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Motoman UP20M



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Specifications 
Model

UP20M
Controller XRC 2001
Structure Vertically Jointed-Arm Type
Controlled Axis 6 Degrees of Freedom
Payload 20 kg
Vertical Reach 5585mm
Horizontal Reach 3106mm
Repetitive Positioning Accuracy *1 ±0.15mm
Motion Range Turnig (S-Axis) ±180°
Lower Arm (L-Axis) +135°, -90°
Upper Arm (U-Axis) +251°, -160°
Wrist Roll (R-Axis) ±190°
Wrist Pitch/Yaws (B-Axis) ±140°
Wrist Twist (T-Axis) ±360°
Max. Speed S-Axis 170°/s
L-Axis 170°/s
U-Axis 170°/s
R-Axis 335°/s
B-Axis 335°/s
T-Axis 510°/s
Allowable Moment R-Axis 31.4N·m
B-Axis 31.4N·m
T-Axis 15.7N·m
Allowable Inertia
(GD²/4)		 R-Axis 0.7kg·m²
B-Axis 0.7kg·m²
T-Axis 0.2kg·m²
Approx. Mass 495kg
Brakes

All Axes
Power Capacity *2 5.0kVA

*1 Conforms to JIS B8432
*2 Power supply varies in accordance with applications and motion patterns

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