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ST-CF series ST133CF/166CF/210CF-01

Clean room 6-axis robot is vertically articulated and handles heavy loads

Robot model ST133CF-01 ST166CF-01 ST210CF-01
Construction Articulated construction
Number of axes 6
Drive system AC servo system
Max. operating area Arm J1 Swivel +/-2.88rad
J2 Forward/
backward		 -1.40 to +1.05rad
J3 Upward/
downward		 +2.62 to -2.40rad
Wrist J4 Rotation2 +/-6.28rad
J5 Bending +/-2.36rad +/-2.27rad
J6 Rotation1 +/-6.28rad
Max. speed Arm J1 Swivel 2.27rad/s 1.92rad/s 1.75rad/s
J2 Forward/
backward		 2.27rad/s 1.92rad/s 1.57rad/s
J3 Upward/
downward		 2.27rad/s 1.92rad/s 1.66rad/s
Wrist J4 Rotation2 4.01rad/s 2.97rad/s 2.27rad/s
J5 Bending 4.01rad/s 2.97rad/s 2.27rad/s
J6 Rotation1 5.32rad/s 4.54rad/s 3.49rad/s
Max. Payload Wrist 133kg 166kg 210kg
Forearm*1 Max .70kg
Allowable static load
torque of wrist		 J4 Rotation2 745N·m 951N·m 1337N¥m
J5 Bending 745N·m 951N·m 1337N¥m
J6 Rotation1 411N·m 490N·m 720N¥m
Max. allowable moment
of inertia of wrist*2		 J4 Rotation2 60.9kg·m2 88.9kg·m2 141.1kg¥m2
J5 Bending 60.9kg·m2 88.9kg·m2 141.1kg¥m2
J6 Rotation1 30.2kg·m2 45.0kg·m2 79.0kg¥m2
Position repeat accuracy*3 +/-0.06mm
Cleanliness ISO 14644-1 CLASS 6 compliant
Ambient temperature 10 to 45°C
Installation parameters Floor mounted
Robot mass 1120kg 1160kg

1[rad]=180/π[°]  1[N·m]=1/9.8[kgf·m]
(*1) Varies according to wrist load conditions and installation position.
(*2) Note that wrist moment of interia varies depending on wrist and conditions.
(*3) JIS B 8432 compliant.

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