The M-20iD/12L is FANUC’s long-reach, light-to-medium payload six-axis arm — 12 kg payload, 2.27 m reach, built for handling large parts and reaching across work cells a standard-reach arm can’t cover. It sits in FANUC’s lineup between the compact LR Mate 200iD and heavy robots like the R-2000iC/165F.
The mechanism
Six revolute joints in series give the arm its six degrees of freedom — no mimic joints, no closed kinematic loops, matching FANUC’s own “6-axis” spec sheet exactly. Every link, including the base, carries real declared mass and inertia — this description is fully simulatable, not just visual geometry.
About this file — read before importing
This links directly to
fanuc_description, hosted under
FANUC’s own GitHub organization (FANUC-CORPORATION) — the same repository as this
gallery’s LR Mate 200iD entry. ARMOR links directly to that repository rather than
re-hosting anything, and expands the xacro macros itself after downloading, so what you get
is exactly what FANUC publishes, unmodified.