| Specification | Value |
|---|
| Number of Axes | 6 |
| Maximum Payload Capacity | 6 kg |
| Positional Repeatability | ± 0.08 mm |
| Drive Capacity | 4832 W |
| Working Range, Arm, J1 (Rotation) | ±170 ° (±50°) |
| Working Range, Arm, J2 (Lower Arm) | -155 ° to +100° |
| Working Range, Arm, J3 (Upper Arm) | -170° to + 190° |
| Working Range, Wrist, J4 (Swing) | ±155° (+/- 170°) |
| Working Range, Wrist, J5 (Bending) | -45° to + 225° |
| Working Range, Wrist, J6 (Twist) | ±205 ° (+/ 360°) |
| Maximum Velocity, Arm, J1 (Rotation) | 3.40 rad/s (195°/s) (3.05 rad/s (175°/s) |
| Maximum Velocity, Arm, J2 (Lower Arm) | 3.49 rad/s (200°/s) |
| Maximum Velocity, Arm, J3 (Upper Arm) | 3.49 rad/s (200°/s) |
| Maximum Velocity, Wrist, J4 (Swing) | 7.50 rad/s (430°/s) |
| Maximum Velocity, Wrist, J5 (Bending) | 7.50 rad/s (430°/s) |
| Maximum Velocity, Wrist, J6 (Twist) | 11.0 rad/s (630°/s) |
| Wrist Load, Allowable Moment, J4 (Swing) | 10.5 N*m |
| Wrist Load, Allowable Moment, J5 (Bending) | 10.5 N*m |
| Wrist Load, Allowable Moment, J6 (Twist) | 5.9 N*m |
| Wrist Load, Allowable Moment of Inertia, J4 (Swing) | 0.28 kg*m² |
| Wrist Load, Allowable Moment of Inertia, J5 (Bending) | 0.28 kg*m² |
| Wrist Load, Allowable Moment of Inertia, J6 (Twist) | 0.06 kg*m² |
| Arm operation cross-sectional area | 6.37 m² x 340° |
| Ambient Conditions | (0 to 45 °C), 20 ~ 80% RH (No condensation) |
| Mass | 287 kg |
| Upper arm payload capacity | 44.09 lbs. 20 kg |
| Installation type | Floor / Ceiling / Wall |
| Paint color | White (Munsell notation 10GY 9/1)     |
