Name FR5 FR10 FR20 Payload 5 kg 10 kg 20 kg Reach 922 mm 1400 mm 1854 mm Degrees of freedom 6 rotating joints HMI 10.1 inch teach pendant or mobile terminal Web App Pose repeatability per ISO 9283 ±0.03 mm ±0.05 mm ±0.1 mm Axis movement Working range Working range Working range Base ±175° ±175° ±175° Shoulder +85° / -265° +85° / -265° +85° / -265° Elbow ±160° ±160° ±160° Wrist 1 +85° / -265° +85° / -265° +85° / -265° Wrist 2 ±175° ±175° ±175° Wrist 3 ±175° ±175° ±175° Typical TCP speed 1 m/s 1.5 m/s 2 m/s IP classification IP54 / IP65 Noise <65 dB <65 dB <70 dB Robot mounting Any orientation I/O Ports DI 2 / AI 1 Tool I/O power supply 24V / 1.5A Footprint 149 mm 190 mm 240 mm Weight ≈22 kg ≈40 kg ≈85 kg Operating temperature 0-45 ℃ Operating humidity 90% RH (non-condensing) Materials Aluminium, Steel Typical average power 261 W 294 W 624 W Typical peak power 314 W 503 W 806 W