IR-R20H Six-axis robotic arm (manipulator)
Six-axis Robot · Load capacity 20kg · High beat
IR-R20H specifications
20kg high-cycle type, medium workpiece handling and machine tool loading/unloading
Model introduction
IR-R20H Six-Axis Robot · Load capacity 20kg · High beat. 20kg high-cycle type, medium workpiece handling and machine tool loading/unloading
IR-R15H / R20H Series Six-Axis Robots · Series technical features
15-20kg · Medium load, high beat
Covers two load levels: 15kg and 20kg, capable of handling and assembling small and medium-sized workpieces.
The H Series optimizes sports performance, with faster cycles and higher capacity.
Reach covers 1.2-1.7 meters, suitable for medium to large workstations.
Widely used in automotive parts, 3C, home appliances, and metal processing.
Typical application scenarios
Common application processes for this model (click to view process details):
IR-R15H / R20H Series Six-Axis Robots · Other models in the same series
Compare load and reach to choose the model that best suits your process.
IR-R20H model positioning and working condition adaptation
IR-R20H It belongs to the Inovance IR-R15H / R20H series six-axis robot models, with a rated load of 20kg, a motion radius of 1700mm, and a repeat positioning accuracy of ±0.03mm. Inovance Technology's technical foundation is a leading domestic product: full-stack self-developed servo-control-robot, strong EtherCAT synchronization, outstanding cost-effectiveness, and local service responsiveness; The control platform is the Inovance RC series controller (supporting AM/AC platform), with a program ecosystem of graphical programming + script extensions and an EtherCAT bus.
From the perspective of working condition adaptation, the typical use for medium-duty load (20kg) positioning is:Welding, machine tool wiring, medium-sized palletizing, and die-casting part removalCommon application processes for this model include handling, machine tool loading and unloading, and palletizing. The long reach (1700mm) covers multiple stations and large pallets, reducing robot movement or coordination with ground track expansion. ± 0.03mm repeatability is the standard level for six-axis industrial robots, covering most working conditions such as welding, handling, palletizing, and loading/unloading. This level is the main stage for welding and loading; when selecting a positioner or dual stations, pay attention to the total cycle time and interference zone planning.
| Parameters | Engineering interpretation and usage recommendations |
|---|---|
| Rated load capacity: 20kg | It is recommended to reserve a load margin of 20%–30%; Verification is made by combining end self-weight + workpiece + imbalanced load inertia, especially sensitive to high-speed conditions |
| Radius of movement: 1700mm | Determine the radius of the work unit layout: bins, tooling, and fences are bounded by maximum arm span + safety distance; Verify the accessibility of each pick-and-place point during cross-station service |
| Repeat positioning accuracy: ±0.03mm | Repeatability ≠ absolute accuracy: Precision assembly requires external measurement closed-loop or visual guidance; Long-term accuracy trends rely on annual retest management |
| Number of axes: 6 | Six-axis all-posture capability, the preferred choice for complex trajectory and inclined surface operations |
| Protection rating: IP54 | Suitable for standard workshop environments; Dusty and moisture-prone workstations require additional protective kits or positive pressure protection |
| Controller: Inovance RC Series Controller (Equipped with AM/AC Platform) | Decide on the process ecosystem, spare parts channels, and second-hand residual value; Currently, spare parts channels are smooth, and repair and upgrade paths are mature |
Control systems and common failure modes
The IR-R20H comes with the Inovance RC series controller (compatible with AM/AC platform), featuring a programming language and development environment of graphical programming + script extensions, and an EtherCAT bus. Maintenance of this generation of control platforms focuses on three basic components: power, storage, and cooling—most "sudden downtime" can be detected in advance when preventive maintenance is in place.
| Failure mode | Typical performance | Disposal recommendations |
|---|---|---|
| Servo driver alarm | Servo driver alarm (overcurrent/overload/encoder abnormality) | Included as a mandatory inspection item for annual maintenance, with spare parts stocked in advance |
| Bus communication was interrupted | Bus communication interruptions (high incidence of network cable shielding and grounding improperly) | Initial interpretation of alarm codes by reference with manuals, remote diagnosis allows for early positioning |
| Parameter files are missing | Parameter files missing (if backup policy is missing) | Daily inspection coverage, with abnormal trends (abnormal noises/temperature rise/errors) recorded |
| Teach pendant touch and display faults | Teach pendant touch and display faults | Quarterly dust removal maintenance and cabinet temperature monitoring |
| Maintenance projects | Cycle recommendations | Key points |
|---|---|---|
| Replace the battery as prompted by the alarm | According to the manufacturer's manual cycle | Battery replacement prompts as prompted, with dual backup of programs and parameters |
| Annual inspection of EtherCAT cables and connectors (shield grounding) | Year | Annual inspection of EtherCAT cables and connectors (shield grounding) |
| Reducer lubrication should be carried out according to the manual cycle | According to the manufacturer's manual cycle | Reducer lubrication should be carried out according to the manual cycle |
| Cable and drag chain inspection | every six months | Insulation, shielding, and bending radius inspection of power and encoder lines, as well as wear of cables inside the drag chain, are the main causes of intermittent faults |
| Zero point and accuracy retest | Every year | Repeatability measured by dial gauges or laser trackers, drift trend digitization—accuracy degradation can be seen six months in advance |
| Control cabinet dust removal and fans | Every quarter | Filter cleaning, fan speed and noise checks, cabinet temperature recording; Dust environments shorten the cycle |
Henghuan's service capabilities for IR-R20H
We are a third-party robot technical service provider. For the IR-R20H we offer the following eight services, ordered by how often they are actually needed for this model:
- Maintenance and repair: on-site diagnosis, board-level repair and annual maintenance contracts for the IR-R20H — brand-specific items such as replacing the battery when the alarm prompts are performed per our SOPs; same-day response within Sichuan and Chongqing.
- Second-hand and inventory robot sales: new units are clearly price-competitive while used ones depreciate fast — for the same budget we usually recommend buying new rather than used; in-stock IR-R20H or equivalent models come with a full-function inspection report and a 12-month warranty.
- Sales of new industrial robots: When adding new production lines or replacing entire batches, we conduct cross-brand selection comparisons based on process requirements (including models of the same level as Inovance Technology), and provide configuration and pricing plans.
- Applied technology services: Process programming, trajectory optimization, cycle time tapping, and model change formula management for the IR-R20H, with targeted tuning for handling and machine tool loading and unloading, and palletizing conditions.
- Research and development of automation equipment: Custom fixture ends, peripheral tooling, and safety fences for the IR-R20H, with interfaces designed according to Inovance Technology flange and IO standards.
- Robot rental: for short-term capacity needs or process validation, you can rent an in-stock IR-R20H-class model, with transport, installation and commissioning included; rental terms are flexible and the unit can be purchased at the end of the lease.
Common issues with this device
Is it easy to find spare parts for the IR-R20H?
Inovance Technology: The spare parts channel for this generation is smooth, with regular parts such as drivers, power modules, batteries, and teach pendant components available in stock or short-cycle channels; It is recommended to replace consumables according to the alarm prompt and configure the battery according to the annual maintenance contract.
With a nominal load of 20kg, how much can it actually handle?
The rated load is the static load limit of the flange surface. In actual selection, three factors must be considered: the self-weight of the end fixture (vacuum suction cup groups or grippers often account for 2–5kg), the inertia generated by the workpiece offload (checked according to the inertia ratio when the center of gravity deviates from the flange center), and the dynamic load during high-speed movement. The conventional engineering practice is to keep the "end + workpiece" within 70%–80% of the rated value to ensure cycle time and service life.
If the equipment's accuracy deteriorates after several years of use, how can it be restored?
According to the inspection order: first check whether the zero point is drifting (common after collision or battery depletion), then perform zero calibration; Check the reducer's return error (actual measurement of forward and reverse positioning deviation; if exceeded, disassemble or replace); Then check the installation base fastening and foundation settlement; Finally, trajectory compensation parameter restructuring. Most accuracy issues can be mostly restored after calibration and maintenance, so there is no need to rush into major repairs—we first release the inspection data before deciding on the plan.
Is the used IR-R20H worth buying?
New robots have a clear price advantage, and used robots hold their value less predictably—at the same budget, we often recommend "buying new, not old." Three essential items for second-hand procurement: comprehensive inspection reports (axial accuracy, driver status, insulation and battery), maintenance history and operating hours, controller generation, and software license integrity. Every used machine we sell comes with inspection records and a 12-month warranty, and we can also accept third-party inspections designated by customers.
Need technical support or procurement for this model?
Whether it's model selection comparison, installation and commissioning, or maintenance of in-use equipment, you can contact Henghuan. Tell us about your processes, loads, and equipment status, and we will provide third-party technical support and solution recommendations.
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