• FD-A20
  • FD-A20
  • FD-A20


  • The world's highest level track accuracy
  • Regardless of any posture can achieve a wide range of high track accuracy
  • Arc motion is also high precision
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-