Type of motion Range of movement
Axis 1 Rotation motion +170o _ -170o
Axis 2 Arm motion +70o _ -70o
Axis 3 Arm motion +70o _ -65o
Axis 4 Wrist motion +150o _ -150o
Axis 5 Bend motion +115o _ -115o
Axis 6 Turn motion +300o _ -300o

Unidirectional pose repeatability:
RP = 0.05 mm
Linear path accuracy:
AT = 0.45 - 1.0 mm
Linear path repeatability:
RT = 0.14 - 0.25 mm
Minimum positioning time, to within 0.2 mm of the position:
0.2 - 0.35 sec. (on 35 mm linear path)
0.45 - 0.6 sec. (on 350 mm linear path)