Nachi Handling Robot MR20/20L 7-axis design offers exceptional flexibility and reach, while the compact size allows for integration in tight spaces. With a 20kg payload capacity, the MR20/20L handles various objects efficiently. Optional features like vacuum grippers and tool changers further expand its capabilities.
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7-axis structure
Compact body, powerful arm
Controller |
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Operating envelope
Figures in ( ) indicate the range of operations for the Nachi Handling Robot MR20/20L.
Nachi Handling Robot MR20/20L Specifications
(*1)Â The specifications are subject to changes without notice.
(*2)Â In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Law. Please go through careful investigation and necessary formalities for export.
| Robot model | MR20-02 | MR20L-01 | |
|---|---|---|---|
| Construction | Articulated construction | ||
| Number of axes | 7 | ||
| Drive system | AC servo system | ||
| Max. operating area | JT1 | +/-3.14rad (+/-180°) | |
| JT2 | +0.96 to -2.09rad (+55 to -120°) | ||
| JT7 | +/-3.14rad (+/-180°) | ||
| JT3 | +2.35 to -2.89rad (+135 to -166°) | ||
| JT4 | +/-3.14rad (+/-180°) | ||
| JT5 | +/-2.35rad (+/-135°) | +/-2.42rad (+/-139°) | |
| JT6 | +/-6.28rad (+/-360°) | ||
| Max. speed | JT1 | 2.96rad/s (170°/s) | |
| JT2 | 2.96rad/s (170°/s) | ||
| JT7 | 2.96rad/s (170°/s) | ||
| JT3 | 2.96rad/s (170°/s) | ||
| JT4 | 4.36rad/s (250°/s) | 6.28rad/s (360°/s) | |
| JT5 | 4.36rad/s (250°/s) | 6.28rad/s (360°/s) | |
| JT6 | 5.23rad/s (300°/s) | 10.5rad/s (600°/s) | |
| Payload | 20kg*1 | 20kg | |
| Wrist torque | JT4 | 80.8N·m | 49N·m |
| JT5 | 80.8N·m | 49N·m | |
| JT6 | 44.1N·m | 23.5N·m | |
| W rist moment of inertia*2 | JT4 | 6.0kg·m2 | 1.6kg·m2 |
| JT5 | 6.0kg·m2 | 1.6kg·m2 | |
| JT6 | 2.3kg·m2 | 0.8kg·m2 | |
| Position repeat accuracy | +/-0.06mm | ||
| Maximum working air pressure | 0.49MPa (5.0kgf/cm2) or less | ||
| Ambient temperature | 0 to 45°C | ||
| Installation parameters | Floor mounted/ceiling mounted | ||
| Environmental resistance*3 | Meets the IP65 standard (for dust and waterproofing) |
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| Robot mass | 230kg | ||
1[rad]=180/π[°]  1[N·m]=1/9.8[kgf·m]
To mount a load to the robot arm, it must be loaded either to the forearm or to the upper part of the J3 axis.
(*1)Â Max payload 30kg (limited envelope)
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