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