| FANUC | |
| Items | S-420i F |
| Maximum reach | 2.40m |
| Load capacity | 120kg (265 lbs) |
| Axis 1 Range | 360° |
| Speed | 100°/sec |
| Axis 2 Range | 142° |
| Speed | 110°/sec |
| Axis 3 Range | 135° |
| Speed | 100°/sec |
| Axis 4 Range | 600° |
| Speed | 210°/sec |
| Axis 5 Range | 260° |
| Speed | 150°/sec |
| Axis 6 Range | 720° |
| Speed | 210°/sec |
| Moments Axis 4 | 60kgf • m |
| Axis 5 | 60kgf • m |
| Axis 6 | 30kgf • m |
| Load Axis 4 | 306kgf • cm • sec2 |
| Inertia Axis 5 | 306kgf • cm • sec2 |
| Axis 6 | 77kgf • cm • sec2 |
| Repeatability | ±0.4mm (±0.016″) |
| Mounting method | Upright |
| Mechanical brakes | All axes |
| Weight | 1500 kg (3300 lbs) |

