| Robot model |
MC20-01 |
MC10L-01 |
| Construction |
Articulated construction |
| Number of axes |
6 |
| Drive system |
AC servo system |
| Max. operating area |
J1 |
+/-3.14rad (+/-180°) |
| J2 |
+1.05 to -2.53rad (+60 to -145°) |
| J3 |
+4.22 to -2.84rad (+242 to -163°) |
| J4 |
+/-3.14rad (+/-180°) |
| J5 |
+/-2.42rad (+/-139°) |
| J6 |
+/-6.28rad (+/-360°) |
| Max. speed |
J1 |
2.96rad/s (170°/s) |
2.62rad/s (150°/s) |
| J2 |
2.96rad/s (170°/s) |
| J3 |
2.96rad/s (170°/s) |
| J4 |
6.28rad/s (360°/s) |
| J5 |
6.28rad/s (360°/s) |
| J6 |
10.5rad/s (600°/s) |
| Payload*1 |
20kg (Max. 22kg) |
10kg |
| Wrist torque |
J4 |
49N·m |
24.5N·m |
| J5 |
49N·m |
24.5N·m |
| J6 |
23.5N·m |
12N·m |
| Wrist moment of inertia*2 |
J4 |
1.6kg·m2 |
| J5 |
1.6kg·m2 |
| J6 |
0.8kg·m2 |
0.7kg·m2 |
| Position repeat accuracy*3 |
+/-0.06mm |
| Maximum working air pressure |
0.49MPa (5.0kgf/cm2)or less |
| Ambient temperature |
0 to 45°C |
| Installation parameters |
Floor mounted,Ceiling mounted |
| Environmental resistance*4 |
Meets the IP65 standard (for dust and waterproofing) |
| Robot mass |
220kg |
225kg |
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
(*1) This value varies from the installed position and the wrist load mass.
(*2) Note that wrist moment of inertia varies depending on wrist load conditions.
(*3) JIS B 8432 compliant.
(*4) Fluids that corrode the seal material, such as organic solvents, acids, alkalis, salts, and petroleum-based cutting fluids, cannot be used.
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