CA20N

• Top speed: By using light-weight arms and small sized motors, the fastest speed and acceleration is greatly enhanced. In addition, by adjusting acceleration of load and orientation, optimal continuous performance is fulfilled and cycle time is greatly reduced.

• Tiny wrist and high torque: Compact wrist realizes free operation in narrow space. In addition, by adopting high output rotational torque and high rotating speed small-sized motors as well as enhancing wrist stiffness to raise the wrist loading capacity. The selection range of gripper, tool, and workpiece shape is also broadened.

• Large area operation range: Besides maximum operation range, it also broadens the area of the all the axes. Thus expansion of the lower region and main body neighboring region action range is realized. The layout freedom is also raised.

• Good environment adaptability: Each joint adopts double layer sealing structure and water proof interface so that the wrist part Ingress Protection Rating and basic axis Ingress Protection Rating reach IP67 and IP65 respectively.

• High expandability: In the process of selecting accessories, built-in solenoid valve and detecting cable are applied so that the application of peripheral robotic arms, loading and uploading becomes easier. Moreover, standard cable bracket installation screw holes are configured in each axis of the robotic arm so that additional tubing and wiring can be achieved later on.

Function		Description
Model		CA20N
Arm format		Vertical multi-joint
Controlled axes		6 Axis
Maximum payload (kg)		20Kg
Maximum motion range (°)	Rotation	±180°
	Horizontal arm	+155°～-105°
	Vertical arm	+150°～-163°
	Inner wrist	±270°
	Wrist bend	±145°
	Wrist turn	±360°
Maximum speed (°/sec.)	Rotation	190°/s
	Horizontal arm	205°/s
	Vertical arm	210°/s
	Inner wrist	400°/s
	Wrist bend	360°/s
	Wrist turn	610°/s
Allowable moment (N·m)	Inner wrist	45N·m
	Wrist bend	45N·m
	Wrist turn	29N·m
Allowable moment of inertia (kg·m²)	Inner wrist	0.9kg·m²
	Wrist bend	0.9kg·m²
	Wrist turn	0.3kg·m²
Repeatability (mm)		±0.05mm
Reach		1725mm
Resultant maximum speed		11500mm/s
Weight		230kg
Mounting positions		Floor, Top
Environment	Ambient temperature	0° ~ 45°C
Environment	Relative humidity	35 ~ 85%, , non-condensing
IP Protection		Arm: IP67, Base: IP65
Power rating		5.6kVA
Corresponding controller		EC03