MR20/20L
Operating envelope
MR20/20L
by Nachi
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
Specification
| 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)