Specification	Value
Number of Axes	6
Maximum Payload Capacity	8 kg
Positional Repeatability	± 0.003" (± 0.08 mm)
Drive Capacity	5000 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 +260°
Working Range, Wrist, J4 (Swing)	± 180°
Working Range, Wrist, J5 (Bending)	-50 ° to + 230°
Working Range, Wrist, J6 (Twist)	±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)	10.99 rad/s (630°/s)
Wrist Load, Allowable Moment, J4 (Swing)	17.6 N*m
Wrist Load, Allowable Moment, J5 (Bending)	17.6 N*m
Wrist Load, Allowable Moment, J6 (Twist)	7.8 N*m
Wrist Load, Allowable Moment of Inertia, J4 (Swing)	0.43 kg*m2
Wrist Load, Allowable Moment of Inertia, J5 (Bending)	0.43 kg*m2
Wrist Load, Allowable Moment of Inertia, J6 (Twist)	0.09 kg*m2
Arm operation cross-sectional area	7.48 m2
Ambient Conditions	0 to 45 °C, 20 ~ 80% RH (No condensation)
Mass	602 lbs. (273 kg)
Upper arm payload capacity	44.09 lbs. (20 kg)
Installation type	Floor / Ceiling / Wall
Paint color	White (Munsell notation 10GY 9/1)