| Name | FD-A20 | ||
|---|---|---|---|
| Construction | Vertical multi-articulation | ||
| Number of Axes | 6 | ||
| Max. Payload Capacity | 20 kgs | ||
| Positional Repeatability | ±0.07 mm | ||
| Driving Capacity | AC | ||
| Working Range | Arm | J1 (Rotation) | ±170° |
| J2 (Lower arm) | -70° ～ +60° | ||
| J3 (Upper arm) | -140° ～ +240° | ||
| Wrist | J4 (Swing) | ±180° | |
| J5 (Bending) | -50°～ +230° | ||
| J6 (Swing) | ±360° | ||
| Max. Speed | Arm | J1 (Rotation) | 3.40 rad/s {195°/s} |
| J2 (Lower arm) | 3.32 rad/s {190°/s} | ||
| J3 (Upper arm) | 3.14 rad/s {180°/s} | ||
| Wrist | J4 (Swing) | 6.98 rad/s {400°/s} | |
| J5 (Bending) | 6.98 rad/s {400°/s} | ||
| J6 (Swing) | 10.5 rad/s {600°/s} | ||
| Wirst Allowable Load | Allowable Moment | J4 (Swing) | 43.7 N・m |
| J5 (Bending) | 43.7 N・m | ||
| J6 (Swing) | 19.6 N・m | ||
| Allowable Moment Of Inertia | J4 (Swing) | 1.09 kg・m² | |
| J5 (Bending) | 1.09 kg・m² | ||
| J6 (Swing) | 0.24 kg・m² | ||
| Arm Cross-sectional Area | 3.32m² x 340° | ||
| Ambient Temperature / Humidity | 0～45°C, 20~80%RH | ||
| Mass (Weight) | 355 kgs | ||
| Upper Arm Max. Carrying Capacity | 20 kgs | ||
| Installation Method | Floor-/Ceiling- | ||