Small Collaborative Robot

FEATURESFANUC Robot CR-4iA, 7iA, 7iA/L, and 14iA/L are human arm sized mini-collaborative robots.● 4 models with different load capacity and reach are

available, depending on the application.● A floor space can be used effectively by up-side

down and wall installation.

Collaborative Operation● This robot and a human operator can work

separately in close proximity without safety fences.● This robot can work in cooperation with a human

operator. (examples: parts assembling, workpiece transfer)

● With Small Hand Guidance(option), intuitive operation and easy teaching are possible.

Safety Function● This robot stops safely when it touches a human

operator.● A human operator can move the robot by pushing it.● This robot is certified to meet the requirements of

international standard ISO 10218-1.

Intelligence and High Reliability● Latest intelligent functions such as iRVision

(Integrated vision) and force sensor are available.● This robot is designed with high reliability, based on

the proven LR Mate models.

Application Examples

Circuit Board Assembly Apply Adhesive to Windshield (Up-side Down)

CR-4+A, 7+A, 7+A/LCR-14+A/L

Relocation by Handcart

Operating space

RCR-7iA(E)-03, 2019.1, Printed in Japan

Controlled axes

Reach

Installation (Note 1)

Model

Specifications

Motion range

Note 1) In case of the wall mount, the operation space will be restricted according with the payload.Note 2) A total weight including the equipment and connection cables and its swing must not exceed this value when 　　　 you install the equipment.Note 3) During short distance motions, the speed may not reach the maximum value stated.Note 4) It is necessary to set a motion speed according to risk assessment of system.Note 5) Compliant with ISO9283.Note 6) Without controller.

J1 axisJ2 axisJ3 axisJ4 axisJ5 axisJ6 axis

J4 axisJ5 axisJ6 axisJ4 axisJ5 axisJ6 axis

CR-7+A6 axes (J1, J2, J3, J4, J5, J6)

Floor, Upside-down, Angle mount

717 mm

Max. load capacity at wrist (Note 2)Maximum speed (Note 3, Note 4)

Repeatability (Note 5)Mass (Note 6)

Ambient temperature : 0 to 45°CAmbient humidity : Normally 75 %RH or less (No dew nor frost allowed) Short time (within one month) Max.95%RHVibration acceleration : 4.9 m/s2 (0.5G) or less

Installation environment

Allowable load moment at wrist

Allowable load inertia at wrist

1000 mm/s

CR-7+A/L

911 mm

340° 5.93 rad150° 2.61 rad354° 6.17 rad380° 6.63 rad200° 3.49 rad720° 12.57 rad

4 kg

340° 5.93 rad166° 2.89 rad373° 6.51 rad380° 6.63 rad240° 4.18 rad720° 12.57 rad

7 kg

340° 5.93 rad166° 2.89 rad383° 6.68 rad380° 6.63 rad240° 4.18 rad720° 12.57 rad

CR-4+A

550 mm

8.86 N·m8.86 N·m4.90 N·m

0.20 kg·m2

0.20 kg·m2

0.067 kg·m2

48 kg

16.6 N·m16.6 N·m 9.4 N·m

0.47 kg·m2

0.47 kg·m2

0.15 kg·m2

53 kg

16.6 N·m16.6 N·m 9.4 N·m

0.47 kg·m2

0.47 kg·m2

0.15 kg·m2

●All specifications are subject to change without notice.●No part of this catalog may be reproduced in any form.●The products in this catalog are controlled based on Japan's “Foreign Exchange and Foreign Trade Law". The

export from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice.

Headquarters Oshino-mura, Yamanashi 401-0597, Japan Phone: 81-555-84-5555 Fax: 81-555-84-5512 https://www.fanuc.co.jp

●Overseas Affiliated Companies FANUC America Corporation 3900 West Hamlin Road, Rochester Hills, MI 48309-3253, U.S.A. Phone: 1-248-377-7000 Fax: 1-855-774-7051 FANUC Europe Corporation, S.A. Zone Industrielle, L-6468 Echternach, Grand-Duché de Luxembourg Phone: 352-727777-1 Fax: 352-727777-403 SHANGHAI-FANUC Robotics CO., LTD. No. 1500 Fulian Road, Baoshan Area, Shanghai, China Phone: 86-21-5032-7700 Fax: 86-21-5032-7711 KOREA FANUC CORPORATION 101, Wanam-ro(st), Seongsan-gu, Changwon-si, Gyeongsangnam-do, 642-290 Republic of Korea Phone: 82-55-278-1200 Fax: 82-55-284-9826 TAIWAN FANUC CORPORATION No.10, 16th Road, Taichung Industrial Park, Taichung, Taiwan Phone: 886-4-2359-0522 Fax: 886-4-2359-0771 FANUC INDIA PRIVATE LIMITED 41-A, Electronics City, Bangalore, 560 100, India Phone: 91-80-2852-0057 Fax: 91-80-2852-0051 FANUC SINGAPORE PTE. LTD. No.1 Teban Gardens Crescent, Singapore 608919, Singapore Phone: 65-6567-8566 Fax: 65-6566-5937 FANUC THAI LIMITED 1301 Pattanakarn Road, Kwaeng Suanluang, Khet Suanluang, Bangkok 10250 Thailand Phone: 66-2-714-6111 Fax: 66-2-714-6120 FANUC MECHATRONICS (MALAYSIA) SDN. BHD. No.32, Jalan Pengacara U1/48, Temasya Industrial Park, Section U1, Glenmarie, 40150 Shah Alam, Selangor Darul Ehsan, Malaysia Phone: 60-3-7628-0110 Fax: 60-3-7628-0220 PT. FANUC INDONESIA JL. Boulevard Bukit Gading Raya Blok R, Jakarta 14240 Indonesia Phone: 62-21-4584-7285 Fax: 62-21-4584-7288 FANUC OCEANIA PTY. LIMITED 10 Healey Circuit, Huntingwood, NSW 2148, Australia Phone: 61-2-8822-4600 Fax: 61-2-8822-4666 FANUC SOUTH AFRICA (PROPRIETARY) LIMITED 17 Loper Ave. Aeroport Industrial Ests, Spartan Ext.2 P.O.Box 219, Isando 1600, Republic of South Africa Phone: 27-11-392-3610 Fax: 27-11-392-3615

CR-7+ACR-4+A CR-7+A/LCR-14+A/L

CR-14+A/L

31.0 N·m31.0 N·m13.4 N·m

0.66 kg·m2

0.66 kg·m2

0.30 kg·m2

14 kg7 kg500 mm/s

911 mm (load capacity <12kg)820 mm (load capacity ≧12kg)

±0.01 mm55 kg

2016

0DEG

+170DEG

±180DEG（OPTION）

-170DEG

127

227235

235

457

330

35

5033580

R 717

R 150

53.5

46.5

R 70

588717

6499

7

191

R 75

124.5296.5

347

R347

R 104

R10

6

0DEG

+170DEG

±180DEG（OPTION）

-170DEG12

745

726

0

29070

20

4649

R 550R 23

0

122

124.5296.5

230550 526

235

190

6288

0

R 63

0DEG

+170DEG

±180DEG(OPTION)

-170DEG

127

457

440

35

5042080

773911

168

1191

405191

124.5296.5

R 150

R75

53.5

46.5

R 911R820 （*1）R405

820（*1） 720（*1）

227235

235

R 70

Wrist rotation center

Operation space of wrist rotation center

Wrist rotation center

Operation space of wrist rotation center

（*1） In case of CR-14+A/L with 12kg load or more

Wrist rotation center

Operation space of wrist rotation center