Head to head
Epson SCARA T6 vs FANUC LR Mate 200iD/4S
A specification duel across payload, reach, precision, and footprint, with a plain read on which arm suits which job.
Value SCARA for assembly and packaging cells
Compact short-arm robot for dense benchtop cells
Specification duel
Green marks the stronger figure. Unconfirmed specs are shown but not scored.
The verdict
The Epson SCARA T6 is a SCARA arm and the FANUC LR Mate 200iD/4S is a 6-axis industrial arm, so this comes down to which job you are building the cell around rather than a spec-for-spec race. They run different controllers, the Epson SCARA T6 on the Built-in and the FANUC LR Mate 200iD/4S on the R-30iB Plus, so whichever platform your team already programs and stocks parts for is a real tiebreaker. Mounting options differ: the Epson SCARA T6 lists Tabletop, and the FANUC LR Mate 200iD/4S lists Floor, Inverted, and Angle.
Choose this one when
Job fit first, then the controller and cell constraints that decide which arm you can actually install.
Choose the Epson SCARA T6 when
- Competitive cost for a full-size SCARA
- Fast planar cycle times
- Straightforward setup with Epson RC+ software
- Multiple reach variants available
Watch for
- Planar kinematics limit orientation flexibility
- Smaller support network than the largest robot brands
Choose the FANUC LR Mate 200iD/4S when
- Very tight repeatability
- Smallest footprint in the LR Mate family
- Fast for short-cycle pick-and-place
- Easy to cluster in multi-robot cells
Watch for
- Short reach limits fixture layout options
- Low payload rules out heavier gripper packages
Controller ecosystem
Programming habits, spare parts, and pendant familiarity often decide the pick when payloads are close.
- Brand
- Epson
- Controller
- Built-in
- Class
- SCARA
Service, spares, and pendant training for the Epson SCARA T6 run through Epson's Built-in stack.
- Brand
- FANUC
- Controller
- R-30iB Plus
- Class
- 6-axis industrial
Service, spares, and pendant training for the FANUC LR Mate 200iD/4S run through FANUC's R-30iB Plus stack.
These arms run different controllers (Built-in vs R-30iB Plus). If your team already programs one of them, retraining programmers and stocking a second set of spares usually costs more than a small payload or reach advantage on paper.
Mounting, footprint, and mass
How the arm can be oriented in the cell, and how much mass you have to mount.
| Field | Epson SCARA T6 | FANUC LR Mate 200iD/4S |
|---|---|---|
| Mounting | Tabletop | Floor, Inverted, and Angle |
| Robot mass | 22 kg | 20 kg |
| Protection (IP) | IP20 | IP67 |
Heavier arms want stiffer bases and more clearance around the swept volume, and they push freight and rigging costs up on the install. IP ratings only cover the section they name, so a wrist-only rating protects the wrist and nothing else; check the body rating separately before you commit the arm to a washdown or dusty cell.
Application fit
Where each arm is aimed, based on the applications listed on its robot page.
Both pages list assembly, packaging, dispensing, and machine tending.
Epson SCARA T6 covers
FANUC LR Mate 200iD/4S covers
Speed and cycle-time planning
Speed is rarely a single datasheet number across brands. Use payload, reach, and class as the planning frame, then confirm cycle time in a path study.
The Epson SCARA T6 is a SCARA arm rated 6 kg at 600 mm with ±0.04 mm repeatability. The FANUC LR Mate 200iD/4S is a 6-axis industrial arm rated 4 kg at 550 mm with ±0.01 mm. Class changes how speed shows up in a cell: collaborative arms slow down near people and can speed up in a guarded mode, while industrial arms run at rated speed inside a fence or scanner field. Which arm cycles faster on your part depends on the path, the payload, and the safeguarding, so confirm the takt with a path study before you quote it.
Common questions
- Which has more payload, the Epson SCARA T6 or the FANUC LR Mate 200iD/4S?
- The Epson SCARA T6 has more payload at 6 kg versus 4 kg.
- Which reaches farther?
- The Epson SCARA T6 has more reach at 600 mm versus 550 mm.
- Which is more precise?
- The FANUC LR Mate 200iD/4S holds tighter repeatability at ±0.01 mm.
- Should I choose the Epson SCARA T6 or the FANUC LR Mate 200iD/4S?
- Match the pick to the job. The Epson SCARA T6 is a SCARA arm at 6 kg and 600 mm. The FANUC LR Mate 200iD/4S is a 6-axis industrial arm at 4 kg and 550 mm.
- Do the Epson SCARA T6 and FANUC LR Mate 200iD/4S use the same controller?
- No. The Epson SCARA T6 uses Built-in and the FANUC LR Mate 200iD/4S uses R-30iB Plus.
- How do the IP ratings compare?
- The Epson SCARA T6 is rated IP20. The FANUC LR Mate 200iD/4S is rated IP67. Check wrist versus body coverage before washdown or dusty cells.