# FANUC P-40iA

Hardware · `P-40iA` · verification: source checked

The FANUC P-40iA is a six-axis industrial paint robot. It has a 5 kg payload at the wrist, a 1300 mm reach, and ±0.03 mm repeatability. It is intended for robotic painting and coating and uses the R-30iB Plus Mate Cabinet controller.

## Specification

| Property | Value |
|---|---|
| Category | industrial robot |
| Axes | 6 |
| Payload | 5 kg |
| Reach | 1300 mm |
| Repeatability | 0.03 mm |
| Weight | 110 kg |
| IP rating | IP67 |

### Joints

| Name | Range min (°) | Range max (°) | Max speed (°/s) |
|---|---|---|---|
| J1 | -180 | 180 | 220 |
| J2 | -115 | 140 | 190 |
| J3 | -140 | 283 | 240 |
| J4 | -190 | 190 | 450 |
| J5 | -120 | 120 | 450 |
| J6 | -360 | 360 | 720 |

## Connected

- Manufacturer: [FANUC](https://machineschema.com/manufacturer/fanuc.md)

## Safety

- Designed and approved for use in hazardous locations.
- FM and ATEX approvals.
- Standard FANUC Robotics purge control.
- For angle and wall mount robots, the hatched area of the working envelope is restricted.

## Study notes

- Mounting positions: floor, invert, angle and wall.
- Application software options include PaintTool and HandlingTool.
- Options include one or four pneumatic three-way solenoid valves in the purge cavity for gun triggering.
- Input power source: 200 VAC, +10/-15%, 50-60 Hz.
- Allowable load moment at wrist: J4 11.9 Nm, J5 11.9 Nm, J6 6.7 Nm; allowable load inertia: J4 0.3 kg·m², J5 0.3 kg·m², J6 0.1 kg·m².
- Balanced arm design, flip-over capability, and single arm offset configuration.
- ROBOGUIDE PaintPRO offline 3D programming is available as an option.
- The Zero Down Time package can monitor the mechanical unit and paint process equipment.
- FANUC's product page and datasheet give different values for controllers. Check with FANUC before relying on it.

## Sources

1. [P-40iA Painting Robot](https://www.fanucamerica.com/products/robot/p-40ia) (accessed 2026-10-25)
2. [p 40iA datasheet](https://www.fanucamerica.com/uploads/files/data-sheets/p-40iA-datasheet.pdf) (accessed 2026-10-25)

---

Source page: https://machineschema.com/hardware/fanuc-p-40ia  
JSON: https://machineschema.com/hardware/fanuc-p-40ia.json  
License: CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/). Cite Machine Schema and the original sources.