Nachi SRA220H Series User manual

Standard specifications
SRA220H-01-FD11
SRA220HV-01-FD11
7th edition
1707, SSRAEN-064-007,001

Table of contents
1. Outline........................................................................................................................ 1
2. Basic specifications.................................................................................................... 2
3. Robot dimensions and working envelope................................................................... 3
4. Detail of load mounting plate...................................................................................... 5
5. Installation procedure................................................................................................. 6
6. Allowable wrist load.................................................................................................. 11
7. Option specifications ................................................................................................ 14
8. Application wiring and piping diagram ...................................................................... 16
8.1 Spot welding specification 1................................................................................ 16
8.2 Spot welding specification 2................................................................................ 18
9. Safety measures against transport........................................................................... 20
10. Delivery style (specification which contains a robot) .............................................. 22
11. Consuming power (Robot + Controller) .................................................................. 22
12. Paint color .............................................................................................................. 22
13. Warranty................................................................................................................. 22

Page-1
1. Outline
NACHI ROBOT “SRA220H” is optimal robot for spot welding, material handling and other
applications, and provides dramatically improved productivity by its overwhelming speed and
compact body.
Floor mount and inverted mount type is prepared.
Standard type
Installation Max. payload 220 kg
Floor mount SRA220H-01
Inverted mount SRA220HV-01
■More flexible installation
・By hollow forearm and wrist, cables to end effecter such as spot welding gun and or so are
installed inside arm. So it is possible to install robot in narrow space where used to be difficult to
install it.
■Improved reliability
・Reliability of cable is improved because cable behavior is stable and damage by welding spatter
and damage by interference with peripheral equipment can be avoided.
■Shortage of start up time
・Considering cable interference is unnecessary. Start up time for robot simulation and for actual
robot check after installation is shorter than existing model.

Page-2
2. Basic specifications
Item Specifications
Robot model SRA220H-01 SRA220HV-01
Construction Articulated
Number of axis 6
Drive system AC servo motor
Axis 1 ±3.14 rad（±180°）±2.88 rad（±165°）
Axis 2 -1.40 ～+1.05rad（-80 ～+60°）
Axis 3 -2.69 ～+2.62rad(-154～+150°)
Axis 4 ±3.66 rad（±210°）
Axis 5 ±2.27 rad（±130°）
Max. working
envelope
Axis 6 ±3.66 rad（±210°）
Axis 1 2.01 rad/s（115°/s）
Axis 2 1.83 rad/s（105°/s）
Axis 3 1.97 rad/s（113°/s）
Axis 4 2.27 rad/s（130°/s）
Axis 5 2.27 rad/s（130°/s）
Max. speed
Axis 6 3.58 rad/s（205°/s）
Wrist 220 kg
Max. pay load
Forearm *1 20kg (45kg at maximum）
Axis 4 1,337 N･m
Axis 5 1,337 N･m
Allowable
static load
torque Axis 6 720 N･m
Axis 4 141.1 kg･m2
Axis 5 141.1 kg･m2
Allowable
moment of
inertia *2 Axis 6 79.0 kg･m2
Position repeatability *3 ±0.15 mm
Installation Floor mount Inverted 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 1,100 kg
1[rad] = 180/π[°], 1[N･m] = 1/9.8[kgf･m]
- On controller display, axis 1 to 6 is displayed J1 to J6 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
【SRA220H-01】

Page-4
【SRA220HV-01】

Page-5
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.
【SRA220H-01】【SRA220HV-01】
■ Upper part of forearm
Ancillary equipment can be mounted to the upper part of robot forearm.
(In case of spot welding specification, mounting tap is restricted because joint box is mounted.)
【Spot welding specification】
【Standard specification】
※Cable inside arm can be accessed
from 3 directions those are front
and both side of end effecter.
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-6
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.
Axis1 = 0 degree
Axis1 = 0 degree

Page-7
■ 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.
【SRA220H-01】
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.
【SRA220HV-01】
Repair uneven spots, cracks, and others on the floor, and then install the robot under hanger. If
hanger can not endure the generated force and floor concrete is not enough to endure the
hanger, an independent foundation should be constructed. Inspect the foundation prior to the
robot installation.
When installing this robot, please utilize “turning over fixture” option.
Robot Model SRA220H-01 SRA220HV-01
Thickness of floor concrete Not less than 160 mm --- *4
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 Approximately
30,000 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.
*4 : Inverted type robot can not been installed on floor.

Page-8
■ Installation space
To install the robot, lock the swiveling base of the robot.
WARNING
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.
【SRA220H-01】
R
o
b
o
t
typ
e

Page-9
【SRA220HV-01】
R
o
b
o
t
typ
e

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
SRA220H-01
SRA220HV-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.
【SRA220H-01】
【SRA220HV-01】
■ 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.
【SRA220H-01】
【SRA220HV-01】
Axis 4, 5
Axis 6

Page-12
■ How to find the inertia moment of each axis
X
Z
Y
I
Z
m
x
z
y
IY
IX
lz
ly
lx
（Xm, Ym, Zm）
To o l
Point A coordinate system
Origin is Point A (intersection point of axis 6 , 4 rotation center and axis 5
rotation center) and its X, Y and Z direction are d efined as
X: Perpendicular coordinate with 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 coordinate system
Origin is COG of tool, and parallel to point A coo rdina te system
x: Parallel to X
y: Parallel to Y
z: Parallel to Z
Ine rtia moment
IX: Ar ou nd X o n p oi nt A coo rd inat e s ys t em
IY: Around Y on p oint A co ordinate syste m
IZ: A ro un d Z on po in t A coo r di na te s ystem
Ix: Around x
on tool C OG coordinate system
Iy: Around y
on tool C OG coordinate system
Iz: Around z
on tool C OG coordinate system
m: Tool m a ss
（Xm, Ym, Zm）:COG of tool on point A coordinate system
Point A
Coordinate system
Tool COG
Coordinate system
1 Calculate inertia moment defined
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
Inertia moment
on tool COG coordinate system
These values (Ix, Iy, Iz) are registered to controller.
This is different
from “allowable
moment of inertia”
written in robot
specification sheet.
2 Calculate inertia moment defined
on point A coordinate system
(XYZ), then 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.
Inertia moment on point A coordinate system (XYZ) is
zmmZ
ymmY
xmmX
IYXmI
IZXmI
IZYmI
++⋅=
++⋅=
++⋅=
)(
)(
)(
22
22
22
Axis 4 and 5 inertia moment is larger value of IXand IY,
because this depends on axis 6 position.
Axis 6 inertia moment is IZitself.
ZJ
YXJJ
II
IIII
=
==
6
54 ),(max

Page-13
■ Allowable forearm load
Use the robot under condition that COG of the ancillary equipment on the forearm falls in the
range shown below.
【SRA220H-01】
【SRA220HV-01】
When wrist
load is 220kg
【SRA220H-01】
【SRA220HV-01】
When wrist
load is 190kg

Page-14
7. Option specifications
○: Possible to correspond／－: Impossible to correspond
Robot model
No. Item Specifications Parts No.
SRA220H-01
SRA220HV-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 ○ -
Hammer drive 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 ○ ○
Inverted mount Pins set (Installation pins)
OP-F5-003 - ○
Inverted mount Leveling plate ( □ 250mm×t=32mm, 4 plates )
OP-F5-002 - ○
Inverted mount Protection block from falling down *5
OP-F5-004 - ○
Chemical anchor
OP-F1-038 ○ ─
1 Installation parts *1
Hammer drive anchor
OP-F2-023 ○ ─
Restriction of axis 1 operation edge (±2.61rad ～ ±0 rad every 0.017 rad)
OP-S5-019 ○ -
2 Axis 1 adjustable stopper
*1 ， *2 ， *3
Restriction of axis 1 operation edge (±2.35rad ～ ±0 rad every 0.017 rad)
OP-S5-020 - ○
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 2 adjustable stopper
*1 ， *3
Restriction of axis 3 operation edge upper limit
( -0.52 rad, -0.79 rad, -1.05 rad, -1.31 rad, -1.57 rad from the operation edge)
OP-A6-027 ○ ○
5 Axis 2 adjustable LS *1, *3 Dog set for axis 2 adjustable LS
OP-S8-007 ○ ○
6 Axis 3 adjustable LS *1, *3 Dog set for axis 3 adjustable LS
OP-S4-013 ○ ○
OP-D7-013 ○ -
7 Dual circuit limit switch For axes 1, 2 and 3 (3pcs. of dual circuit LS)
OP-D7-016 - ○
Folk bracket
OP-S2-033 ○ ○
Inverted mount Turning over fixture
OP-S7-009 - ○
8 Transfer jig
Inverted mount Axis 2 fixing jig *6
OP-S9-008 - ○
9 Zeroing pin & Zeroing block *1
OP-T2-077 ○ ○
10 Encoder connector Protector For axis 3
OP-P6-005 ○ ○
11 Connector protection cover Cable connection at BJ1 box and BJ3 box
OP-E7-007 ○ ○
12 Bypass cable *1
BCUNIT20-30 ○ ○
For axis 2
KP-ZD-005 ○○
13 Arm fixed jig *1 For axis 3
KP-ZJ-088 ○○
Analog pressure gauge
KP-ZJ-013 ○○
14 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 ○○
Joint of Female->Male (W22) KP-ZJ-019 ○○
15
Gas balancer unit
Charging equipment
*1 *4 Analog pressure gauge
KP-ZJ-015 ○○
*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”.
*5：Inverted mount protection block must be ordered with leveling plate OP-F5-002 together.
*6：This is used to fix axis 2 in order to transfer robot safely.
If there is height limit in customer’s plant, this jig can make robot posture lower by changing axis 2 angle not to +134°.

Page-15
■Motion range limit option table (Please select the option part number to order referring to the following table.)
Motion range Limit Switch (dual circuit) 3pcs. set
A
xis 1 adjustable stopper
(including dog part for adjustable LS) Axis 2 Adjustable LS dog part set Axis 3 Adjustable LS dog part set Axis 2 Adjustable stopper Axis 3 Adjustable stopper
Function Axis name
OP-D7-013 OP-D7-016 OP-S5-019 *1
OP-S5-020 *1
OP-S8-007 *1
OP-S4-013 *1 OP-A5-027 *1
OP-A6-027 *1
Axis 1 － ●
*2
Axis 2 － ●
Without
LS
Only adjustable
stopper
Axis 3 － ●
Motion range
Limit Switch
Axis 1･2･3
(3 pcs.set) ●
Axis 2 ● ●
Adjustable LS
Axis 3 ● ●
Axis 1 ● ●
Axis 2 ● ● ●
Dual circuit
Limit Switch
Adjustable stopper
and
Adjustable LS
Axis 3 ● ● ●
*1 : These parts are packed separately from the robot. (Not attached on the robot)
*2 : In this option, both axis 1 adjustable stopper and axis 1 adjustable LS dog part are supplied in 1 package.
(Please be sure that even if only the stopper part is used and no LS is used, the dog part is also included in this package)
(Example 1) To add only an adjustable stopper for axis 2, please order;
OP-A5-027.
(Example 2) To add dual circuit adjustable limit switch for axis 2 and 3, please order the following options.
OP-D7-013、OP-S8-007、OP-S4-013
(NOTE) To use the limit switch for axis 1 as an adjustable limit switch, OP-S5-019 is also necessary.

Page-16
8. Application wiring and piping diagram
Application wiring and piping written here is the best designed specification for spot welding usage.
No free space is remained in hollow space.
If another specification is required, please contact to NACHI-FUJIKOSHI office.
8.1 Spot welding specification 1
Connecting diagram
Standard

Page-17
Tool side wiring specification
No. Name Item Specification Edge manufacturing
・ Welding cable 38mm
2
(single wire) x3 No manufacturing
・ Signal cable 0.2mm
2
x20 wires No manufacturing
・ D-ET cable No manufacturing
・ ETHERNET cable No manufacturing
・ Servo gun cable (power) x1 Connector type ： MS3106A20-17S(190)
Cable
・ Servo gun cable (signal) x1 Connector type ： MS3106A20-29S(190)
1 Spot welding
specification
Utility
・ Water inlet tube ： Green （ *1,*2 ） φ 12.7 x φ 9.56 - 2
・ Water outlet tube ： Red （ *1,*2 ） φ 12.7 x φ 9.56 – 2
・ Air tube ： White （ *1, *3 ） φ 12.7 x φ 9.56 -1
Tube type
：
For water U2-1-1/2
For air N2-1-1/2
Recommended joint
：
1/2 inch One touch joint (*1)
*1) Joint is not included.
*2) Water pressure is 0.2MPa or lower.
*3) Air pressure is 0.49MPa or lower.
Application wires and tubes at base frame
■ Detailed diagram of the application connectors
BJ1 side (connector)
User-side Connectors
Wire-side shell: JFM-WSA-4-A (JST)
or JFM-WSA-4-C (JST)
Guide plate A kit: JFM-GPAK-4 (JST)
Receptacle housing: JFM2FDN-22V-K (JST)
Receptacle contact:
a: SJ2F-01GF-P1.0 (JST) (0.20 ∼0.50sq)
b: SJ2F-21GF-P1.0 (JST) (0.30 ∼0.75sq)
Manual crimp tool:
a: YRS-8861
b: YRF-1120
Cable diameter suitable for wire-side shell:
JFM-WSA-4-A
φ 26.2 ～φ 28.0
JFM-WSA-4-C
φ 15.5 ～φ 16.5
( Pin location shows the connector mounted on robot
body and is the view from connecting side.
)
Application wiring specification
Rated voltage Max. AC/DC 115 V
Rated current rating Max. 1 A

Page-18
8.2 Spot welding specification 2
Connecting diagram
Standard