FANUC LR Mate 200iD/4S

The LR Mate 200iD/4S is FANUC's short-arm tabletop six-axis, sized for benchtop cells where floor space is scarce. It carries 4 kg out to a 550 mm reach and holds 0.01 mm repeatability, tight enough for close-tolerance assembly and precise dispensing. At 20 kg it's light enough to bolt onto a bench or a fixture.

It trades reach for speed and footprint, and the short 550 mm arm is the visible half of that deal. That compact work envelope is why several of these cluster into one crowded workspace, though the short reach does limit how you lay out fixtures around it. If your parts sit close to the tool, that tight envelope works in your favor.

The 4 kg payload rules out heavier gripper packages, so it suits light end-effectors on packaging and machine tending duty. You can run it floor, inverted, or angle, so an integrator can perch it over a fixture or cant it into one. Its 4 kg limit is the ceiling to size a gripper against before you commit.

It runs on FANUC's R-30iB Plus controller, and mastering is the routine you'll touch most. The guides cover quick mastering, zero-position mastering, and mastering after battery loss. Keep a controller-battery replacement and a full image backup on the calendar so the cell rebuilds fast.

When something trips on the pendant, the codes match our reference: servo faults like SRVO-062, SRVO-063, and SRVO-050 come with recovery steps. Protection is rated IP67. For a dense benchtop cell running assembly and dispensing, routine mastering checks and a clean SRVO alarm clear are what keep the arm landing on the same point shift after shift.