FANUC CR-4iA vs Doosan A0509: Small Cobot Comparison
The FANUC CR-4iA and the Doosan A0509 are small cobots with very different priorities. The CR-4iA repeats to ±0.01 mm and runs on FANUC's industrial R-30iB Plus controller. The A0509 carries more, reaches further, weighs less than half as much and costs about 42% less.
Quick verdict. The Doosan A0509 is the better value for general collaborative handling, with 5 kg over 900 mm, a 21 kg arm and a listed price $18,700 lower. The FANUC CR-4iA is the better choice for precise small-part assembly, with ±0.01 mm repeatability.
CR-4iA and A0509 at a glance
The FANUC CR-4iA carries 4 kg over 550 mm, repeats to ±0.01 mm, weighs 48 kg and runs on the R-30iB Plus series controller. It moves at 500 mm/s in collaborative mode and 1000 mm/s in high-speed mode. FANUC lists it as a legacy product that is no longer in production.
The Doosan A0509 carries 5 kg over 900 mm, repeats to ±0.03 mm, weighs 21 kg, is rated IP54 and runs on the Doosan controller with the DART platform.
Main specification comparison
Specification | FANUC CR-4iA | Doosan A0509 |
Brand | FANUC | Doosan |
Listed price | $45,000 | $26,300 |
Payload | 4 kg | 5 kg |
Reach | 550 mm | 900 mm |
Repeatability | ±0.01 mm | ±0.03 mm |
Axes | 6 | 6 |
Speed | 500 mm/s (collaborative mode); 1000 mm/s (high-speed mode) | Over 1 m/s max. TCP speed |
Arm weight | 48 kg | 21 kg |
IP rating | IP67 | IP54 |
Controller | R-30iB Plus series | Doosan Controller with DART Platform; teach pendant optional |
Price comparison
FANUC CR-4iA: listed from $45,000
Doosan A0509: listed from $26,300
Difference: $18,700
The A0509 costs roughly 42% less
Precision
FANUC publishes ±0.01 mm repeatability for the CR-4iA, three times tighter than the ±0.03 mm of the A0509. For small electronics, connector insertion and precise assembly, that difference matters; for pick-and-place and machine tending, ±0.03 mm is usually enough.
Reach, payload and weight
The A0509 reaches 900 mm and carries 5 kg, against 550 mm and 4 kg for the CR-4iA. It weighs only 21 kg, less than half the 48 kg of the CR-4iA, so it is easier to move between stations or mount on a mobile base. It mounts in any orientation.
Speed and controllers
The CR-4iA moves at 500 mm/s in collaborative mode and up to 1000 mm/s in high-speed mode, on the R-30iB Plus series controller shared with FANUC industrial robots. The A0509 reaches over 1 m/s TCP speed and runs on Doosan's DART platform, with the teach pendant optional.
Best applications for the CR-4iA
Precise small-part assembly
Electronics handling
FANUC-standardized cells
Best applications for the Doosan A0509
Collaborative pick-and-place
Machine tending
Mobile and multi-station use
CR-4iA advantages
±0.01 mm repeatability
FANUC industrial controller
CR-4iA limitations
No longer in production (legacy product)
About $18,700 higher listed price
550 mm reach
48 kg arm
Doosan A0509 advantages
About 42% lower listed price
900 mm reach
21 kg arm, IP54
Doosan A0509 limitations
±0.03 mm repeatability
Final verdict
Choose the Doosan A0509 for value and flexibility. Choose the FANUC CR-4iA for precise assembly.
Sources and further reading
Frequently asked questions
Which is cheaper, the FANUC CR-4iA or the Doosan A0509?
The A0509 is listed from $26,300 and the CR-4iA from $45,000, a difference of $18,700.
Which cobot is more precise?
The CR-4iA publishes ±0.01 mm and the A0509 ±0.03 mm.
Which cobot has the longer reach?
The A0509 reaches 900 mm; the CR-4iA 550 mm.
Which cobot carries more?
The A0509 carries 5 kg; the CR-4iA 4 kg.
Which cobot is lighter?
The A0509 weighs 21 kg; the CR-4iA 48 kg.
Which cobot should I buy?
Choose the A0509 for value. Choose the CR-4iA for precision.
