# FANUC P-20iB

Hardware · `P-20iB` · verification: source checked

The P-20iB is a four-axis paint-shop robot that opens and closes automobile body doors so that interior surfaces can be painted. It can be mounted on a pedestal or on a traverse rail and can run from a shared controller with the paint robot instead of a stand-alone controller. Its door tooling uses either magnet or paddle grippers, and the arm is available with a 550 mm or 900 mm inner link arm.

## Specification

| Property | Value |
|---|---|
| Category | industrial robot |
| Axes | 4 |
| Reach | 1475 mm |
| Weight | 200 kg |
| Max TCP speed | 1500 mm/s |

## Connected

- Manufacturer: [FANUC](https://machineschema.com/manufacturer/fanuc.md)
- Controllers: [FANUC R-30iB Plus](https://machineschema.com/controller/fanuc-r-30ib-plus.md)

## Safety

- Working envelope differs when the robot operates in a restricted safety zone; a separate envelope drawing is referenced in the datasheet.
- The magnet tooling includes a break-away interface and a door detect trip point.

## Study notes

- Purpose: opening and closing doors to paint interior surfaces of automobile bodies.
- Two inner link arm lengths are listed: 550 mm (reach 1125 mm, mechanical weight 190 kg) and 900 mm (reach 1475 mm, mechanical weight 200 kg).
- Mounting: pedestal or rail.
- Open/close force with magnet tooling: 36 kgf (80 lbf); with paddle tooling: 27 kgf (60 lbf).
- Axis 3 is a linear axis rated 300 mm/s; axis E1 rail speed is 1500 mm/s with 6 to 15 m of rail travel.
- Can be run from a shared controller with the paint robot, so no stand-alone controller is required.
- Independent group motion lets the P-20iB and other FANUC paint robots perform separate tasks at the same time.
- Applicable to both stop-and-go and moving-line paint lines.
- Vertical articulation is used to keep the home-position footprint compact.

## Sources

1. [P-20iB Door Opening Robot](https://www.fanucamerica.com/products/robot/p-20ib) (accessed 2026-10-25)
2. [p 20ib datasheet](https://www.fanucamerica.com/uploads/files/data-sheets/p-20ib-datasheet.pdf) (accessed 2026-10-25)

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