# FANUC SR-6iA

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

The FANUC SR-6iA is a four-axis SCARA robot with a 6 kg maximum payload and 650 mm reach. It is used for assembly, pick and place, inspection, and packaging applications. It has a mechanical weight of 30 kg and is compatible with the R-30iB Compact Plus controller.

## Specification

| Property | Value |
|---|---|
| Category | scara robot |
| Axes | 4 |
| Payload | 6 kg |
| Reach | 650 mm |
| Repeatability | 0.01 mm |
| Weight | 30 kg |
| IP rating | IP20 |

### Joints

| Name | Range min (°) | Range max (°) | Max speed (°/s) |
|---|---|---|---|
| J1 | -148 | 148 | 440 |
| J2 | -150 | 150 | 700 |
| J3 |  |  |  |
| J4 | -720 | 720 | 2500 |

## 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-6iA/C](https://machineschema.com/hardware/fanuc-sr-6ia-c.md), [FANUC SR-6iA/H](https://machineschema.com/hardware/fanuc-sr-6ia-h.md)

## Study notes

- Controller series: R-30iB Plus.
- iRProgrammer web-based interface allows programming from a tablet or desktop computer, or with an optional teach pendant.
- Brake release switch on the arm for error recovery.
- Mounting options include wall mounting equipment or a bottom cable exit.
- R-30iB Compact Plus controller supports iRVision, iRPickTool, and conveyor tracking.
- J3 is a linear Z axis with 210 mm stroke (300 mm option) and 2000 mm/s maximum speed.
- Push force: 200 N.
- J4 moment/inertia: -/0.12 kg·m².
- Protection: IP20 body and IP20 wrist/J3 arm.
- Repeatability: J1/J2 ±0.01 mm, J3 ±0.01 mm, J4 ±0.004°.
- A three-axis variant is available.
- Operates within a 360° envelope.

## Sources

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

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