Nachi SRA220H Series, Manual

Page 1: ...Standard specifications SRA220H 01 FD11 SRA220HV 01 FD11 7th edition 1707 SSRAEN 064 007 001 ...

Page 2: ...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 3: ...n 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 o...

Page 4: ...t 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 s 2 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 de...

Page 5: ...Page 3 3 Robot dimensions and working envelope SRA220H 01 ...

Page 6: ...Page 4 SRA220HV 01 ...

Page 7: ...ace 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 an...

Page 8: ...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 wr...

Page 9: ...ed 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...

Page 10: ...ot 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...

Page 11: ...Page 9 SRA220HV 01 Robot type ...

Page 12: ...eft 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 ...

Page 13: ...uarantee 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 speci...

Page 14: ...oint 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 2 2 2 2 2 2 C B m I C A m I B A m I z y x lx A B C If tool is regarded as prism ly lz m Inertia moment example on tool COG coordinate system Inertia moment on tool COG coordin...

Page 15: ...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 16: ...justable 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...

Page 17: ...is 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 ...

Page 18: ...ng 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 19: ...ed 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 ...

Page 20: ...Page 18 8 2 Spot welding specification 2 Connecting diagram Standard ...

Page 21: ...luded 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 ...

Page 22: ...ake protective measures such as using protective guards so that the wirings will not be damaged by workers or other persons or forklift trucks or else WARNING Gas in balancer must be released when robot is transported by air Gas in balancer must be charged before using robot so customer needs to prepare the nitrogen gas and charging unit Please contact to NACHI FUJIKOSHI office to order the chargi...

Page 23: ...ors or wiring piping they may be broken when hanging the robot When hanging the robot please pay attention not to make the wires touch the encoder connectors and wiring piping Never use taps marked to hang the robot 4 M20 Hanging bolt installation hole 4 M20 ...

Page 24: ... must be charged before using robot so customer needs to prepare the nitrogen gas and charging unit Please contact to NACHI FUJIKOSHI office to order the charging unit Charging procedure is written in manipulator maintenance manual 2 Operation and maintenance education The special spot operation guide and the special spot preservation guide are the outside of the estimation Consult with each NACHI...

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Page 26: ... Istanbul TURKEY NACHI AUSTRALIA PTY LTD http www nachi com au Robotic Division Victoria office Phone 61 0 3 9796 4144 Fax 61 0 3 9796 3899 38 Melverton Drive Hallam Victoria 3803 AUSTRALIA Sydney office Phone 61 0 2 9898 1511 Fax 61 0 2 9898 1678 Unit 1 23 29 South Street Rydalmere N S W 2116 AUSTRALIA Brisbane office Phone 61 0 7 3272 4714 Fax 61 0 7 3272 5324 7 96 Gardens Dr Willawong QLD 4110 ...