# FANUC SR-6iA/H

Hardware · `SR-6iA/H` · verification: source checked

The FANUC SR-6iA/H is a 3-axis SCARA robot with a 6 kg maximum wrist load and a 650 mm reach. It is built for assembly, pick and place, inspection and packaging work inside a 360° working envelope. It uses the R-30iB Compact Plus controller and is programmed through the web-based iRProgrammer interface or an optional teach pendant.

## Specification

| Property | Value |
|---|---|
| Category | scara robot |
| Axes | 3 |
| Payload | 6 kg |
| Reach | 650 mm |
| Repeatability | 0.01 mm |
| Weight | 28 kg |
| IP rating | IP20 |

### Joints

| Name | Range min (°) | Range max (°) | Max speed (°/s) |
|---|---|---|---|
| J1 | -148 | 148 | 440 |
| J2 | -150 | 150 | 700 |
| J3 |  |  |  |

## 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), [FANUC R-30iB Plus](https://machineschema.com/controller/fanuc-r-30ib-plus.md)
- Variant of: [FANUC SR-6iA](https://machineschema.com/hardware/fanuc-sr-6ia.md)

## Safety

- Body and wrist/J3 arm protection is IP20 as standard.
- A brake release switch on the arm is provided for error recovery.
- Maximum push force 200 N.

## Study notes

- SCARA series robot with 3 controlled axes; J3 is a linear (Z) axis with a 210 mm stroke, quoted in millimetres rather than degrees.
- Axis speeds stated as J1 440 °/s, J2 700 °/s and J3 2000 mm/s.
- Repeatability is given as ±0.01 mm for J1 and J2 and ±0.01 mm for J3.
- Maximum push force is 200 N.
- Lightweight pedestal design with integrated services to reduce interference with peripheral devices.
- iRProgrammer is a web-based interface; programming can be done from a tablet or desktop computer, or from an optional teach pendant.
- Mounting options include wall mounting equipment or a bottom cable exit.
- Controller supports functions such as iRVision, iRPickTool and conveyor tracking.

## Sources

1. [SR-6iA/H SCARA Robot](https://www.fanucamerica.com/products/robot/sr-6ia-h) (accessed 2026-10-25)
2. [sr 6ia h datasheet](https://www.fanucamerica.com/uploads/files/data-sheets/sr-6ia-h-datasheet.pdf) (accessed 2026-10-25)

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