FANUC CR-7iA vs Doosan A0509s: Cobot Comparison
The FANUC CR-7iA and the Doosan A0509s approach precise work differently. The CR-7iA carries 7 kg and repeats to ±0.01 mm, but it is no longer part of FANUC's current range. The A0509s carries 5 kg, adds an integrated force torque sensor and costs about 38% less.
Quick verdict. The Doosan A0509s is the better choice for most new projects, with force sensing for polishing and insertion, a 21 kg arm and a listed price $17,700 lower. The FANUC CR-7iA suits FANUC cells that need 7 kg and ±0.01 mm and can source a discontinued model.
CR-7iA and A0509s at a glance
The FANUC CR-7iA carries 7 kg over 717 mm, repeats to ±0.01 mm, weighs 53 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, and is no longer in FANUC's current range.
The Doosan A0509s carries 5 kg over 900 mm, repeats to ±0.03 mm, weighs 21 kg, is rated IP54 and has an integrated force torque sensor. It runs on the Doosan controller with the DART platform.
Main specification comparison
Specification | FANUC CR-7iA | Doosan A0509s |
Brand | FANUC | Doosan |
Listed price | $47,000 | $29,300 |
Payload | 7 kg | 5 kg |
Reach | 717 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 | 53 kg | 21 kg |
IP rating | IP67 | IP54 |
Controller | R-30iB Plus series | Doosan Controller with DART Platform; teach pendant optional |
Price comparison
FANUC CR-7iA: listed from $47,000
Doosan A0509s: listed from $29,300
Difference: $17,700
The A0509s costs roughly 38% less
Force sensing against positional precision
The A0509s is the A0509 with an integrated force torque sensor, so it can control contact force for polishing, peg-in-hole insertion and press-fit assembly. The CR-7iA holds position to ±0.01 mm, three times tighter than the ±0.03 mm of the Doosan, which suits precise placement without force feedback.
Payload, reach and weight
The CR-7iA carries 7 kg over 717 mm; the A0509s 5 kg over 900 mm. The Doosan weighs 21 kg against 53 kg, mounts in any orientation and is easier to move between stations or put on a mobile base.
Availability and controllers
FANUC lists the CR-7iA as no longer part of its current product range, so check new-unit supply, spares and support before buying. The A0509s belongs to Doosan's current A-SERIES and runs on the DART platform; the CR-7iA runs on the R-30iB Plus series shared with FANUC industrial robots.
Best applications for the CR-7iA
Precise placement up to 7 kg
FANUC-standardized cells
Used-robot projects
Best applications for the Doosan A0509s
Polishing and finishing
Insertion and press-fit assembly
Force-controlled testing
CR-7iA advantages
±0.01 mm repeatability
7 kg payload
CR-7iA limitations
No longer in FANUC's current range
About $17,700 higher listed price
53 kg arm
Doosan A0509s advantages
Integrated force torque sensor
About 38% lower listed price
900 mm reach, 21 kg arm
Doosan A0509s limitations
5 kg payload
Final verdict
Choose the Doosan A0509s for force-controlled work and new projects. Choose the FANUC CR-7iA for precise placement in FANUC cells.
Sources and further reading
Frequently asked questions
Which is cheaper, the FANUC CR-7iA or the Doosan A0509s?
The A0509s is listed from $29,300 and the CR-7iA from $47,000, a difference of $17,700.
Is the CR-7iA still made?
No. It is no longer part of the current FANUC product range.
What does the A0509s add?
An integrated force torque sensor for polishing, insertion and assembly.
Which cobot is more precise?
The CR-7iA publishes ±0.01 mm and the A0509s ±0.03 mm.
Which cobot carries more?
The CR-7iA carries 7 kg; the A0509s 5 kg.
Which cobot should I buy?
Choose the A0509s for force control and new projects. Choose the CR-7iA for precision in FANUC cells.
