# Nachi Robotics MR20

Hardware · `MR20` · verification: source checked

The MR20 is a seven-axis articulated robot for machine tending and material handling. It has a 20 kg payload and 1260 mm reach, with repeatability of ±0.06 mm. It supports floor and invert/ceiling mounting.

## Specification

| Property | Value |
|---|---|
| Category | industrial robot |
| Axes | 7 |
| Payload | 20 kg |
| Reach | 1260 mm |
| Repeatability | 0.06 mm |
| Weight | 230 kg |

### Joints

| Name | Range min (°) | Range max (°) | Max speed (°/s) |
|---|---|---|---|
| Axis 1 | -179.9087476710785 | 179.9087476710785 | 169.59550735872367 |
| Axis 2 | -119.74817918234206 | 55.00394833255903 | 169.59550735872367 |
| Axis 3 | -163.86592940741545 | 134.64508185574346 | 169.59550735872367 |
| Axis 4 | -179.9087476710785 | 179.9087476710785 |  |
| Axis 5 | -134.64508185574346 | 134.64508185574346 |  |
| Axis 6 | -359.817495342157 | 359.817495342157 |  |
| Axis 7 | -179.9087476710785 | 179.9087476710785 |  |

## Connected

- Manufacturer: [Nachi Robotics](https://machineschema.com/manufacturer/nachi-robotics.md)

## Study notes

- The MR series uses a seventh axis to provide multiple arm postures for a single working TCP and to avoid singularities.
- The document states payload can be up to 30 kg when using a 1000 mm envelope.
- Floor and invert/ceiling mounting solutions are available.
- The document lists robot models MR20-02 and MR20L-01 under MR20 general specifications.
- Drive system is AC servo motor; construction is articulated.
- Applications listed are machine tending and material handling.
- Max working envelope values are stated in radians; they are converted to degrees in the joints field.
- Max speeds of 2.96 rad/s are stated for axes 1-3; speeds for axes 4-7 are not present in the excerpt.
- The MR series can be combined with a robot slider to tend multiple machines with one robot.

## Sources

1. [MR20 | Nachi Robotics Systems, Inc.](https://www.nachirobotics.com/product/mr20/) (accessed 2026-10-25)

---

Source page: https://machineschema.com/hardware/nachi-robotics-mr20  
JSON: https://machineschema.com/hardware/nachi-robotics-mr20.json  
License: CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/). Cite Machine Schema and the original sources.