This paper describes experimental study and performance improvement of 2 stage Gifford-McMahon (G-M) type pulse tube cryocooler for cryopump. The objective of this study is to improve the efficiency of 2 stage pulse tube cryocooler for substituting 2 stage G-M cryocooler used in cryopump. The target cooling capacities are 5 W at 20 K and 35 W at 80 K for the $1^{st}$ and the $2^{nd}$ stage, respectively. These values are good cooling capacities for vacuum level in medium size ICP 200 cryopump. Design of the 2 stage pulse tube cryocooler is conducted by FZKPTR(Forschungs Zentrum Karlsruhe Pulse Tube Refrigerator) program. In order to improve the performance of 2 stage pulse tube cryocooler, U-type pulse tube cryocooler is fabricated and connecting tubes are minimized for reducing dead volumes and pressure losses. Also, to get larger capacities, orifice valves and double inlet valves are optimized and the compressor of 6 kW is used. On the latest unit, the lowest temperatures of 2 stage pulse tube cryocooler are 42 K ($1^{st}$ stage) and 8.3 K ($2^{nd}$ stage) and the cooling capacities are 40 W at 82.9 K ($1^{st}$ stage) and 10 W at 20.5 K ($2^{nd}$ stage) with 6.0 kW of compressor input power. This pulse tube cryocooler is suited for commercial medium size cryopump. In performance test of cryopump with 2 stage pulse tube cryocooler, pumping speed for gaseous nitrogen is 4,300 L/s and the ultimate vacuum pressure is $7.5{ imes}10^{-10}$ mbar.