FANUC CR-4iA vs Doosan A0509s: Small Cobot Comparison
The FANUC CR-4iA and the Doosan A0509s both target precise small-part work, by different routes. The CR-4iA relies on ±0.01 mm repeatability. The A0509s adds an integrated force torque sensor for polishing, insertion and assembly, carries more, reaches further and costs about 35% less.
Quick verdict. The Doosan A0509s is the better value for force-controlled tasks, with a built-in force torque sensor, 900 mm reach and a listed price $15,700 lower. The FANUC CR-4iA is the better choice when positional precision of ±0.01 mm matters most.
CR-4iA and A0509s 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 A0509s carries 5 kg over 900 mm, repeats to ±0.03 mm, weighs 21 kg, is rated IP54 and adds an integrated force torque sensor. It runs on the Doosan controller with the DART platform.
Main specification comparison
Specification | FANUC CR-4iA | Doosan A0509s |
Brand | FANUC | Doosan |
Listed price | $45,000 | $29,300 |
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 A0509s: listed from $29,300
Difference: $15,700
The A0509s costs roughly 35% less
Force control against positional precision
The A0509s is the A0509 with an integrated force torque sensor, which lets it feel contact and control pressure for polishing, peg-in-hole insertion and press-fit assembly. The CR-4iA holds position to ±0.01 mm, three times tighter than ±0.03 mm, which suits precise placement without force feedback.
Reach, payload and weight
The A0509s reaches 900 mm and carries 5 kg, against 550 mm and 4 kg for the CR-4iA. It weighs 21 kg, less than half the 48 kg of the CR-4iA, and mounts in any orientation, which helps on mobile bases and benches.
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 FANUC's R-30iB Plus series controller. The A0509s reaches over 1 m/s TCP speed on Doosan's DART platform, with IP54 protection.
Best applications for the CR-4iA
Precise small-part placement
Electronics handling
FANUC-standardized cells
Best applications for the Doosan A0509s
Polishing and finishing
Insertion and press-fit assembly
Force-controlled testing
CR-4iA advantages
±0.01 mm repeatability
FANUC industrial controller
CR-4iA limitations
No longer in production (legacy product)
About $15,700 higher listed price
550 mm reach
Doosan A0509s advantages
Integrated force torque sensor
About 35% lower listed price
900 mm reach, 21 kg arm
Doosan A0509s limitations
±0.03 mm repeatability
Final verdict
Choose the Doosan A0509s for force-controlled tasks. Choose the FANUC CR-4iA for precise placement.
Sources and further reading
Frequently asked questions
Which is cheaper, the FANUC CR-4iA or the Doosan A0509s?
The A0509s is listed from $29,300 and the CR-4iA from $45,000, a difference of $15,700.
What does the A0509s add to the A0509?
An integrated force torque sensor for polishing, insertion and assembly.
Which cobot is more precise?
The CR-4iA publishes ±0.01 mm and the A0509s ±0.03 mm.
Which cobot has the longer reach?
The A0509s reaches 900 mm; the CR-4iA 550 mm.
Which cobot is lighter?
The A0509s weighs 21 kg; the CR-4iA 48 kg.
Which cobot should I buy?
Choose the A0509s for force control. Choose the CR-4iA for precise placement.
