# FANUC SR-20iA

Hardware · `SR-20iA` · verification: source checked

The FANUC SR-20iA is a 4-axis SCARA robot with a 20 kg maximum wrist load and a 1100 mm reach. It is used for assembly and packaging tasks and is compatible with the R-30iB Compact Plus controller. Cables and pipes are routed internally, and I/O, 24 VDC, solenoid valves and air lines are integrated in the arm.

## Specification

| Property | Value |
|---|---|
| Category | scara robot |
| Axes | 4 |
| Payload | 20 kg |
| Reach | 1100 mm |
| Weight | 64 kg |
| IP rating | IP20 |

### Joints

| Name | Range min (°) | Range max (°) | Max speed (°/s) |
|---|---|---|---|
| J1 | -145 | 145 | 440 |
| J2 | -145 | 145 | 500 |
| J4 | -720 | 720 | 1700 |

## Connected

- Manufacturer: [FANUC](https://machineschema.com/manufacturer/fanuc.md)
- Controllers: [FANUC R-30iB Compact Plus](https://machineschema.com/controller/fanuc-r-30ib-compact-plus.md)
- Variants: [FANUC SR-20iA Environmental](https://machineschema.com/hardware/fanuc-sr-20ia-environmental.md)

## Study notes

- Controller series is R-30iB Plus.
- Repeatability is ±0.020 mm on J1 and J2, ±0.01 mm on J3, and ±0.005° on J4.
- J3 is a linear axis with 300 mm standard stroke (450 mm option) and 2800 mm/s maximum speed.
- J4 allowable inertia is 0.45 kg·m²; push force is 250 N.
- Internally routed cables/pipes; I/O, 24 VDC, solenoid valves and air lines are integrated in the arm.
- Programming uses the iRProgrammer web interface; an optional teach pendant is available.
- The R-30iB Compact Plus controller supports iRVision, iRPickTool and conveyor tracking.
- Food-grade and washdown environmental options are available for the SR-20iA.
- IP65 environmental option is available.

## Sources

1. [SR-20iA](https://www.fanucamerica.com/products/robot/sr-20ia) (accessed 2026-10-25)
2. [sr 20ia datasheet](https://www.fanucamerica.com/uploads/files/data-sheets/sr-20ia-datasheet.pdf) (accessed 2026-10-25)

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