| Robot model |
MR20-02 |
MR20L-01 |
| Construction |
Articulated construction |
| Number of axes |
7 |
| Drive system |
AC servo system |
| Max. operating area |
JT1 |
+/-3.14rad (+/-180°) |
| JT2 |
+0.96 to -2.09rad (+55 to -120°) |
| JT7 |
+/-3.14rad (+/-180°) |
| JT3 |
+2.35 to -2.89rad (+135 to -166°) |
| JT4 |
+/-3.14rad (+/-180°) |
| JT5 |
+/-2.35rad (+/-135°) |
+/-2.42rad (+/-139°) |
| JT6 |
+/-6.28rad (+/-360°) |
| Max. speed |
JT1 |
2.96rad/s (170°/s) |
| JT2 |
2.96rad/s (170°/s) |
| JT7 |
2.96rad/s (170°/s) |
| JT3 |
2.96rad/s (170°/s) |
| JT4 |
4.36rad/s (250°/s) |
6.28rad/s (360°/s) |
| JT5 |
4.36rad/s (250°/s) |
6.28rad/s (360°/s) |
| JT6 |
5.23rad/s (300°/s) |
10.5rad/s (600°/s) |
| Payload |
20kg*1 |
20kg |
| Wrist torque |
JT4 |
80.8N·m |
49N·m |
| JT5 |
80.8N·m |
49N·m |
| JT6 |
44.1N·m |
23.5N·m |
| W rist moment of inertia*2 |
JT4 |
6.0kg·m2 |
1.6kg·m2 |
| JT5 |
6.0kg·m2 |
1.6kg·m2 |
| JT6 |
2.3kg·m2 |
0.8kg·m2 |
| Position repeat accuracy |
+/-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*3 |
Meets the IP65 standard
(for dust and waterproofing) |
| Robot mass |
230kg |
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
To mount a load to the robot arm, it must be loaded either to the forearm or to the upper part of the J3 axis.
(*1) Max payload 30kg (limited envelope)
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