{"id":"fanuc-sr-9ia-r","model_id":"SR-9iA/R","name":"FANUC SR-9iA/R","summary":"The FANUC SR-9iA/R is a 4-axis rack-mounted SCARA robot with a 9 kg maximum wrist load and 620 mm reach. It is controlled by the R-30iB Plus Mate Cabinet and is used to transport small components such as solar cell modules. The document states a continuous cycle of 500 mm horizontal and 100 mm vertical travel in 0.7 seconds, and a mechanical weight of 76 kg.","study_notes":["Rack-mounted 4-axis SCARA; the document describes mounting above a conveyor for small-component transport such as solar cell modules.","Cycle time: 500 mm horizontal and 100 mm vertical in 0.7 s continuously.","J3 axis stroke is 200 mm standard or 400 mm with option; J3 maximum speed is 2800 mm/s.","Repeatability is ±0.01 mm for J1, J2 and J3; J4 repeatability is ±0.004°.","J4 inertia is 0.12 kg·m²; no J4 moment value is stated.","Controller series is R-30iB Plus; compatible controller is R-30iB Plus Mate Cabinet.","Second arm is positioned below the first to reduce vertical-axis protrusion and hand vibration during motion."],"safety_notes":[],"sources":[{"url":"https://www.fanucamerica.com/products/robot/sr-9ia-r","title":"SR-9iA/R","accessed":"2026-10-25"},{"url":"https://www.fanucamerica.com/uploads/files/data-sheets/sr-9ia-r-data-sheet.pdf","title":"sr 9ia r data sheet","accessed":"2026-10-25"}],"verification":{"status":"source_checked","checked_at":"2026-10-25","values":20,"method":"llm_source_check"},"updated_at":"2026-10-25","type":"hardware","spec":{"category":"scara_robot","manufacturer":"fanuc","controllers":["fanuc-r-30ib-plus-mate-cabinet"],"axes":4,"payload_kg":9,"reach_mm":620,"repeatability_mm":0.01,"weight_kg":76,"ip_rating":"IP20","joints":[{"name":"J1","range_min_deg":-180,"range_max_deg":180,"max_speed_deg_s":560},{"name":"J2","range_min_deg":-150,"range_max_deg":150,"max_speed_deg_s":480},{"name":"J4","range_min_deg":-720,"range_max_deg":720,"max_speed_deg_s":2500}],"protocols":[],"standards":[],"error_codes":[]},"url":"https://machineschema.com/hardware/fanuc-sr-9ia-r","license":"https://creativecommons.org/licenses/by/4.0/"}