Class definition
An industrial robot is an automatically controlled, reprogrammable, multipurpose manipulator, programmable in at least three axes, fixed in place or fixed to a mobile platform, intended for industrial automation.
Kinematic types
IFR recognizes articulated, cartesian/linear/gantry, cylindrical, spherical, parallel/delta, and SCARA kinematics. [A1]
Articulated collaborative arms
Six-axis collaborative arms; maximum TCP speed depends on safety mode. Payload increases require the stated pose or manual conditions. Unpublished metrics stay empty, not zero.
| Metric | UR20 | ABB GoFa 12 (CRB 15000-12/1.27) | FANUC CRX-10iA |
|---|---|---|---|
| Kinematics & payload | |||
| Controlled axes# | 6 [M1] | 6 [M6] | 6 [M7] |
| Rated payload# | 20 kg (25 kg with boundary conditions per manual) [M1] | 12 kg (14 kg wrist-down) [M2] | 10 kg [M7] |
| Reach# | 1750 mm [M1] | 1270 mm wrist; 1380 mm flange [M6] | 1249 mm to end of flange [M7] |
| Pose repeatability# | ±0.1 mm (ISO 9283) [M1] | 0.02 mm (RP) [M6] | ±0.04 mm (ISO 9283) [M7] |
| Pose accuracy# | — | 0.02 mm (AP) [M6] | — |
| Speed & joint limits | |||
| Maximum TCP speed# | 5 m/s [M1] | up to 2.2 m/s [M2] | 1000 mm/s collaborative; 2000 mm/s high-speed mode [M7] |
| Maximum axis speed# | base/shoulder ±120°/s; elbow ±150°/s; wrists ±210°/s [M1] | axes 1–2 120°/s; axis 3 125°/s; axes 4–6 200°/s [M6] | — |
| Maximum joint torque# | — | axis 1 390; axis 2 400; axis 3 160; axes 4–6 60 N·m [M6] | — |
| Allowable wrist moment# | — | — | J4 34.8; J5 26.0; J6 11.0 N·m [M7] |
| Allowable wrist inertia# | — | — | J4 1.28; J5 0.90; J6 0.30 kg·m² [M7] |
| Force / torque sensing at flange# | ±200 N, ±20 N·m range; ±5.5 N, ±0.2 N·m precision [M1] | integrated joint torque sensors (power and force limiting) [M2] | — |
| Mass, mounting, interface | |||
| Arm mass# | 64 kg, without cable [M1] | 48 kg, nominal, without options [M6] | 40 kg, without controller [M7] |
| Footprint# | Ø245 mm [M1] | — | — |
| Mounting# | any orientation [M1] | floor 0°; wall any angle; suspended 180° [M6] | floor, upside-down, angle mount [M7] |
| Tool flange# | EN ISO 9409-1-80-6-M8 [M1] | dimensioned drawing only (7 × M6, Ø6 H7 locating hole); no ISO designation stated [M6] | — |
| Tool-side I/O# | 2 DI, 2 DO, 2 AI or 1 RS-485; 12/24 V, 2 A [M1] | — | — |
| Controller & power | |||
| Controller# | UR control box, 460 × 449 × 254 mm, 12 kg [M1] | OmniCore C30 only [M6] | R-30iB Mini Plus, 410 × 277 × 370 mm, 20 kg [M7] |
| Controller protection# | IP44 [M1] | — | IP54 [M7] |
| Power# | 750 W maximum; 500 W at moderate settings [M1] | 0.25 kW at max load (ISO cube, max velocity); 0.14 kW holding with brakes engaged [M6] | 1.5 kVA input capacity [M7] |
| Rated supply# | 100–240 VAC, 47–440 Hz [M1] | — | 100–120 / 200–240 VAC single phase, +10 / −15 %, 50/60 Hz [M7] |
| Protection & environment | |||
| Protection (arm)# | IP65 [M1] | IP67 (CRB 15000-12/1.27) [M6] | IP67 [M7] |
| Operating temperature# | 0–50 °C [M1] | 5–45 °C [M6] | 0–45 °C [M7] |
| Operating humidity# | ≤90 % RH, non-condensing [M1] | <75 % RH; <95 % RH for under one month [M6] | ≤75 % RH normally; ≤95 % RH short term [M7] |
| Cleanroom class# | ISO 14644-1 Class 4 at ≤80 % velocity and payload [M1] | — | — |
| Airborne noise# | <65 dB(A) [M1] | <50.2 dB(A) at 1500 mm/s TCP, ISO cube [M6] | ≤70 dB [M7] |
| Safety | |||
| Published safety functions# | 21 configurable safety functions; EN ISO 13849-1 PLd Cat 3, EN ISO 10218-1, UL 1740 [M1] | Cat 3 PL d; power and force limiting via integrated torque sensors; rounded geometry, no pinch points [M2] | immediate contact stop; direct (manual-guided) teaching [M3] |
Franka Research 3 — 7-axis research arm
Copied from Franka’s live Research 3 product page.
Class and datasheet
This is a 7-axis research system and is not mixed into the 6-axis collaborative table above. A “Download Datasheet” control exists on the page; no public PDF URL was extracted here, so the product-page numbers are the cells.
| Metric | Franka Research 3 |
|---|---|
| Controlled axes# | 7 [M10] |
| Rated payload# | 3 kg [M10] |
| Reach# | 855 mm [M10] |
| Position repeatability# | <±0.1 mm [M10] |
| Integrated torque sensors# | 7 [M10] |
| Motion control rate# | 1 kHz [M10] |
| Workspace efficiency# | 94.5% [M10] |
| Public datasheet PDF URL# | — |
FCI / Desk / RIDE interface names are software surfaces, not a second payload. Do not collapse FR3 into the UR20 / GoFa / CRX table.
SCARA
Four-axis horizontal articulated arms. J4 repeatability is angular; J1–J3 repeatability is in millimetres.
Motion ranges and FANUC conflict
Motion ranges retain each axis’s maximum speed. Conflicting FANUC SR-12iA J1+J2 repeatability figures stay separate, not averaged.
| Metric | SR-3iA | SR-6iA | SR-12iA |
|---|---|---|---|
| Kinematics & payload | |||
| Controlled axes# | 4 (J1, J2, J3, J4) [M8] | 4 (J1, J2, J3, J4) [M8] | 4 (J1, J2, J3, J4) [M8] |
| Payload at wrist# | 3 kg [M4] | 6 kg [M4] | 12 kg [M4] |
| Horizontal reach# | 400 mm [M4] | 650 mm [M8] | 900 mm [M8] |
| Mounting# | floor, wall [M8] | floor, wall [M8] | floor, wall [M8] |
| Motion range (maximum speed) | |||
| J1 axis# | ±142° (720°/s) [M8] | ±148° (440°/s) [M8] | ±145° (440°/s) [M8] |
| J2 axis# | ±145° (780°/s) [M8] | ±150° (700°/s) [M8] | ±145° (510°/s) [M8] |
| J3 (Z) stroke# | 200 mm [M4] | 210 mm; 300 mm option [M4] | 300 mm; 450 mm option [M4] |
| J3 maximum speed# | 1800 mm/s [M8] | 2000 mm/s [M8] | 2800 mm/s [M8] |
| J4 axis# | ±720° (3000°/s) [M8] | ±720° (2500°/s) [M8] | ±720° (2500°/s) [M8] |
| Wrist limits & accuracy | |||
| Allowable load inertia, J4# | 0.06 kg·m² [M8] | 0.12 kg·m² [M8] | 0.30 kg·m² [M8] |
| J3 maximum push-down force# | 150 N [M8] | 200 N [M8] | — |
| Repeatability# | ±0.01 mm (J1/J2/J3) [M4] | ±0.01 mm (J1/J2/J3) [M4] | ±0.015 mm (J1/J2); ±0.01 mm (J3) [M4]; the SR brochure lists ±0.02 mm for J1+J2 [M8] |
| Repeatability, J4# | ±0.004° [M8] | ±0.004° [M8] | ±0.004° [M8] |
| Mass, interfaces, environment | |||
| Mass# | 19 kg [M4] | 30 kg [M4] | 53 kg [M4] |
| User cables and air (standard)# | RI ×4 / RO ×4; Ø6 mm ×1; Ø4 mm ×2 [M8] | RI ×4 / RO ×4; Ø6 mm ×1; Ø4 mm ×2 [M8] | RI ×4 / RO ×4; Ø6 mm ×1; Ø4 mm ×2 [M8] |
| Clean-room variant# | ISO class 2–5 on the /C variant [M8] | ISO class 2–5 on the /C variant [M8] | ISO class 2–5 on the /C variant [M8] |
| Installation environment# | 0–45 °C; ≤75 % RH, ≤95 % RH under one month; vibration ≤4.9 m/s² [M8] | 0–45 °C; ≤75 % RH, ≤95 % RH under one month; vibration ≤4.9 m/s² [M8] | 0–45 °C; ≤75 % RH, ≤95 % RH under one month; vibration ≤4.9 m/s² [M8] |
| Controller | |||
| Matching controller# | R-30iB Compact Plus, 9 kg, 440 × 260 × 85.5 mm [M8] | R-30iB Compact Plus, 9 kg, 440 × 260 × 85.5 mm [M8] | R-30iB Compact Plus, 9 kg, 440 × 260 × 85.5 mm [M8] |
| Controller protection# | IP20 [M8] | IP20 [M8] | IP20 [M8] |
| Rated supply# | 200–240 VAC single phase, +10 / −15 %, 50/60 Hz [M8] | 200–240 VAC single phase, +10 / −15 %, 50/60 Hz [M8] | 200–240 VAC single phase, +10 / −15 %, 50/60 Hz [M8] |
Parallel / delta
Ceiling-mounted parallel-link arms with wrist payload.
Envelope, conflicts and M-2iA/6H
Cylindrical work envelope (Ø × height) is not reach radius. Conflicting FANUC repeatability figures stay separate. M-2iA/6H is absent from the current brochure; its brochure-only rows stay unfilled, without sibling values.
| Metric | M-2iA/3S | M-2iA/6H | M-3iA/6S | M-3iA/12H |
|---|---|---|---|---|
| Kinematics & payload | ||||
| Controlled axes# | 4 [M5] | 3 [M5] | 4 [M5] | 3 [M5] |
| Payload at wrist# | 3 kg [M5] | 6 kg [M5] | 6 kg (8 kg high-inertia option) [M5] | 12 kg [M5] |
| Reach# | 800 mm [M5] | 800 mm [M5] | 1350 mm [M5] | 1350 mm [M5] |
| Work envelope (Ø × height)# | Ø800 × 300 mm [M9] | not in the current DELTA brochure [M9] | Ø1350 × 500 mm [M9] | Ø1350 × 500 mm; envelope limited above 6 kg payload [M9] |
| Mounting# | ceiling [M9] | not in the current DELTA brochure [M9] | ceiling [M9] | ceiling [M9] |
| Motion & accuracy | ||||
| J4 rotation (maximum speed)# | 720° (3500°/s) [M9] | not in the current DELTA brochure [M9] | 720° (4000°/s) [M9] | no J4 axis [M9] |
| Repeatability# | ±0.1 mm [M5]; the DELTA brochure lists ±0.03 mm [M9] | ±0.1 mm [M5] | ±0.1 mm [M5]; the DELTA brochure lists ±0.03 mm [M9] | ±0.1 mm [M5]; the DELTA brochure lists ±0.03 mm [M9] |
| Mass, drive, environment | ||||
| Mass (without controller)# | 130 kg [M9] | not in the current DELTA brochure [M9] | 160 kg [M9] | 155 kg [M9] |
| Drive# | AC servo motor [M9] | not in the current DELTA brochure [M9] | AC servo motor [M9] | AC servo motor [M9] |
| Installation environment# | 0–45 °C; ≤75 % RH, ≤95 % RH under one month; vibration ≤4.9 m/s² [M9] | not in the current DELTA brochure [M9] | 0–45 °C; ≤75 % RH, ≤95 % RH under one month; vibration ≤4.9 m/s² [M9] | 0–45 °C; ≤75 % RH, ≤95 % RH under one month; vibration ≤4.9 m/s² [M9] |
| Protection# | IP69K [M5] | IP69K [M5] | IP67 [M5] | IP67 [M5] |
| Controller | ||||
| Controller# | R-30iB Plus [M5] | R-30iB Plus [M5] | R-30iB Plus [M5] | R-30iB Plus [M5] |