SCARA Robot

< Robot SR series

FEATURES
FANUC Robot SR-3+A, 6+A, 12+A, 20+A is SCARA robot
whose payload is 3 to 20kg.

● Ninemodels are available to meet a variety of payload, motion

range and installation requirements.

●A lightweight arm and the most advanced servo technology

enables superior accuracy and high duty performance, which
improves productivity.

● The SR-3+A and 6+A offer food grade options. The SR-12+A
and 20+A offer environmental options including white epoxy
coating, bellow covers, anti-rust bolts and seals, and IP65
rating to withstand dust and liquids.

● Internal cable routing in the J2 arm eliminates interference,

and the hollow arm on the J4 rotation axis allows easy gripper
installation.

● SR-3+A/Uis a ceiling mount type robot. It can use its full

360°envelope to maximize work space, even in limited areas.

● TheR-30+B Compact Plus controller is significantly smaller

than previous controllers with the same functionality and
power.

● Easyto use and intuitive robot setup and programming on a

PC or Tablet

● Latest intelligent functions are available, such as +RVision

(integrated vision) and +RPickTool.

R-30+B Compact Plus

SR-3+A/U
 Operating Space

SR-3+A SR-6+A S
SR-3+A/C SR-6+A/C
SR-3+A/H SR-6+A/H

R 4
Operating
50
148deg
space of
Motion range J4 axis
Motion range of J1 axis Operating of J1 axis rotation
142deg space of center
J4 axis
R 3
rotation 00
center
150deg
J4 axis

140
R 2 Motion range
00 of J2 axis J4 axis Motion range rotation
rotation of J2 axis center
145deg center

140
90 90

（＊2）
150
（＊1）
70 70

125

R
17 R 65
R 5 0
12 2
0. R 4
3 00
132 70 168 90

（＊1）133 for SR-3+A/C （＊2）159 for SR-6+A/C

SR-3+A/C SR-6+A/C

748
721

Stroke of J3 axis
585
Stroke of J3 axis
558

Stroke of J3 axis
Stroke of J3 axis

160
150

210
200

65
55

200 200 350 300 300

210
200 200 4
200

350

SR-3+A/U Specifications
Model SR-3+A/U SR-3+A SR-3
Type
Operating Controlled axes 4 axes (J1, J2, J3, J4)
space of
J4 axis
Reach 350 mm 400
225deg rotation Installation Ceiling
center
± 225deg（610deg/s） ± 142deg（7
Motion range J4 axis J1 axis
of J1 axis rotation ± 3.93 rad（10.65 rad/s） ± 2.48 rad（1
center
± 225deg（840deg/s） ± 145deg（7
Motion range J2 axis
101 101

± 3.93 rad（14.66 rad/s） ± 2.53 rad（1

(Maximum speed)
130
150

(Note 1) J3 stroke 140 mm（1500 mm/s） 200 mm（18

225deg R3
50 ± 720deg（3000deg/s）
Motion range J4 axis
157 88 of J2 axis ± 12.57 rad（52.36 rad/s）
Max. load capacity at wrist 3 kg
Allowable load inertia at wrist J4 axis 0.06 kg·m2
J1 + J2 axis
Repeatability J3 axis
J4 axis ± 0.004deg
J3 axis maximum push down force (Note 2) 150 N
236

Standard
Cables and air for user
Option
Mass (Note 3) 27 kg 19 kg 21
Amb
Amb
Installation environment
440

Vibra
Rated Voltage
Stroke of J3 axis

Matching controller Mass of controller

R-30+B Compact Plus Dimensions (W×D×H)
140

Degree of protection
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
175 175 Note 2) Alarms may be occureed if push down for a long time.
Note 3) Without controller.
SR-12+A SR-20+A
145deg
Operating
145deg Motion range
space of
of J1 axis
R 5 J4 axis
Motion range
of J1 axis 50 rotation
Operating center
space of
J4 axis
rotation
center
145deg
Motion range
of J2 axis
145deg J4 axis
rotation
J4 axis center
Motion range
rotation

140
of J2 axis
center

197
140
188

R
R 33 R 11
27 1 00
0.
6
224 140 R 9 224 140
00
918 （300mm stroke）

918 （300mm stroke）

（450mm stroke）

（450mm stroke）
（＊4）
（＊4）

1068
1068

Stroke of J3 axis（Option）
Stroke of J3 axis（Option）

Stroke of J3 axis
Stroke of J3 axis
336（＊3）

336 (＊3)

300
300

450
450

450 450 550 550

（ 3）198 for bellows option

＊
（ 3）198 for bellows option
＊

（＊4）1176 for bellows option （＊4）1176 for bellows option

3+A/C SR-3+A/H SR-6+A SR-6+A/C SR-6+A/H SR-12+A SR-20+A

SCARA Type
3 axes (J1, J2, J3) 4 axes (J1, J2, J3, J4) 3 axes (J1, J2, J3) 4 axes (J1, J2, J3, J4)
mm 650 mm 900 mm 1100 mm
Floor, Wall
720deg/s） ± 148deg（440deg/s） ± 145deg（440deg/s）
12.57 rad/s） ± 2.58 rad（7.68 rad/s） ± 2.53 rad（7.68 rad/s）
780deg/s） ± 150deg（700deg/s） ± 145deg（510deg/s) ± 145deg（500deg/s)
13.61 rad/s） ± 2.62 rad（12.22 rad/s） ± 2.53 rad（8.90 rad/s） ± 2.53 rad（8.73 rad/s）
300 mm（2800 mm/s）
800 mm/s） 210 mm（2000 mm/s）
450 mm（Option） （2800 mm/s）
± 720deg（2500deg/s） ± 720deg（2500deg/s） ± 720deg（1700deg/s）
± 12.57 rad（43.63 rad/s） ± 12.57 rad（43.63 rad/s）± 12.57 rad（29.67 rad/s）
6 kg 12 kg 20 kg
0.12 kg·m2 0.30 kg·m2 0.45 kg·m2
± 0.01 mm ± 0.02 mm
± 0.01 mm
± 0.004deg ± 0.005deg
200 N 250 N
RI × 4 / RO × 4, Φ6 mm × 1, Φ4 mm × 2 RI × 4 / RO × 4, Φ6 mm × 3
RI × 4, Φ6 mm × 1, Solenoid valve × 2
1 kg 17 kg 30 kg 32 kg 28 kg 53 kg 64 kg
bient temperature : 0 to 45℃
bient humidity : Normally 75%RH or less (No dew nor frost allowed)
Short term (within one month) 95%RH or less (No dew nor frost allowed)
ation acceleration : 4.9m/s2 (0.5G) or less
AC 200-240V Single phase +10%−15%, 50/60Hz ±1Hz
9 kg
440 × 260 × 85.5 mm
Conforming to IP20
Application Examples

Circuit board assembly by SR-3+A Visual circular tracking by SR-6+A

Option

Black bellows White bellows

SR-12+A water proof Example of bellows option

● 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/
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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 2017
government. Should you wish to export or re-export these products, please contact FANUC for advice.
RSCARA(E)-08, 2022.3, Printed in Japan