# FANUC SR-9iA/R

Hardware · `SR-9iA/R` · verification: source checked

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.

## Specification

| Property | Value |
|---|---|
| Category | scara robot |
| Axes | 4 |
| Payload | 9 kg |
| Reach | 620 mm |
| Repeatability | 0.01 mm |
| Weight | 76 kg |
| IP rating | IP20 |

### Joints

| Name | Range min (°) | Range max (°) | Max speed (°/s) |
|---|---|---|---|
| J1 | -180 | 180 | 560 |
| J2 | -150 | 150 | 480 |
| J4 | -720 | 720 | 2500 |

## Connected

- Manufacturer: [FANUC](https://machineschema.com/manufacturer/fanuc.md)
- Controllers: [FANUC R-30iB Plus Mate Cabinet](https://machineschema.com/controller/fanuc-r-30ib-plus-mate-cabinet.md)

## 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.

## Sources

1. [SR-9iA/R](https://www.fanucamerica.com/products/robot/sr-9ia-r) (accessed 2026-10-25)
2. [sr 9ia r data sheet](https://www.fanucamerica.com/uploads/files/data-sheets/sr-9ia-r-data-sheet.pdf) (accessed 2026-10-25)

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