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