Has five axes of motion.
Robot's mobile base adds sixth axis.
     Horizontal rotation - 360  degrees unlimited rotation about  robot axis.
     Shoulder 1 - 340  degrees rotation.
     Shoulder 2 - 250  degrees rotation.
     Elbow - 270 degrees rotation.
     Wrist - 340  degrees rotation.
     Gripper - opens  2-3/4"  maximum.
     Arm payload -12 oz.