Axis and gripper specifications Waist Travel Infinite rotation Maximum rated torque 362.55 Nm (267.41 lb-ft) Maximum continuous stall torqueat temperature rise 75.000 °C 25.74 Nm (18.99 lb-ft) Maximum velocity 400°/s Elbow Travel Infinite rotation Maximum rated torque 36.68 Nm (5193.73 oz-in) Maximum continuous stall torqueat temperature rise 75.000 °C 2.86 Nm (404.61 oz-in) Maximum velocity 425°/s Wrist Travel Infinite rotation Maximum rated torque 14.23 Nm (2014.90 oz-in) Maximum continuous stall torqueat temperature rise 75.000 °C 0.58 Nm (81.73 oz-in) Maximum velocity 540°/s Z-axis Travel 3.30–52.07 cm (1.30–20.50 in) from the attachment surface Maximum rated force 420 N (94.4 lb) Maximum continuous stall force at coil temperature 100 °C 120.2 N (27.0 lb) Maximum velocity 1000 mm/s Gripper Travel Closed: 76.5 mm Open: 136 mm Force 0–2 kg Related information For information about... See... Robot dimensions Physical dimensions Reach and workspace Reach and workspace Performance specifications Performance specifications Mounting specifications Mounting specifications Electrical requirements Electrical requirements Computer requirements Computer requirements Environmental requirements Environmental requirements
