| Model | QJR6S-1 | QJRH4-1A | QJR6-1400H | QJR6-2000H | QJR6-1 | QJR6-1500 | QJR6-3 | QJR6-2100 | QJR10-1900 | QJR10-2000 | QJR12-1700 | QJR20-1600(None Explosion-proof) | QJR20-1600(Explosion-proof) | QJR20-2000(None Explosion-proof) | QJR20-2000(Explosion- proof) | QJR25-1800 | QJR30-1600 | |
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| Axis Number | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | |
| Payload | 3/6kg | 4kg | 6kg | 6kg | 6kg | 6kg | 6kg | 6kg | 10kg | 10kg | 12kg | 20kg | 20kg | 20kg | 20Kg | 25kg | 30kg | |
| Repeat Positioning | ±0.03mm | ±0.05mm | ±0.08mm | ±0.08mm | ±0.03mm | ±0.05mm | ±0.05mm | ±0.05mm | ±0.05mm | ±0.05mm | +0.05mm | ±0.05mm | ±0.05mm | ±0.05mm | ±0.05mm | ±0.05mm | ±0.05mm | |
| Max Armspan | 750.6mm | 1410.5mm | 1461mm | 2014mm | 1441mm | 1538mm | 2001mm | 2121mm | 1943mm | 2001mm | 1792mm | 1668mm | 1668mm | 2001.7mm | 2001.7mm | 1852 | 1668mm | |
| Motion Range | J1 | ±172º | ±168º | ±174º | ±175º | ±168° | ±168° | ±172° | ±175° | ±175° | ±172° | ±175° | ±172º | ±172º | +172° | ±172° | +172° | +172° |
| J2 | ﹢132º,﹣82º | ﹢150º,﹣89º | ﹢159º,﹣93º | ﹢159º,﹣95º | +150°，-86° | +159°, ﹣93° | +166°，-100° | +159°, ﹣95° | +159°, ﹣95° | +147°，-115° | + 159°-95° | ﹢147º,﹣115º | ﹢147º,﹣115º | +150°，-110° | +150°, -110° | +165°，- 100° | +147°，- 115° | |
| J3 | ﹢65º,﹣190º | ﹢85º,﹣111º | ﹢95º,﹣125º | ﹢95º,﹣125º | +87°，-110° | + 95°，- 125 | +83°，-92° | +95°，-125° | + 95°，- 125° | +83°，-98° | +95°- 125° | ﹢83º,﹣98º | ﹢83º,﹣98º | +85°- 150° | +85°, -150° | + 83°，-130° | + 83°，-98° | |
| J4 | ±172º | ±167º | ±183º | ±183º | ±170° | ±185° | ±170° | ±185° | ±185° | ±167° | ±185° | ±167º | ±167º | ±185° | ±185° | ±185° | ±185° | |
| J5 | ±120º | ﹢58º,﹣217º | ﹢129º,﹣126º | +129°，-126° | ±125° | ±115° | ±125° | ±115° | ±115° | ±115° | ±115° | ±115º | ±115º | ±115° | ±115° | ±126° | ±126° | |
| J6 | ±360º | ±360º | ±360º | ±360º | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | ±360º | ±360º | ±360° | ±360° | ±360° | ±360° | |
| Max Speed | J1 | 366 °/s | 200°/s | 235°/s | 189 °/s | 200 °/ s | 234°/s | 171 °/ s | 189°/s | 189°/s | 154 °/ s | 189°/s | 154º/s | 154º/s | 177°/s | 177 °/ s | 177°/s | 172°/s |
| J2 | 343 °/s | 200°/s | 235°/s | 189 °/s | 177 °/ s | 234°s | 171 °/ s | 189°/s | 189°/s | 154 °/ s | 189°/s | 154º/s | 154º/s | 177°/s | 177 °/ s | 177°/s | 177°/s | |
| J3 | 366 °/s | 234°/s | 240°/s | 189 °/s | 200 °/ s | 240°/s | 189 °/ s | 189°/s | 189°/s | 171 °/ s | 189°/s | 171º/s | 171º/s | 189°/s | 189 °/ s | 189°/s | 189°/s | |
| J4 | 372 °/s | 349°/s | 361°/s | 360 °/s | 429 °/ s | 372°/s | 429 °/ s | 372°/s | 372°/s | 401 °/ s | 372º/s | 355º/s | 355º/s | 429°/ s | 429 °/ s | 429°/s | 429°/s | |
| J5 | 475 °/s | 355°/s | 361°/s | 320 °/s | 429 °/ s | 630°/s | 446 °/ s | 573°/s | 573°/s | 515 °/ s | 573°/s | 355º/s | 355º/s | 412°/s | 412 °/ s | 412°/s | 412°/s | |
| J6 | 658 °/s | 481°/s | 974°/s | 974 °/s | 601 °/ s | 687°/s | 572 °/ s | 687°/s | 687°/s | 658 °/ s | 687°/s | 355º/s | 355º/s | 515°/s | 515 °/ s | 429°/s | 429°/s | |
| Allowable Torque | J4 | 11 N·m | 10.51N·m | 28N·m | 28N·m | 28N·m | 28Nm | 28N·m | 28Nm | 28Nm | 28N·m | 28N·m | 45N·m | 45N·m | 83.3N·m | 83.3 N.m | 83.3N·m | 83.3N·m |
| J5 | 11 N·m | 10.51N·m | 14.4N·m | 14.4N·m | 28N·m | 28Nm | 28N·m | 28Nm | 28Nm | 28N·m | 28N·m | 45N·m | 45N·m | 34Nm | 34 N.m | 43.35N·m | 43.3N·m | |
| J6 | 5.3 N·m | 2.94N·m | 5N·m | 5N·m | 26.4N·m | 26.4N·m | 26.4N·m | 26.4Nm | 26.4N·m | 26.4N·m | 26.4N·m | 40N·m | 40N·m | 28N·m | 28 N.m | 37.4Nm | 37.4Nm | |
| Inertia Moment | J4 | 0.5 kg·m² | 0.38kg·m² | 1.2kg·m² | 1.2kg·m² | 1.1kg·m² | 1.1kg·m² | 1.1kg·m² | 1.1kg·m² | 1.1kg·m² | 1.1kg·m² | 1.2kg·m² | 3.5kg·m² | 3.5kg·m² | 4.1kg·m² | 4.1 kg.m² | 5.4kg·m² | 6.4kg·m² |
| J5 | 0.5 kg·m² | 0.38kg·m² | 0.8kg·m² | 0.8kg·m² | 1kg·m² | 1kg·m² | 1kg·m² | 1kg·m² | 1kg·m² | 1kg·m² | 1.4kg·m² | 3.5kg·m² | 3.5kg·m² | 3.8kg·m² | 3.8 kg.m² | 5.37kg·m² | 7.2kg·m² | |
| J6 | 0.2 kg·m² | 0.03kg·m² | 0.1kg·m² | 0.1kg·m² | 0.7kg·m² | 0.7kg·m² | 0.7kg·m² | 0.7kg·m² | 0.7kg·m² | 0.7kg·m² | 0.7kg·m² | 2.5kg·m² | 2.5kg·m² | 1.1kgm | 1.1 kg.m² | 1.44kg·m² | 2.3kg·m² | |
| Robot Body Weight | 39kg | 150kg | 150kg | 230kg | 170kg | 170kg | 225kg | 245kg | 245kg | 275kg | 240kg | 270kg | 270kg | 270kg | 270 kg | 270kg | 270kg | |
| Power Capacity | 1.5kVA | 2.7kVA | 2.6kVA | 3.4kVA | 2.9kVA | 2.9kVA | 3.2kVA | 3.6kVA | 3.6kVA | 3.7kVA | 3.6kVA | 3.7kVA | 3.7kVA | 3.7kVA | 3.7kVA | 3.8kVA | 3.8kVA | |
| Power Supply | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | One phase 220V ±10% | |
| Cabinet Size | 610*270*433mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*1270mm | 600*480*920mm | 600*480*1270mm | 600*480*1270mm | 600*480*920mm | |
| Cabinet Weight | 35kg | 95kg | 95kg | 95kg | 95kg | 95kg | 95kg | 95kg | 95kg | 95kg | 95kg | 95kg | 120kg | 95kg | 120kg | 120kg | 95kg | |
| Installing Form | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | |
| Application | Handling, assembly, sorting, loading and unloading etc. | Welding With welding package(welding machine aotai AMIG 350R or Megmeet Ehave CM350AR, wire feeder, anti-collision welding gun） | Welding With welding package(welding machine aotai AMIG 350R or Megmeet Ehave CM350AR, wire feeder, anti-collision welding gun） | Welding With welding package(welding machine aotai AMIG 350R or Megmeet Ehave CM350AR, wire feeder, anti-collision welding gun） | loading and unloading, handling, sorting, assembly etc. | Handling, assembly, sorting, loading and unloading etc. | Handling, assembly, sorting, loading and unloading etc. | Handling, assembly, sorting, loading and unloading etc. | Handling, assembly, sorting, loading and unloading etc. | Handling loading and unloading, handling, sorting, assembly etc. | Handling, assembly, sorting, loading and unloading etc. | loading and unloading, handling, sorting, assembly etc. | Painting; loading and unloading, handling, sorting, assembly etc. | Handling, assembly, sorting, loading and unloading etc. | Handling loading and unloading, handling, sorting, assembly etc. | Handling, assembly, sorting, loading and unloading etc. | Handling, assembly, sorting, loading and unloading etc. | |
| Model | QJR50-1 | QJR70-2000 | QJR210-1 | QJRB15-1(Version B） | QJRB30-1(Version B) | QJR100-2500M | QJR130-3100M | QJRB180-1 | QJR260-3100M | QJRB800-1 | QJR6-2700P(Explosion-proof) | QJRP10-1 | |
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| Axis Number | 6 | 6 | 6 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 6 | 6 | |
| Payload | 50kg | 70kg | 210kg | 15kg | 30kg | 100KG | 130kg | 180kg | 260kg/300kg | 800kg | 6kg | 10kg | |
| Repeat Positioning | ±0.07mm | ±0.07mm | ±0.2mm | ±0.05mm | ±0.05mm | ±0.1mm | ±0.5mm | ±0.5mm | ±0.5mm | ±0.5mm | ±0.5mm | ±0.5mm | |
| Max Armspan | 2012.4mm | 2012mm | 2683.4mm | 1510mm | 1825mm | 2512mm | 3157mm | 3157mm | 3157mm | 3155mm | 2701mm | 2035mm | |
| Motion Range | J1 | ±180° | ±180° | ±167° | ±174º | ±175º | ±185° | ±182° | ±182° | ±182° | ±185º | ±95º | ±95º |
| J2 | +135°，-90° | +140°，-91° | +86°，-51° | +97°，-50° | +97°，-50° | +97°，-49° | +97°，-50° | +97°，-50° | +97°，-50° | ﹢94º,﹣48º | ﹢102º,﹣53º | ﹢102º,﹣53º | |
| J3 | +82°，-205° | +82°，-208° | +82°，-168° | Global:+105º,﹣25º Coupling:+76°,-133° | Global:+105º,﹣25º Coupling:+77°,-134° | Global:+122º,﹣22º Coupling:+71°,-82° | Global:+122º,﹣22º Coupling:+71°,-82° | Global:+122º,﹣22º Coupling:+71°,-82° | Global:+122º,﹣22º Coupling:+71°,-82° | Global:+112º,﹣17º Coupling:+71°,-81° | ﹢80º,﹣80º | ﹢87º,﹣80º | |
| J4 | ±360° | ±360° | ±360° | ±360º | ±360º | ±360° | ±360° | ±360º | ±360° | ±360º | ±260º | ±260º | |
| J5 | ±120° | ±120° | ±121° | — | — | — | — | — | ±270º | ±270º | |||
| J6 | ±360° | ±360° | ±360° | — | — | — | — | — | ±260º | ±260º | |||
| Max Speed | J1 | 154 °/ s | 154 °/ s | 80.2 °/s | 234 °/s | 171 °/s | 134°/ s | 128 °/s | 128 °/s | 97 °/s | 64 °/s | 108 °/s | 108 °/s |
| J2 | 120 °/ s | 131 °/ s | 68.8 °/s | 234 °/s | 189 °/s | 148 °/ s | 131 °/s | 131 °/s | 97 °/s | 64 °/s | 103 °/s | 120 °/s | |
| J3 | 154 °/ s | 160 °/ s | 80.2 °/s | 263 °/s | 211 °/s | 160 °/ s | 131 °/s | 131 °/s | 97 °/s | 64 °/s | 115 °/s | 114 °/s | |
| J4 | 249 °/ s | 286 °/ s | 183 °/s | 630 °/s | 355 °/s | 349°/ s | 297 °/s | 297 °/s | 297 °/s | 114 °/s | 360 °/s | 360 °/s | |
| J5 | 249 °/ s | 257 °/ s | 171.9 °/s | — | — | — | — | — | — | 360 °/s | 360 °/s | ||
| J6 | 349 °/ s | 395 °/ s | 257.8 °/s | — | — | — | — | — | — | 360 °/s | 360 °/s | ||
| Allowable Torque | J4 | 245 N·m | 480 N·m | 1200N·m | 29.4N·m | 36N·m | 167 N.m | 350N·m | 350N·m | 350N·m | 999N·m | 46 N·m | 46 N·m |
| J5 | 245 N·m | 430.4 N·m | 1200N·m | — | — | — | — | — | — | 45 N·m | 45 N·m | ||
| J6 | 147 N·m | 190.4N·m | 650N·m | — | — | — | — | — | — | 27 N·m | 27 N·m | ||
| Inertia Moment | J4 | 12.5 kg·m² | 59.78 kg·m² | 84kg·m² | 0.6kg·m² | 2.6kg·m² | 7.87kg·m² | 21.8 kg·m² | 43.6kg·m² | 43.6kg·m² | 286kg·m² | 3.9 kg·m² | 3.9 kg·m² |
| J5 | 12.5 kg·m² | 60.26 kg·m² | 84kg·m² | — | — | — | — | 3.9 kg·m² | 3.9 kg·m² | ||||
| J6 | 4.5 kg·m² | 19.04 kg·m² | 55kg·m² | — | — | — | — | 1.3 kg·m² | 1.3 kg·m² | ||||
| Robot Body Weight | 580kg | 630kg | 1200kg | 160kg | 205kg | 715kg | 1400kg | 1400kg | 1400kg | 2550kg | 400kg | 370kg | |
| Power Capacity | 14.5kVA | 21kVA | 25.9kVA | 2.5kVA | 3.2kVA | 7.65KVA | 17.4kVA | 17.5kVA | 19.3kVA | 21.9kVA | 4.4kVA | 4.4kVA | |
| Power Supply | Three phase 5 wire 380V ±10% | Three phase 5 wire 380V ±10% | Three phase 5 wire 380V ±10% | One phase 220V ±10% | One phase 220V ±10% | Three phase 5 wire 380V ±10% | Three phase 5 wire 380V ±10% | Three phase 5 wire 380V ±10% | Three phase 5 wire 380V ±10% | Three phase 5 wire 380V ±10% | One phase 220V ±10% | One phase 220V ±10% | |
| Cabinet Size | 600*480*920mm | 650*750*1150mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*920mm | 600*480*1270mm | 600*480*1270mm | |
| Cabinet Weight | 110kg | 110kg | 110kg | 95kg | 95kg | 120kg | 110kg | 110kg | 110kg | 110kg | 120kg | 120kg | |
| Installing Form | Ground Mounted/ Ceiling | Ground Mounted/ Ceiling | Ground Mounted | Ground Mounted | Ground Mounted | Ground Mounted | Ground Mounted | Ground Mounted | Ground Mounted | Ground Mounted | Ground Mounted | Ground Mounted | |
| Application | Deburring, loading and unloading, handling, assembling, etc. | Deburring, loading and unloading, handling, assembling, etc. | Palletizing, loading and unloading, handling, polishing and grinding, assembly | It is suitable for punching machine, furniture, food and beverage, 3C and other industries. On Palletizing, picking up, packaging, handling, loading and unloading. | It is suitable for punching machine, furniture, food and beverage, 3C and other industries. On Palletizing, picking up, packaging, handling, loading and unloading. | It is suitable for punching machine, furniture, food and beverage, 3C and other industries. On Palletizing, picking up, packaging, handling, loading and unloading. | It is suitable for punching machine, furniture, food and beverage, 3C and other industries. On Palletizing, picking up, packaging, handling, loading and unloading. | It is suitable for punching machine, furniture, food and beverage, 3C and other industries. On Palletizing, picking up, packaging, handling, loading and unloading. | It is suitable for punching machine, furniture, food and beverage, 3C and other industries. On Palletizing, picking up, packaging, handling, loading and unloading. | Heavy-duty palletizing application. Such as brick factories palletizing. | For painting, there is no singularity point, making the teaching programming much easier. | For painting, there is no singularity point, making the teaching programming much easier. | |
