FANUC CR-4iA vs Doosan M0609: Small Cobot Comparison
The FANUC CR-4iA and the Doosan M0609 are small cobots for assembly. The CR-4iA repeats to ±0.01 mm but is no longer in FANUC's current range. The M0609 carries 6 kg over 900 mm, has a torque sensor in each of its six joints and costs about 23% less.
Quick verdict. The Doosan M0609 is the better choice for new projects and force-sensitive assembly, with 6 kg, 900 mm reach and a listed price $10,500 lower. The FANUC CR-4iA suits precise placement up to 4 kg in FANUC cells.
CR-4iA and M0609 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 is no longer part of the current FANUC product range.
The Doosan M0609 carries 6 kg over 900 mm, repeats to ±0.03 mm, weighs 27 kg, is rated IP54 and has a torque sensor in each of its six joints. It runs on the Doosan controller with teach pendant.
Main specification comparison
Specification | FANUC CR-4iA | Doosan M0609 |
Brand | FANUC | Doosan |
Listed price | $45,000 | $34,500 |
Payload | 4 kg | 6 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 | 27 kg |
IP rating | IP67 | IP54 |
Controller | R-30iB Plus series | Doosan Controller with teach pendant |
Price comparison
FANUC CR-4iA: listed from $45,000
Doosan M0609: listed from $34,500
Difference: $10,500
The M0609 costs roughly 23% less
Joint torque sensing
Doosan's M-SERIES places a torque sensor in every joint, which gives the M0609 sensitive collision detection and force control along the whole arm. That helps with insertion, assembly and work close to people. The CR-4iA relies on its ±0.01 mm positional precision.
Payload and reach
The M0609 carries 6 kg over 900 mm, against 4 kg over 550 mm for the CR-4iA. The extra reach lets it serve a larger bench or two fixtures; the extra 2 kg leaves room for screwdrivers, grippers with cameras or heavier parts.
Weight and availability
The M0609 weighs 27 kg against 48 kg and mounts in any orientation. FANUC lists the CR-4iA as no longer part of its current product range; the M0609 is a current Doosan model with IP54 protection.
Best applications for the CR-4iA
Precise small-part placement
Electronics handling
FANUC-standardized cells
Best applications for the Doosan M0609
Force-sensitive assembly
Screwdriving
Machine tending
CR-4iA advantages
±0.01 mm repeatability
CR-4iA limitations
No longer in FANUC's current range
550 mm reach
About $10,500 higher listed price
Doosan M0609 advantages
Torque sensors in all joints
6 kg over 900 mm
About 23% lower listed price
Doosan M0609 limitations
±0.03 mm repeatability
Final verdict
Choose the Doosan M0609 for new projects and force-sensitive work. Choose the FANUC CR-4iA for precise placement in FANUC cells.
Sources and further reading
Frequently asked questions
Which is cheaper, the FANUC CR-4iA or the Doosan M0609?
The M0609 is listed from $34,500 and the CR-4iA from $45,000, a difference of $10,500.
Which cobot has torque sensors in its joints?
The M0609 has a torque sensor in each of its six joints.
Which cobot is more precise?
The CR-4iA publishes ±0.01 mm and the M0609 ±0.03 mm.
Which cobot has the longer reach?
The M0609 reaches 900 mm; the CR-4iA 550 mm.
Is the CR-4iA still made?
No. It is no longer part of the current FANUC product range.
Which cobot should I buy?
Choose the M0609 for new projects. Choose the CR-4iA for precise placement.
