MR20/20L

7-axis “wrist” robot with free movement

Product pecification

Model		MR20-02	MR20L-01
instrucure		joint type
degrees of freedom		7
drive mode		AC servo mode
Maximum working range	JT1	±3.14rad (±180°)
	JT2	+.96～-2.09rad (+55～-120°)
	JT7	±3.14rad (±180°)
	JT3	+2.35～-2.89rad (+135～-166°)
	JT4	±3.14rad (±180°)
	JT5	±2.35rad (±135°)	±2.42rad (±139°)
	JT6	±6.28rad (±360°)
Maximum 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 (360°/s)
Transportable weight		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*2	JT4	6.0kg・m²	1.6kg・m²
	JT5	6.0kg・m²	1.6kg・m²
	JT6	2.3kg・m²	.8kg・m²
Position repeatability		±.06mm
Maximum operating air pressure		0.49MPa (5.0kgf/cm²)below
ambient temperature		0～45°C
Set conditions		Floor type, hanging type
Environmental resistance*3		Equivalent to IP65 (dustproof and waterproof)
body weight		230kg