Small Collaborative Robot

Robot CR-4+A, 7+A, 7+A/L

Robot CR-14+A/L
FEATURES
FANUC 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

Relocation by
Handcart

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

Operating space

CR-4+A CR-7+A CR-7+A/L

CR-14+A/L
R9
R
34 R 8 11
20（ R
7 *1
） 40
R7

46.5
17 5 -170DEG
-170DEG

46.5
0DEG ±180DEG
(OPTION)
±180DEG

53.5
-170DEG 0DEG
（OPTION） +170DEG
46

R 150

53.5
±180DEG +170DEG
0DEG （OPTION）
150
49

+170DEG R
0
50 23
6

R5
10

R
R

235
227 80 420 50
Wrist rotation center 235 0
R7

35
227 50
0 80 335
190 R7
R 75

35
3 70 290
R6 Wrist rotation

1191
20

R center

440
75
R1 Wrist rotation
04
997

330
center
260
880

122

457
62

457
457

127
168
64

127
Operation
127

235 space of
124.5
Operation Operation 296.5
space of 235 124.5 wrist rotation
235 124.5 space of 296.5 191
wrist rotation wrist rotation center
center 296.5 191 405
center
230 347 820
（*1） 720
（*1）
550 526 717 588 911 773

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

Specifications
Model CR-4+A CR-7+A CR-7+A/L CR-14+A/L
Controlled axes 6 axes (J1, J2, J3, J4, J5, J6)
911 mm (load capacity <12kg)
Reach 550 mm 717 mm 911 mm
820 mm (load capacity ≧12kg)
Installation (Note 1) Floor, Upside-down, Angle mount
J1 axis 340° 5.93 rad 340° 5.93 rad 340° 5.93 rad
J2 axis 150° 2.61 rad 166° 2.89 rad 166° 2.89 rad
J3 axis 354° 6.17 rad 373° 6.51 rad 383° 6.68 rad
Motion range
J4 axis 380° 6.63 rad 380° 6.63 rad 380° 6.63 rad
J5 axis 200° 3.49 rad 240° 4.18 rad 240° 4.18 rad
J6 axis 720° 12.57 rad 720° 12.57 rad 720° 12.57 rad
Max. load capacity at wrist (Note 2) 4 kg 7 kg 7 kg 14 kg
Maximum speed (Note 3, Note 4) 1000 mm/s 500 mm/s
J4 axis 8.86 N·m 16.6 N·m 16.6 N·m 31.0 N·m
Allowable load
J5 axis 8.86 N·m 16.6 N·m 16.6 N·m 31.0 N·m
moment at wrist
J6 axis 4.90 N·m 9.4 N·m 9.4 N·m 13.4 N·m
J4 axis 0.20 kg·m2 0.47 kg·m2 0.47 kg·m2 0.66 kg·m2
Allowable load
J5 axis 0.20 kg·m2 0.47 kg·m2 0.47 kg·m2 0.66 kg·m2
inertia at wrist
J6 axis 0.067 kg·m2 0.15 kg·m2 0.15 kg·m2 0.30 kg·m2
Repeatability (Note 5) ±0.01 mm
Mass (Note 6) 48 kg 53 kg 55 kg
Ambient temperature : 0 to 45°C
Installation environment Ambient humidity : Normally 75 %RH or less (No dew nor frost allowed)
Short time (within one month) Max.95%RH
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) It is necessary to set a motion speed according to risk assessment of system.
Note 5) Compliant with ISO9283.
Note 6) Without controller.

● Headquarters 3580, Shibokusa, Oshino-mura, Minamitsuru-gun

 Yamanashi, 401-0597, JAPAN

 Phone: (+81)555-84-5555 https://www.fanuc.co.jp/
● Overseas
Affiliated Companies
FANUC America Corporation Phone: (+1)248-377-7000 https://www.fanucamerica.com/
FANUC Europe Corporation, S.A. Phone: (+352)727777-1 https://www.fanuc.eu/
SHANGHAI-FANUC Robotics CO., LTD. Phone: (+86)21-5032-7700 https://www.shanghai-fanuc.com.cn/
KOREA FANUC CORPORATION Phone: (+82)55-278-1200 https://www.fkc.co.kr/
TAIWAN FANUC CORPORATION Phone: (+886)4-2359-0522 https://www.fanuctaiwan.com.tw/
FANUC INDIA PRIVATE LIMITED Phone: (+91)80-2852-0057 https://www.fanucindia.com/
FANUC SINGAPORE PTE. LTD. Phone: (+65)6567-8566 https://www.fanuc.com/fsp/
FANUC THAI LIMITED Phone: (+66)2-714-6111 https://www.fanuc.com/fth/
FANUC MECHATRONICS (MALAYSIA) SDN. BHD. Phone: (+60)3-3082-1222 https://www.fanuc.com/fmm/
PT. FANUC INDONESIA Phone: (+62)21-4584-7285 https://www.fanuc.com/fin/
FANUC OCEANIA PTY. LIMITED Phone: (+61)2-8822-4600 https://www.fanucoceania.com.au/
FANUC SOUTH AFRICA (PROPRIETARY) LIMITED Phone: (+27)11-392-3610 https://fanuc.co.za/

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 2016
government. Should you wish to export or re-export these products, please contact FANUC for advice.
RCR-7iA(E)-03b, 2022.4, Printed in Japan