MR20/20L

Name: MR20/20L
Brand: NACHI
Availability: InStock

Product Description

**7-axes structure** * Flexible and complex positioning and motion can be available by 7-axes structure. **Compact body, powerful arm** * Minimizing installation space. * Payload 20kg MAX 30kg (Limited envelope within 30kg) **Controller** * FD11

Technical Specifications

Specification	MR20-02	MR20L-01
Robot model	MR20-02	MR20L-01
Construction	Articulated construction	Articulated construction
Number of axes	7	7
Drive system	AC servo system	AC servo system
Max. operating area JT1	+/-3.14rad (+/-180°)	+/-3.14rad (+/-180°)
JT2	+0.96 to -2.09rad (+55 to -120°)	+0.96 to -2.09rad (+55 to -120°)
JT7	+/-3.14rad (+/-180°)	+/-3.14rad (+/-180°)
JT3	+2.35 to -2.89rad (+135 to -166°)	+2.35 to -2.89rad (+135 to -166°)
JT4	+/-3.14rad (+/-180°)	+/-3.14rad (+/-180°)
JT5	+/-2.35rad (+/-135°)	+/-2.42rad (+/-139°)
JT6	+/-6.28rad (+/-360°)	+/-6.28rad (+/-360°)
Max. speed JT1	2.96rad/s (170°/s)	2.96rad/s (170°/s)
JT2	2.96rad/s (170°/s)	2.96rad/s (170°/s)
JT7	2.96rad/s (170°/s)	2.96rad/s (170°/s)
JT3	2.96rad/s (170°/s)	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
Wrist moment of inertia 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	+/-0.06mm
Maximum working air pressure	0.49MPa (5.0kgf/cm²) or less	0.49MPa (5.0kgf/cm²) or less
Ambient temperature	0 to 45℃	0 to 45℃
Installation parameters	Floor mounted/ceiling mounted	Floor mounted/ceiling mounted
Environmental resistance	Meets the IP65 standard (for dust and waterproofing)	Meets the IP65 standard (for dust and waterproofing)
Robot mass	230kg	230kg