Spot welding robot with built-in cables

SRA133H/SRA166H/SRA210H

Improved reliability for welding cables and hoses
ed by stabilizing cable performance■ The reliability is improved
to avoid damage due to interference with surroundingequipment.

Shortened the startup timemehe time to check work
■ We greatly decreased theprograms because cables
es do not interfere withsurrounding equipment.

Expanded the operating range of the wrist
g A-Trac, we expanded■ Compared to the existing
the operating range of J5
5 ±10° and J6 ±5°(payload class 210kg), increasing
ncreasing the range of linear
movement 20%.

Improved accessibility■ When compared to the existing A-Trac,

we have decreased the interference range ofthe wrist 27%, making access to narrow places possible.

Speed■ The hollow arm can also operate at the same high speeds as the SRA.

SRA133H/SRA166H/SRA210H
Robot specifications
Item
Robot model

Exterior dimensions and operating envelope
Specifications
SRA166H-01

SRA133H-01

SRA133H-01/SRA166H-01/SRA210H-01

SRA210H-01

Articulated
6

Drive system

AC servo system±3.14rad (±180°)-1.40〜+1.05rad (-80〜+60°)

J3-2.56〜+2.62rad (-146.5〜+150°)

J4±3.66rad (±210°)J5±2.18rad (±125°)J6

J4

3.66rad/s (210°/s) 3.05rad/s (175°/s) 2.27rad/s (130°/s)

J53.05rad/s (175°/s) 2.98rad/s (171°/s) 2.27rad/s (130°/s)

J6

5.41rad/s (310°/s) 4.88rad/s (280°/s) 3.58rad/s (205°/s)
133kg

166kg

Forearm*1

200

305

1190
2280

1.83rad/s (105°/s)

2.06rad/s (118°/s) 2.00rad/s (115°/s) 1.97rad/s (113°/s)

Wrist

B

B

210kg

20kg

Allowable
static load
torque forwrist

J4830N·m

960N·m1337N·m

J5830N·m960N·m

1337N·m

J6441N·m

520N·mAllowable
moment ofinertia forwrist*2

J485kg·m

22100kg·m200kg·m

J585kg·m2100kg·m2200kg·m2

J645kg·m250kg·m2155kg·m2

Position repeatability*3

1821

720N·m

2206

21830

2654

±0.06mm

Installation

1243
Arm interference
radius408-φ22450
90 210※465
210 90Floor

Robot mass

1040kg2-φ30H8220255※

1 [rad] = 180/π [°], 1 [N·m] = 1/9.8 [kgf·m]

8-M20±0.03*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:A-weighted equivalent sound level measured according to JIS Z 8737-1 (ISO11201). (while operating at maximum speed with rated load)

Do not use tapped holes
marked by ※ for jack bolts.

255

SectionB-B

SRA166H-01/SRA210H-01
165

2-φ10H7 Depth15(P.C.D.125)

Cable or tube inside the arm
300

18230°

300*6-M10 Depth18(P.C.D.125)

0 ±0.03

φ260

φ168

125 ±0.03

6-M10 Depth18(P.C.D.125)
φ 260*2-φ10H7 Depth15(P.C.D.125)

189

125 ±0.03

177

4-M20
Remove the hanger bolt
when using a jack bolt.

φ178

SRA133H-01

255

±0.03

※1100kg

255

Noise level*5

※
±0.03

Ambient conditions

Ambient temperature: 0〜45℃*4
Ambient humidity: 20〜85%RH (without condensation)
Vibration: Not more than 0.5G (4.9 m/s2)
79.6dB

255
510

Payload1.92rad/s (110°/s)

J31160350
90 210Max. velocity

2.01rad/s (115°/s)

350
210 90J2300±3.66rad (±210°)
2.09rad/s (120°/s)

R521
Frame interference
radiusPOINT A

3007

J1LOCUS(POINT A)

3338

Max.
operatingenvelope

J1
J21642

Number of axes

640

Structure16

End effector
mounting flange
2-φ10Ｈ７ Depth15(P.C.D.160)

End effector
mounting flange

6-M10 Depth18(P.C.D.160)* Can be used for loads under 166kg

www.nachi.com
Head Office
Robot Division

Shiodome Sumitomo Bldg. 17F, 1-9-2 Higashi-Shinbashi, Minato-ku, Tokyo 105-0021
1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, JAPANNACHI ROBOTIC SYSTEMS INC.
NACHI EUROPE GmbHNACHI TECHNOLOGY(THAILAND) CO.,LTD
PT.NACHI INDONESIANACHI-FUJIKOSHI (CHINA) CO., LTD.

Michigan, U.S.A.
GERMANYTHAILANDINDONESIA
CHINA

Tel: +1-248-305-6545
Tel: +49-(0)2151-65046-0
Tel: +66-2-258-4101
Tel: +62-021-527-2841
Tel: +86-(0)21-6915-2200

Tel: +81-(0)3-5568-5111
Tel: +81-(0)76-456-2223

Fax: +81-(0)3-5568-5206
Fax: +81-(0)76-493-5252

Fax: +1-248-305-6542
Fax: +49-(0)2151-65046-90
Fax: +66-2-258-4103
Fax: +62-021-527-3029
Fax: +86-(0)21-6915-5427

http://www.nachirobotics.com
http://www.nachi.de/
http://www.nachi.co.th/
http://www.nachi.co.id/
https://www.nachi.com.cn/●The specifications are subject to changes without notice.
●In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction
stipulated in the Foreign Exchange and Foreign Trade Act. Please go through careful investigation and necessary formalities for export.

CATALOG NO.

R7205E-2

2024.04.＊-ABE-ABE