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