please refer to the table in the next page.
*4 : If diameter of charging equipment is “W22, pitch14, Female, Right screw, Metal contacts”, please prepare the charging
equipment “KP-ZJ-015” and the joint “KP-ZJ-019”.
Charging equipment guaranteed by manufacturer is prepared also.
Guaranteed equipment of KP-ZJ-015 is KP-ZJ-056, Guaranteed equipment of KP-ZJ-016 is KP-ZJ-057.
*5 ： Two specification of pin arrangement (vertical and horizontal) exists for P.C.D92/P.C.D125 tool mounting face.
Please select the suitable extension flange in accordance with spot welding gun, by referring to the detail drawing in following page.