Small Payload Handling Intelligent Robot< Robot M-10+D< Robot M-20+DFEATURES
FANUC Robot M-10+D / M-20+D is a cable
integrated small payload handling robot.
● The unique gear drive mechanism realizes thehigh inertia and the slim arm of the cable
integrated robot.

● The cables and tubes backside the tool control

box can be integrated in the enlarged J1 hollowtube.

● Various cables and tubes using for hand control

can be integrated in the J3 arm due to theenlarged J4 and J6 hollow tubes. The tool control
box can be compactly mounted backside of theJ3 arm.

● Higher rigidity of the arm provides high speed andhigh accuracy of the robot motion. It can enhance
the productivity of the system.

● Oﬀ-line teaching by ROBOGUIDE (Option) reduces

touch-up cost.

● Various intelligent functions with +RVision(integrated vision) and the force sensor areavailable.

● Dustproof wrist cover speciﬁcation (IP67)

suitable for dusty environments is optionallyavailable for M-10+D/12.

● Food oil speciﬁcation applied with lubricant forApplication Examples

Handling of sheet metal partsfood machinery is optionally available forM-10+D/12 and M-20+D/25.

FIBER LASER weldingOperating space

M-10+D/16S, /12, /10L, /8L+170deg(-185deg)

M-20+D/25, /35, /12L+170deg

0deg(-185deg)

0deg
R2(+185deg)-170deg(+185deg)-170deg
700(/12)900(/10L)
1100(/8L)
75 555(/16S)

70

75(/12, /10L, /8L)
90(/16S)
87(/12 dustproof wrist cover specification)(/12 food oil specification)

Operatingspace ofJ5 axis centerJ5-axis rotation center
Operating spaceof J5-axis rotationcenter890(/25, /35)
75 1340(/12L)
215

90(/25, /35)
75(/12L)
110(/25 food oilspecification)

213 (/25, /12L)
273 238 (/35)

840

J5 axisrotation
center425

2622

2181

2407
2011
1816
1479
840(/8L)
640(/12, /10L)
450 440(/16S) 195

238 189

M-10+D/8L

170173
215

1280

1721

1355
995
800
498

240 173

M-20+D/25, /35
M-20+D/12L

M-10+D/10L
953
1291
1486
1882

M-10+D/12

1103
1441
1636
2032

M-10+D/16S

1681
2122

1831
2272

Speciﬁcations
M-20iD/12L
M-10iD/10L
M-10iD/8L
M-20iD/25
M-20iD/35
6 axes (J1, J2, J3, J4, J5, J6)1103 mm1441 mm
1636 mm
2032 mm1831 mm
2272 mm
Floor, Upside-down, Angle mount370º (210º/s)
370º (180º/s)
370º (210º/s)
370º (290º/s)
370º (260º/s)
J1 axis6.46 rad (3.67 rad/s)
6.46 rad (3.14 rad/s) 6.46 rad (3.67 rad/s)
6.46 rad (5.06 rad/s)
6.46 rad (4.54 rad/s)
260º (180º/s)
260º (210º/s)
260º (210º/s)
235º (210º/s)
235º (270º/s)
235º (240º/s)
J2 axis4.10 rad (3.67 rad/s) 4.54 rad (3.67 rad/s) 4.54 rad (3.14 rad/s) 4.54 rad (3.67 rad/s)
4.10 rad (4.71 rad/s)
4.10 rad (4.19 rad/s)
458º (200º/s)
458º (265º/s)
458º (265º/s)
455º (220º/s)
455º (270º/s)
455º (260º/s)
Motion range
J3 axis7.94 rad (3.84 rad/s) 8.00 rad (4.63 rad/s) 8.00 rad (3.49 rad/s) 8.00 rad (4.63 rad/s)
7.94 rad (4.71 rad/s)
7.94 rad (4.54 rad/s)(Maximum speed)
400º (350º/s)
400º (420º/s)
400º (420º/s)
380º (430º/s)
Note 2), 3), 4), 5) J4 axis
6.98 rad (7.33 rad/s) 6.98 rad (6.11 rad/s) 6.98 rad (7.33 rad/s)
6.63 rad (7.50 rad/s)
360º (350º/s)
360º (420º/s)
360º (450º/s)
360º (450º/s)
J5 axis6.28 rad (7.33 rad/s) 6.28 rad (6.11 rad/s) 6.28 rad (7.85 rad/s)
6.28 rad (7.85 rad/s)
900º (400º/s)
900º (720º/s)
900º (720º/s)
900º (730º/s)
J6 axis15.71 rad (6.98 rad/s) 15.71 rad (12.57 rad/s)
15.71 rad (12.57 rad/s)
15.71 rad (12.74 rad/s)
16 kg
12 kg
10 kg
8 kg
25 kg
12 kg
35 kg
Max load capacity at wrist
22.0 N·m
16.1 N·m
52.0 N·m
22.0 N·m
26.0 N·m
110.0 N·m
J4 axisAllowable load22.0 N·m
16.1 N·m
52.0 N·m
22.0 N·m
26.0 N·m
110.0 N·m
J5 axismoment at wrist
32.0 N·m
11.0 N·m
9.8 N·m
5.9 N·m
9.8 N·m
60.0 N·m
J6 axis22222
2.40 kg·m
0.90 kg·m
0.65 kg·m
0.63 kg·m
0.65 kg·m2
4.00 kg·m
J4 axisAllowable load
22220.90 kg·m
0.65 kg·m
0.63 kg·m
2.40 kg·m
0.65 kg·m2
4.00 kg·m2
J5 axisinertia at wrist
0.30 kg·m2
0.17 kg·m2
0.061 kg·m2
1.20 kg·m2
0.17 kg·m2
1.50 kg·m2
J6 axis± 0.02 mm± 0.02 mm
Repeatability Note 6)± 0.03 mm± 0.03 mm
145 kg
250 kg
150 kg180 kgMass Note 7)
Ambient temperature : 0 to 45℃
Ambient humidity : Normally 75%RH or less (No condensation allowed), Short term (within one month) 95%RH or less (No condensation allowed)
Installation environment
Vibration acceleration : 4.9m/s2 (0.5G) or less
Note 1) Angle mount is not supported for 4 brake type of M-10iD/12.
Note 2) In case of equipping mechanical stopper, motion range of J1 axis is restrected to 340º (5.93 rad).
Note 3) In case of angle mounting, J1 and J2 axis motion range are restricted.
Note 4) During short distance motions, the axis speed may not reach the maximum value stated.
Note 5) Motion range of J5 axis is restricted to 240º (4.19 rad) and motion range of J6 axis is restricted to 540º (9.42 rad) for M-10iD/12 with dustproof wrist
cover speciﬁcation.
Note 6) Compliant with ISO9283.
Note 7) Without controller.
Model
Control axesReach
Installation Note 1)

M-10iD/16S

M-10iD/12●● Overseas Aﬃliated Companies

FANUC America Corporation
FANUC Europe Corporation, S.A.
SHANGHAI-FANUC Robotics CO., LTD.
KOREA FANUC CORPORATIONTAIWAN FANUC CORPORATIONFANUC INDIA PRIVATE LIMITEDFANUC SINGAPORE PTE. LTD.
FANUC THAI LIMITEDFANUC MECHATRONICS (MALAYSIA) SDN. BHD.
PT. FANUC INDONESIAFANUC OCEANIA PTY. LIMITEDFANUC SOUTH AFRICA (PROPRIETARY) LIMITED

Phone: (+1)248-377-7000
Phone: (+352)727777-1
Phone: (+86)21-5032-7700
Phone: (+82)55-278-1200
Phone: (+886)4-2359-0522
Phone: (+91)80-2852-0057
Phone: (+65)6567-8566
Phone: (+66)2-714-6111
Phone: (+60)3-3082-1222
Phone: (+62)21-4584-7285
Phone: (+61)2-8822-4600
Phone: (+27)11-392-3610

Headquarters 3580, Shibokusa, Oshino-mura, Minamitsuru-gun
Yamanashi, 401-0597, JAPAN
Phone: (+81)555-84-5555 https://www.fanuc.co.jp/

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All speciﬁcations are subject to change without notice.
No part of this catalog may be reproduced in any form.
The products in this catalog are controlled based on Japan's Foreign Exchange and Foreign Trade Law". The
export from Japan may be subject to an export license by the government of Japan. Further, re-export toanother country may be subject to the license of the government of the country from where the product isre-exported. Furthermore, the product may also be controlled by re-export regulations of the United States
government. Should you wish to export or re-export these products, please contact FANUC for advice.

2018

RM-10iD(E)-06, 2023.4,Printed in Japan