1. Position repeatability is the data obtained by measuring the position of the tool center point (TCP) according to ISO9283. 2. The values in parentheses are the results of wall mounting. 3. For wall mounting, the range of motion of J2 axis may be limited. 4. For floor mounting, the operating range of J3 axis is -170° to +180° . 5. Specifications for coaxial cables passing through the hollow part of J4 and J6 axes. The values in parentheses are other than these specifications. 6. The range of motion of J6 axis is limited by the posture of J5 axis. 7. The loadable capacity of the upper arm varies with the wrist load.