SCSERIES

SC06F-02

FOOTPRINTS & WRIST MOUNTING CONFIGURATIONS

130 125

163 270

141±0.02

220

282±0

.02

300

130

130

4-ø182-ø6H7

45°

118

ø65

88

4-M5 Tap Depth 7 mm(P.C.D. 48)

2-ø6H7 Depth 6 mm(P.C.D. 48)

48 ±0.02

6

100

SC35F-01/SC50F-01

300

600

690390

265±0.05

410±0

.03

205±0

.05

250250

250

240

600

250

4-ø22

2-ø30H9

105 100

80 ±0.03

175

2-ø8H7 Depth 14.5 mm(P.C.D. 80)

6-M8 Tap Depth 14.5 mm(P.C.D. 80)

ø156

6262

ø154

SC300F-02

4-M24

8-ø22

2-ø30H7405

405

405

405

360±0.02

630±0

.03

810

9090

9090 270 270

270

270

165 119.4

125 ±0.04

92 ±0.04

ø284

ø176

6464

2352-ø9H7 Depth 12 mm(P.C.D. 125)

6-M10 Tap Depth 16 mm(P.C.D. 125)

2-ø9H7 Depth 12 mm(P.C.D. 92)

6-M10 Tap Depth 16 mm(P.C.D. 92)

SC15F-02

150 150

235

470

542.3307.3

210±0.03200±0.03

200±0

.03

150±0

.03

150±0

.03

400±0

.03

210±0.03

210

190

470

210

4-ø186-ø18H7

92 67.6

45° 1403C1

48±0.03

48

ø24H

7

48

ø96

ø132

2-ø6H7 Depth 10 mm(P.C.D. 48)

4-M5 Tap Depth 10 mm(P.C.D. 48.4)

SC80LF-02/SC120LF-02

4-M24

8-ø22

2-ø30H7405

405

405

405

360±0.02

630±0

.03

810

9090

9090 270 27027

027

0

151 113.5

125±0.04

92±0.04

215

ø215

ø142

2-ø9H7 Depth 12 mm(P.C.D. 92)

2-ø9H7 Depth 12 mm(P.C.D. 125)

6-M10 Tap Depth 15 mm(P.C.D. 92)

6-M10 Tap Depth 15 mm(P.C.D. 125)

SC400L-01/SC500-01

4-M24

500 500

450

800±0

.1

1000

100

100

100100 350 350

350

350

12-ø22

2-ø30H9

10-M12 Depth 18mm(P.C.D. 200)

186.5 148ø12H7 Depth 13mm(P.C.D. 200)

ø10H7 Depth 13mm(P.C.D. 200)

ø284

ø250

ø260

Nachi Robotic Systems Inc. reserves the right to change specifications without notice.Rev 07/04

Nachi Robotic Systems Inc. (NRS)North American Headquarters22285 Roethel Dr.Novi, MI 48375Tel: 248.305.6545Fax: 248.305.6542www.nachirobotics.com

Indiana Branch Office5032 West 79th St.Indianapolis, IN 46268Tel: 317.870.0390Fax: 317.870.0395

Toronto Branch Office89 Courtland Ave. #2Concord, ONTCanada L4K 3T4Tel: 905.760.9542Fax: 905.760.9477

Mexico Branch OfficeOficina de RepresentacionIngenieros Militares 85, “C” 1-2Col. Argentina 11230Mexico, D.F. MexicoTel: 52.55.5576.7148Fax: 52.55.5576.4495

SCSERIES

Benefits

• High Speed:Increased speeds for greater productivity

• Largest Payloads in its Class:Up to 500 kg for tooling and additional payload on the upper arm

• Space Saving Design:Allows shorter production lines

• Precise Movement:+/-0.1 to 0.5 mm repeatability

• Light-Weight Design:Allows easy robot installation and transport

• Flexible Mounting:Floor, inverted or wall (up to SC50)

• Low Maintenance:Greater uptime and reduced life cycle cost

Applications

The Nachi family of SC Seriesrobots supports the entire range of industrial applications.

SC ENVELOPES

SC06F-02

SPECIFICATIONS SC06F-02 SC15F-02 SC35F-01 SC50F-01 SC80LF-02 SC120LF-02 SC300F-02 SC400L-01 SC500-01Construction Articulated Articulated Articulated Articulated Articulated Articulated Articulated Articulated ArticulatedDegrees of freedom 6 6 6 6 6 6 6 6 6Drive AC Servo Motor AC Servo Motor AC Servo Motor AC Servo Motor AC Servo Motor AC Servo Motor AC Servo Motor AC Servo Motor AC Servo MotorMaximum Stroke Arm S Swivel ±170˚(Wall mount ±30˚) ±160˚(Wall mount ±30˚) ±160˚(Wall mount ±30˚) ±160˚(Wall mount ±30˚) ±150˚ ±150˚ ±150˚ ±150˚ ±150˚

H Back & Forth +150˚ ~ -90˚ +150˚ ~ -90˚ +150˚ ~ -80˚ +150˚ ~ -80˚ +90˚ ~ -75˚ +105˚ ~ -75˚ ±75˚ +105˚ ~ -25˚ +75˚ ~ -55˚V Up & Down ±120˚ +120˚ ~ -140˚ +132˚ ~ -140˚ +132˚ ~ -140˚ +35˚ ~ -115˚ +80˚ ~ -129˚ +30˚ ~ -125˚ +120˚ ~ -25˚ +30˚ ~ -125˚

Wrist R2 Rotation 2 ±360˚ ±270˚ ±270˚ ±270˚ ±360˚ ±360˚ ±360˚ ±300˚ ±300˚B Bend ±142˚ ±125˚ ±125˚ ±125˚ ±135˚ ±135˚ ±125˚ ±120˚ ±120˚R1 Rotation 1 ±450˚ ±450˚ ±450˚ ±450˚ ±360˚ ±360˚ ±360˚ ±360˚ ±360˚

Maximum Velocity Arm S Swivel 155˚/sec 130˚/sec 160˚/sec 160˚/sec 130˚/sec 130˚/sec 95˚/sec 80˚/sec 80˚/secH Back & Forth 155˚/sec 130˚/sec 160˚/sec 160˚/sec 130˚/sec 130˚/sec 85˚/sec 80˚/sec 80˚/secV Up & Down 155˚/sec 130˚/sec 160˚/sec 160˚/sec 130˚/sec 130˚/sec 85˚/sec 80˚/sec 80˚/sec

Wrist R2 Rotation 2 400˚/sec 263˚/sec 225˚/sec 180˚/sec 150˚/sec 150˚/sec 110˚/sec 90˚/sec 90˚/secB Bend 400˚/sec 263˚/sec 225˚/sec 180˚/sec 150˚/sec 150˚/sec 110˚/sec 90˚/sec 90˚/secR1 Rotation 1 500˚/sec 450˚/sec 320˚/sec 256˚/sec 200˚/sec 200˚/sec 180˚/sec 145˚/sec 145˚/sec

Loading Weight Wrist 6 kg 15 kg 35 kg 50 kg 80 kg 120 kg 300 kg 400 kg 500 kgUpper Arm 13 kg 5 kg 30 kg 15 kg 20 kg 25 kg 20 kg 30 kg 30 kg

Wrist Torque R2 Rotation 2 2.0 kg • m 3.2 kg • m 15 kg • m 20 kg • m 55 kg • m 70 kg • m 170 kg • m 200 kg • m 200 kg • mB Bend 2.0 kg • m 3.2 kg • m 15 kg • m 20 kg • m 55 kg • m 70 kg • m 170 kg • m 200 kg • m 200 kg • mR1 Rotation 1 0.9 kg • m 1.6 kg • m 8 kg • m 10 kg • m 30 kg • m 40 kg • m 70 kg • m 147 kg • m 147 kg • m

Allowable Moment R2 Rotation 2 0.67 kg • m2 0.682 kg • m2 6.43 kg • m2 8 kg • m2 37.8 kg • m2 40.8 kg • m2 96.3 kg • m2 200 kg • m2 200 kg • m2

of Inertia B Bend 0.67 kg • m2 0.682 kg • m2 6.43 kg • m2 8 kg • m2 37.8 kg • m2 40.8 kg • m2 96.3 kg • m2 200 kg • m2 200 kg • m2

R1 Rotation 1 0.135 kg • m2 0.17 kg • m2 1.83 kg • m2 2 kg • m2 11.3 kg • m2 13.3 kg • m2 16.3 kg • m2 147 kg • m2 147 kg • m2

Repeatability ±0.1 mm ±0.1 mm ±0.1 mm ±0.3 mm ±0.4 mm ±0.4 mm ±0.5 mm ±0.5 mm ±0.5 mmAmbient Temperature 0~45˚C (32~113˚F) 0~45˚C (32~113˚F) 0~45˚C (32~113˚F) 0~45˚C (32~113˚F) 0~45˚C (32~113˚F) 0~45˚C (32~113˚F) 0~45˚C (32~113˚F) 0~45˚C (32~113˚F) 0~45˚C (32~113˚F)Installation Floor, wall, angle Floor, inverted, wall Floor, inverted, wall Floor, inverted, wall Floor Floor Floor Shelf FloorRobot Body Weight 128 kg 145 kg 400 kg 400 kg 1,600 kg 1,300 kg 1,800 kg 3,800 kg 3,000 kg

100 750 150

120

480

500

340º

R325

R1370

SC15F-02

R442

R1587

320º

140 750 250

120

600

550

SC35F-01/SC50F-01

320º

175 1000 300

650

750

115

145

R562

R2002

SC80LF-02

300º

R3088

215 1860 340

1070

910

200

187

R600

SC120LF-02

300ºR2544

215 1300 340

187

910

1070

200

SC300F-02 SC400L-01

260 1170 400

195

1150

1060

230

300…

R755

R2703

SC500-01

2100

230 1150 400

260

1060

300º

R3623

R755

235 1300 340

187

910

1070

200

300º

R650

R2534

Arc Welding

Sealing

Deburring

Palletizing

Press-to-PressHandling

Assembly

Material Handling

Loading

Die Casting

Press Brake

A P P L I C A T I O N S

SC15F/35F/50F

www.nachirobot ics .com

Light Payload Series

Robot Features>> High-speed>> Space-saving design>> Low maintenance>> Largest payloads in class>> Precise movement>> Lightweight design>> Reduced lifecycle cost>> Flexible installation options>> Greater uptime

The SC Series of general purpose, lightweight robotshave the fastest speed in their weight class.

SC15F/35F/50FBASIC SPECIFICATIONS

R442

R1587

320°

140 750 250

120

600

550

150 150

235

470

542.3307.3

210±0.03200±0.03

200±0

.03

150±0

.03

150±0

.03

400±0

.03

210±0.03

210

190

470

210

4-ø186-ø18H7

92 67.6

45° 1403C1

48±0.03

48

ø24H

7

48

ø96

ø132

2-ø6H7 Depth 10 mm (P.C.D. 48)

4-M5 Tap Depth 10 mm (P.C.D. 48.4) 300

600

690390

265±0.05

410±0

.03

205±0

.05

250250

250

240

600

250

4-ø22

2-ø30H9

105 100

80 ±0.03

175

2-ø8H7 Depth 14.5 mm (P.C.D. 80)

6-M8 Tap Depth 14.5 mm (P.C.D. 80)

ø156

6262

ø154

320°

175 1000 300

650

750

115

145

R562

R2002

For more information and specifications, please visit www.nachirobot ics .com

OPERATING RANGES

SC15F WRIST

FOOT

WRIST

FOOT

SC35F/50F

SC15F SC35F SC50F

Construction Articulated Articulated Articulated

Number of Axes 6 6 6

Drive AC Servo Motor AC Servo Motor AC Servo MotorMaximum Arm J1 Swivel ±170˚ (wall mount ±30˚) ±160˚ (Wall mount ±30˚) ±160˚ (Wall mount ±30˚)Stroke J2 Back & Forth +150˚ ~ -90˚ +150˚ ~ -80˚ +150˚ ~ -80˚

J3 Up & Down +120˚ ~ -140˚ +132˚ ~ -140˚ +132˚ ~ -80˚

Wrist J4 Rotation 2 ±270˚ ±270˚ ±270˚J5 Bend ±125˚ ±125˚ ±125˚J6 Rotation 1 ±450˚ ±450˚ ±450˚

Maximum Arm J1 Swivel 130˚/sec 160˚/sec 160˚/secVelocity J2 Back & Forth 130˚/sec 160˚/sec 160˚/sec

J3 Up & Down 130˚/sec 160˚/sec 160˚/sec

Wrist J4 Rotation 2 263˚/sec 225˚/sec 180˚/secJ5 Bend 263˚/sec 225˚/sec 180˚/secJ6 Rotation 1 450˚/sec 320˚/sec 256˚/sec

Loading Weight Wrist 15 kg 35 kg 50 kgUpper Arm 5 kg 30 kg 15 kg

Wrist Torque J4 Rotation 2 3.2 kg • m 15 kg • m 20 kg • mJ5 Bend 3.2 kg • m 15 kg • m 20 kg • mJ6 Rotation 1 1.6 kg • m 8 kg • m 10 kg • m

Allowable J4 Rotation 2 0.682 kg • m2 6.43 kg • m2 8 kg • m2

Moment of Inertia J5 Bend 0.682 kg • m2 6.43 kg • m2 8 kg • m2

J6 Rotation 1 0.17 kg • m2 1.83 kg • m2 2 kg • m2

Repeatability ±0.1 mm ±0.1 mm ±0.3 mm

Ambient Temperature 0~45ºC (32~113ºF) 0~45ºC (32~113ºF) 0~45ºC (32~113ºF)

Installation Floor, inverted, wall Floor, inverted, wall Floor, inverted, wall

Robot Body Weight 145 kg 400 kg 400 kg

Loading

Handling

Palletizing

Heavy Load Conveying

A P P L I C A T I O N S

SC300F/400L/500/700DL

www.nachirobot ics .comwww.nachirobot ics .com

Heavy Payload Series

Robot Features>> Increased speeds for greater productivity>> Largest payloads in the industry designed to be

used to transfer large and heavy parts>> Precise movement enables ±0.5 mm

repeatability>> Space saving design allows for flexible

installation>> Low maintenance results in greater uptime and

reduced lifecycle cost

SC700DL

SC300FSC400L

Notes

1000

1000

4-M2412-022

2-03OH9800

±0.

1

450 450400 400350 350

450

450

400

400

350

350

R1010

300˚

R3623

1000

1380

500

2100

1060

2200

260

3500

1150500

320˚

R3972

6502050

1500

950

1059

1320

SC300F SC400L SC500 SC700DLConstruction Articulated Articulated Articulated ArticulatedDegrees of freedom 6 6 6 6Drive AC Servo Motor AC Servo Motor AC Servo Motor AC Servo MotorMaximum Arm J1 Swivel ±150º ±150º ±150º ±160ºStroke J2 Back & Forth +75º +105º ~-25º +75º ~ -55º +85º ~ -45º

J3 Up & Down +30º ~ -125º +120º ~ -25º +30º ~ -125º +40º ~ -90ºWrist J4 Rotation 2 ±360º ±300º ±300º ±125º

J5 Bend ±125º ±120º ±120º +120º ~ -10º*J6 Rotation 1 ±360º ±360º ±360º ±10º

Maximum Arm J1 Swivel 95º/sec 80º/sec 80º/sec 450º/secVelocity J2 Back & Forth 85º/sec 80º/sec 80º/sec 30º/sec

J3 Up & Down 85º/sec 80º/sec 80º/sec 40º/secWrist J4 Rotation 2 110º/sec 90º/sec 90º/sec 50º/sec

J5 Bend 110º/sec 90º/sec 90º/sec 40º/secJ6 Rotation 1 180º/sec 145º/sec 145º/sec 30º/sec

Loading Weight Wrist 300 kg 400 kg 500 kg 700 kgUpper Arm 20 kg 30 kg 30 kg —

Wrist Torque J4 Rotation 2 170 kg • m 200 kg • m 200 kg • m 400 kg • mJ5 Bend 170 kg • m 200 kg • m 200 kg • m 1408 kg • mJ6 Rotation 1 70 kg • m 147 kg • m 147 kg • m 300 kg • m

Allowable J4 Rotation 2 96.3 kg • m2 200 kg • m2 200 kg • m2 1800 kg • m2

Moment of Inertia J5 Bend 96.3 kg • m2 200 kg • m2 200 kg • m2 3000 kg • m2

J6 Rotation 1 16.3 kg • m2 147 kg • m2 147 kg • m2 1000 kg • m2

Repeatability ±0.5 mm ±0.5 mm ±0.5 mm ±0.5 mmAmbient Temperature 0~45ºC (32~113ºF) 0~45ºC (32~113ºF) 0~45ºC (32~113ºF) 0~45ºC (32~113ºF)Installation Floor Shelf Floor FloorRobot Body Weight 1,800 kg 3,800 kg 3,000 kg 7,000 kg

*Net stroke at a given pose is +15º / -5º

SC300F/400L/500/700DL

For more information and specifications, please visit www.nachirobot ics .com

OPERATING RANGESSC300F

235 1300 340

187

910

1070

200

300°

R650

R2534

260 1170 500

195

1150

1060

230

1000

300˚R2700

SC400L

SC500 SC700

BASIC SPECIFICATIONS

SC300F FOOT AND WRIST

4-M24

8-ø22

2-ø30H7405

405

405

405

360±0.02

630±0

.03

810

9090

9090 270 270

270

270

165

15.5˚ -0.5

125 ±0.04

92 ±0.04

16

0284 64

64

2-09H7 Depth 16

6-M10 Screw Depth 16

6-M10 Screw Depth 16(P.C.D. 92 equally spaced)

2-09H7 Depth 16235

(017

6)

Less RO.4

(P.C.D. 92 equally spaced)

(P.C.D. 92 equally spaced)

(P.C.D. 92 equally spaced)

119.4

06O

h7

06O

h7 CO.5

SC400L FOOT AND WRIST

10-M12 Screw Depth 18(P.C.D. 200)

010H7 Depth 13(P.C.D. 200)

012H7 Depth 13(P.C.D. 200)

0284

025O

h701

25H

7

186.5 148 10

200

±0.

06

SC500 FOOT AND WRIST SC700 FOOT AND WRIST1000

450

1000

800

±0.

1

450400 400350

2 - 03OH9

12 - 0224 - M24

450

400

350

450

400

350

35010-M12 Screw Depth 18

(P.C.D. 200)

010H7 Depth 13(P.C.D. 200)

012H7 Depth 13(P.C.D. 200)

0284

025O

h701

25H

7

186.5 148 10

200

±0.

06

575

±0.

1

1250

1050 ±0.1625 625

475

475

525

525

575

575

475525575

475525575

625

625

512

55

10-M12 Depth 18(P.C.D. 270)

270 ±0.06

2-013H7 Depth 20(P.C.D. 270)

8

0315

h801

25H

7