2017.03.

13 3rd Edition

Small Collaborative Robot

FANUC Robot CR-4iA, 7iA, 7iA/L

FANUC CORPORATION

Export Control:
 Controlled (Related item No. of
Foreign Exchange Order Attachment List of Japan: )

 Non-controlled for item No. 2 to 15 of
Foreign Exchange Order Attachment List of Japan
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Small Collaborative Robot

Three additional models in the collaborative robot
product line

CR-4iA CR-7iA CR-7iA/L CR-35iA

Max. load capacity 4kg 7kg 7kg 35kg
Reach 550mm 717mm 911mm 1813mm
Maximum Collaborative mode 500mm/s 250mm/s
Speed High speed mode 1000mm/s 750mm/s
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Collaborative Robot
Green Collaborative Robot enables the collaboration
with human operators with no safety fences
A Workspace Sharing
A robot can keep in operation even close
to human operators.

Traditional Robot

No safety fences

B Collaborative Operation
Collaborative assembly while a robot holds
a part

Collaborative Robot
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Safety Function
Three safety functions enable the collaborative operation
with a human operator with no safety fences

Contact Stop Push to Escape Retract Motion

The robot stops sensitively
when an operator contacts
at any portion of the robot.
Stop
The robot can be moved The robot can retract
away by operator’s immediately when it
pushing its arm. contacts hard objects
in order to minimize a
pinching force.
Push J2
Retract

Push J1

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Safety Certification
Small collaborative robot is certified to meet the safety requirement
using DCS(Dual Check Safety) of force monitoring.

• ISO 10218-1:2011
(Equivalent to JIS B8433-1)

• EN ISO 13849-1:2015
(Category 3, PL=d)

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High Speed Mode

High speed motion is available with a safety sensor
(Prepared by customers).

Safety Sensor
（Prepared by customers）

Collaborative Mode High Speed Mode

Maximum 500mm/s Maximum 1000mm/s is available
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Application Examples

Handcart

Gear Assembly Apply Adhesive to Windshield

（Relocation by handcart easily） (Up-side Down)
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Specifications
Item CR-4iA CR-7iA CR-7iA/L
Controlled axes 6 axes (J1, J2, J3, J4, J5, J6)
Reach 550 mm 717 mm 911 mm
Installation Note1) Floor, Upside-down, Wall
J1 axis rotation 340º 5.93 rad 340º 5.93 rad 340º 5.93 rad
J2 axis rotation 150º 2.61 rad 166º 2.89 rad 166º 2.89 rad
J3 axis rotation 354º 6.17 rad 373º 6.51 rad 383º 6.68 rad
Motion range
J4 axis wrist rotation 380º 6.63 rad 380º 6.63 rad 380º 6.63 rad
J5 axis wrist swing 200º 3.49 rad 240º 4.18 rad 240º 4.18 rad
J6 axis wrist rotation 720º 12.57 rad 720º 12.57 rad 720º 12.57 rad
Max. load capacity at wrist Note 2) 4 kg 7 kg 7 kg
Max. load capacity on J3 housing Note 2) 1 kg 1 kg 1 kg
Maximum speed Note 3) 500 mm/s (Max 1000 mm/s Note 4)
J4 axis 8.86 N·m 16.6 N·m 16.6 N·m
Allowable load
J5 axis 8.86 N·m 16.6 N·m 16.6 N·m
moment at wrist
J6 axis 4.90 N·m 9.4 N·m 9.4 N·m
J4 axis 0.20 kg·m2 0.47 kg·m2 0.47 kg·m2
Allowable load
J5 axis 0.20 kg·m2 0.47 kg·m2 0.47 kg·m2
inertia at wrist
J6 axis 0.067 kg·m2 0.15 kg·m2 0.15 kg·m2
Repeatability ± 0.02 mm ± 0.02 mm ± 0.03 mm
Mass Note 5) 48 kg 53 kg 55 kg
Dust proof and drip proof mechanism Conform to IP67
Acoustic noise level 64.7dB
Input power source capacity 1.2kVA
Average power consumption 0.5kW
Ambient temperature : 0~45℃
Ambient humidity : Normally 75%RH or less (No dew, nor frost allowed)
Installation environment
Short term Max. 95%RH or less (within one month)
Vibration acceleration : 4.9 m/s2 (0.5G) or less
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) If the area is monitored by a safety sensor (located separately). Note 5) Without controller.
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Operating Space and Dimension

CR-4iA
R
23
0
R5
50
-170DEG
-180DEG
0DEG (OPTION)
+180DEG
(OPTION)
+170DEG

(0,+880)
(+30,+558)
70 290
190 (-156,+719)

20
(-486,+588)

260
(+550,+330) (+230,+330)
(+122,+135)
(+122,+96) (-398,+199)

457
(+259,+62)

127
235 (0,0)

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Operating Space and Dimension

CR-7iA
R
R7 34
17 7

-170DEG
-180DEG
0DEG (OPTION)
+180DEG
(OPTION)
+170DEG

(+50,+997)

235 80 335 50
227
(+43,+627)
(-94,+762)

35
(-559,+601)

330
(+717,+330) (+347,+330)

457
(-367,+148)
(+191,+68)
(+191,-9)

127
(+325,-64)

235 (0,0)
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Operating Space and Dimension

CR-7iA/L

R 91 R
1 40
5
-170DEG
-180DEG
(OPTION)
0DEG +180DEG
(OPTION)

+170DEG

(+50,+1191)

235 80 420 50
227 (-162,+885)

35
(+31,+684) (-734,+686)

440
(+911,+330) (+405,+330)

457
(-505,+116)
(+191,+5)

127
(+191,-50)

235 (0,0)
(+483,-168)

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Wrist Interface
USER TAP

CR-4iA ユーザタップ USER TAP

-0.025
+0.021
2-M3 深さ5 ユーザタップ

0
0
DEPTH 4 5° O5H7 深さ7 ( 70 ) 14.5
14.5 70 DEPTH 2-M3 深さ5

O 40 h7
O 20 H7
DEPTH
3

.5
O 31
28

28
56

56
6
手首回転中心
WRIST ROTATION CENTER
4-M5 深さ8
周上等配 DEPTH
EQ.SP

CR-7iA, 7iA/L
USER TAP USER TAP
ユーザタップ ユーザタップ
O5H7 深さ7

-0.025
2-M3 深さ5 +0.021 2-M3 深さ5
0
DEPTH
0 DEPTH
18 80 ( 80 ) 18 DEPTH
O 40 h7 45°
O 20 H7

4.5

25.5
25.5

5
31.
O
51

51
3

4-M5 深さ8
手首回転中心 周上等配 DEPTH Figure is example with J6-axis reducer bolt cover
WRIST ROTATION CENTER EQ.SP
(A05B-1142-J001)
User tap(2-M3) is for piping and wiring to the end
effector
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Wrist load diagram

 Apply a load within the region indicated in the graph.
 Apply the conditions of the allowable load moment and the allowable load inertia.
See “Specifications” about the allowable load moment and the allowable load inertia.

CR-4iA CR-7iA, 7iA/L

Z (cm) Z (cm)
65
40
37.7 1kg 60.5 60
1kg
35 55

50
30
45
25
24.5 2kg 40.4 40
2kg
20 35
18.6 3kg 31.5
30
3kg
15.1
15 4kg 26.1
25
4kg
22.5 5kg
10 19.7 20
7kg 6kg
16.2
15
5
10

X,Y (cm) 5
5 10 15 20 25 30
7cm

X,Y (cm)
5 10 15 20 25 30 35 40
25.8
12.5
14.6
18.1

8 cm

15.4
13.7
17.0
19.1

27.3

38.7
22.2
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Dimensions for devices

CR-4iA 2-M6 深さ10

DEPTH

22
22 2-M8　深さ16
55
DEPTH
機器取付面範囲
（マスタリング治具用）
MOUNTING SURFACE AREA （FOR　MASTERING　FIXTURE）

73

2-M6 深さ10
2-M6 深さ10 DEPTH
DEPTH
318

318
277
本タップ使用不可
DO NOT USE THESE TAPS 48 26 80.5 80 本タップ使用不可 26 48
DO NOT USE
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Dimensions for devices

CR-7iA, 7iA/L
93
76.5 50
2-M6 深さ9

39
DEPTH

46
46
機器取付面範囲

45
MOUNTING SURFACE AREA 35 2-M8　深さ16
DEPTH
88.5 (マスタリング治具用)
(FOR MASTERING FIXTURE)

51

2-M6 深さ10 2-M6 深さ10

DEPTH DEPTH
316

316
本タップ使用不可
41 33 100 99 278 33 41
DO NOT USE THESE TAPS 本タップ使用不可
DO NOT USE THESE TAPS
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EE, Air, Sensor interface

CR-4iA
J3 air interface

RO3 RO1 Screw size : M5

J3 air interface

RO4 RO2

Double solenoid valve x 1

Double solenoid valve x 2
J3 signal interface

J1 interface
J3 signal interface

EE EE
CAUTION
Please cover the unused connector and air port reliably
by a metal cap (option) and a plug. If the covering is
loose, unexpected substances will enter into the robot
and cause any troubles.
At ex-factory, the interfaces are covered by easy caps in
order to avoid dust during transportation. Please keep in
mind that the cap doesn’t work enough as a protect
means in factory environment. Camera Ethernet
(M12 D-coded female）

EE, Camera EE, Ethernet

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EE, Air, Sensor interface

CR-7iA, 7iA/L
J3 air interface

RO5 RO3 RO1 Screw size : M5

J3 air interface

RO6 RO4 RO2

Double solenoid valve x 1

Double solenoid valve x 2
J3 signal interface

J1 interface
J3 signal interface

Force sensor EE
CAUTION
Please cover the unused connector and air port reliably
by a metal cap (option) and a plug. If the covering is
loose, unexpected substances will enter into the robot
and cause any troubles.
At ex-factory, the interfaces are covered by easy caps in
order to avoid dust during transportation. Please keep in
mind that the cap doesn’t work enough as a protect
EE Camera
means in factory environment. Ethernet
(M12 D-coded female）

EE, Camera, Force sensor EE, Ethernet

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EE, Air, Sensor interface

CR-4iA, 7iA, 7iA/L

J1 interface

Ethernet
AIR2 AIR2 (M12 D-coded female）
(for solenoid (for solenoid
valve) valve)
Camera AIR2
Camera Force sensor (for solenoid
valve)

Port size Rc1/4 Port size Rc1/4 Port size Rc1/4

Backside connector Backside connector Backside connector Ethernet/

/ CAM(color/high-reso.) / CAM(color/high-reso.) / FS RI6RO2(EE12P) / No user AIR
/ RI6RO2(EE12P) / No user AIR / RI6RO2(EE12P) / No user AIR

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Transportation using a crane

CR-4iA
232
4
16 200 O1

15
4-

327
297
Transport
輸送姿勢 posture Crane
クレーン

J1： 0° クレーン
Crane
J2：-20° 可搬質量　:
Crane 100kg
capacity 以上 or more
: 100kg
J3：-24° スリング
J4： 0° Sling
可搬質量
Sling : 100kg
capacity 以上 or more
: 100kg
J5：-66°
J6： 0°

スリング
Sling

Shackle
シャックル

Robot float 3mm from the

installation輸送部材取付け時、
surface when
ロボットが設置面から3mm
installing transport equipment.
浮いた状態になります。
3

163.5 163.5
224 193
注）
Note)
1. Mechanical unit mass: 48kg
1. 機構部質量：48kg
2. Shackle complied with JIS B 2801.
2. シャックル　JIS B 2801に準ずるものを使用
3. 使用数
3. Quantity シャックル：4
Shackle:4 Sling:4
スリング：4
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Transportation using a crane

CR-7iA CR-7iA/L 232

232 16 200
16 200 14

15
4- O

15
14
4- O

327

297
327
297

Transport
輸送姿勢 posture
Transport
輸送姿勢 posture クレーン
Crane Crane
クレーン
J1： 0° Crane J1： 0°
クレーン Crane
J2：-35° 可搬質量　:
Crane 100kg
capacity 以上 or more
: 100kg J2：-30° クレーン
J3：-15° Crane capacity : 100kg or more
可搬質量　: 100kg 以上
J3： -7°
J4： 0° Sling
スリング J4： 0° Sling
J5：-83° 可搬質量
Sling : 100kg
capacity 以上 or more
: 100kg J5：-75° Sling
スリング スリング
Sling可搬質量
capacity: :100kg
100kg or more
J6： 0° 以上
J6： 0°
Sling
スリング

931
Shackle
シャックル
817

Shackle
シャックル

Robot float 3mm from the

輸送部材取付け時、 Robot float輸送部材取付け時、
3mm from the
installation surface when
ロボットが設置面から3mm installationロボットが設置面から3mm
surface when
installing浮いた状態になります。
transport equipment. installing transport equipment.
浮いた状態になります。
3

240 191 163.5 163.5

Note) 163.5 163.5
注） Note) 288 245
注）
1. Mechanical unit mass: 53kg
1. Mechanical unit mass: 55kg
2.1.Shackle
機構部質量：53kg
complied with JIS B 2801. 1. Shackle
機構部質量：55kg
2. complied with JIS B 2801.
3.2.Quantity
シャックル　JIS B 2801に準ずるものを使用
Shackle:4 Sling:4 2. Quantity
シャックル　JIS B 2801に準ずるものを使用
3. 使用数 シャックル：4 スリング：4 3. Shackle:4
3. 使用数 シャックル：4 スリング：4
Sling:4

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Caution in transportation
Special transport
equipment
Special skid
 Please be sure to use the special
transport equipment and skid during
transportation.
 Please do not use other skids during
transportation.
 Please do not dispose and store this skid,
it is necessary during transportation.
 During transportation, hook the lashing
belt on the skid. Do not hook the lashing
belt directly on the robot and the
transport equipment.
Note) If these cautions are not followed, internal sensor might break.
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Do not remove the bolts of
a portion surrounded by a
red frame.
 When hoisting or lowering the robot with a
crane, move it slowly with great care.
 When placing the robot on the floor,
exercise care to prevent the installation
surface of the robot from striking the floor
strongly.
 When hoisting or lowering the robot, be
sure to perform it robot only. Do not hoisting Insert the board of filling under
or lowering the robot with a pedestal or an the robot at installing or
installation plate and skid for transportation. removing transport equipment.
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Robot Base Diagram

CR-4iA, 7iA, 7iA/L

22

22
ロボット正面
Robot Front
Front

212
180
106 235
6-O14 Through 90 117.5
貫通 Locating surfaces
突き当て面

124.5

116
113
97

232
296.5
274

J1-axis
rotation center
J1軸回転中心

22
12 12 44 24 24 37
117.5 127
235

Sensor unit weight: 28kg

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Installation
• Arrange the Installation plate or the pedestal for delivering high performance. Flatness of robot
installation surface must be less than or equal to 0.15mm. Thickness of robot installation surface plate
must be larger than or equal to 30mm. (Material is steel)
• If the installation plate is fixed to the floor directly, flatness of the floor must be less than or equal to
0.5mm. The robot can not deliver the high performance if its installed area was not flat enough after
installation on the floor. If there is a gaps between the installation plate and the floor, fill it up with shim
(spacer) so that the installation plate is not warped.
• Please install the robot carefully using the special transport equipment in order to prevent it from being
shocked.
280
Example of Installation plate 240
212 ( )
180
122.5 4-O10H7 深さ10
120 　　　　　　DEPTH
4-O18 貫通
THROUGH 106
90 30
座繰り O26 深さ17.5 r 0.15
COUNTER BORE DEPTH 88 88

6-M12 貫通
THROUGH

129.5
127
113

ロボット設置面
97

95
ロボット正面 ROBOT INSTALL SURFACE
ROBOT FRONT

285
325
274

43
J1軸回転中心
J1-AXIS
ROTATION CENTER
0
C1

12 12 ロボットベース
4-

ROBOT BASE 材料　 SS400

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Outer dimension of Controller

R-30iB Mate Controller for CR-4iA, 7iA, 7iA/L

Aux. axis cabinet

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Restriction of Order

Controller

• R-30iB Mate controller has no safety I/O on the main board, so when you use safety signals
with the scanner sensor etc., please order the additional safety I/O board together.
• Only single phase 200V is selectable, 3 phase and Open air type are not supported.

Software

• Collaborative robot cannot correspond to Touch skip function (J921).

• This robot cannot correspond to the Arc motion, Circle Arc motion and SoftFloat.

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