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To the best of our knowledge all details listed below are deemed correct. It is the buyer's responsibility to confirm all details and we encourage an inspection of the machine(s) and accessories prior to purchase. Equipped With: RJ3iB Controller Cables Teach Pendant Robot Stand General Specifications: Axes: 4 Payload: 160kg H-Reach: 3140mm Repeatability: +0.5000mm Robot Mass: 1940kg Structure: Articulated Mounting: Floor Robot Motion Speed J1: 130 Degrees (2.27 Rad/s) J2: 130 Degrees (2.27 Rad/s) J3: 135 Degrees (2.36 Rad/s) J4: 300 Degrees (5.24 Rad/s) Robot Motion Range J1: +360 Degrees J2: +144 Degrees J3: +136 Degrees J4: +540 Degrees