NACHI MC20
| Name | MC20-01 | ||
| Pattern | Articulated construction | ||
| Number of Axes | 6 | ||
| Drive system | AC | ||
| Working Range | Arm | J1(Rotation) | ±3.14rad（±180°） |
| J2(Lower arm) | +1.05～-2.53rad（+60～-145°） | ||
| J3(Upper arm) | +4.22～-2.84rad（+242～-163°） | ||
| Wrist | J4(Swing) | ±3.14rad（±180°） | |
| J5 | ±2.42rad（±139°） | ||
| J6 | ±6.28rad（±360°） | ||
| Max. Speed | Arm | J1(Rotation) | 2.96rad/s （170°/s） |
| J2(Lower arm) | 2.96rad/s （170°/s） | ||
| J3(Upper arm) | 2.96rad/s （170°/s） | ||
| Wrist | J4(Swing) | 6.28rad/s （360°/s） | |
| J5 | 6.28rad/s （360°/s） | ||
| J6 | 10.5rad/s （600°/s） | ||
| Wirst Allowable Load | Allowable Moment | J4(Swing) | 49N・m |
| J5 | 49N・m | ||
| J6 | 23.5N・m | ||
| Allowable Moment Of Inertia | J4(Swing) | 1.6kg・m2 | |
| J5 | 1.6kg・m2 | ||
| J6 | 0.8kg・m | ||
| Position repeat accuracy | ±0.06mm | ||
| Maximum working air pressure | 0.49MPa (5.0kgf / cm2) or less | ||
| Ambient temperature | 0～45°C | ||
| Setting method | Floor mounted,Ceiling mounted | ||
| Environmental resistance | Meets the IP65 standard (for dust and waterproofing) | ||
| Mass (Weight) | 220kg | ||
