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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