Type: Articulated Type Controlled axis: 6-axes (J1, J2, J3, J4, J5, J6) Reach: 550mm Installation: Floor, Upside-down, (Angle mount) Motion range (Maximum Speed): - J1 Axis Rotation - J2 Axis Rotation - J3 Axis Rotation - J4 Axis Rotation - J5 Axis Rotation - J6 Axis Rotation Max. load capacity Wrist: 4Kg Allowable Load moment at wrist: - J4 Axis - J5 Axis - J6 Axis Allowable Load inertia at wrist: - J4 Axis - J5 Axis - J6 Axis Repeatability: +/- 0.05mm Mass: 21 Kg Minimum Installation environment: - Ambient temperature: 0 – 45°C - Ambient humidity: Normally 75%RH or less. No dew, nor frost allowed. - Vibration Acceleration: 4.9 m/s² (0.5G or less)