The FAIRINO FR16 is a 6-axis collaborative robot designed for heavy-duty tasks like palletizing, welding, machine tending, and assembly. It features an integration-first approach with a browser-based WebAPP, optional Teach Pendant, and FR+ application kits for faster deployment. FAIRINO supports custom solutions through in-house R&D and an open development platform. The FR16 offers a 16 kg payload (up to 20 kg), 1034 mm reach, ±0.03 mm repeatability, and IP54/IP65 protection. It's suited for SMEs and enterprises in automotive, electronics, and logistics needing a high-payload, compact cobot with fast setup.
The FAIRINO FR16 supports a payload of 16 kg, extendable to 20 kg when following the manufacturer’s load-curve guidelines by using Time-Optimal Mode or limiting the working range.
The FR16 has a 1034mm maximum reach, with joint limits of: base ±175°, shoulder +85°/−265°, elbow ±160°, wrist 1 +85°/−265°, wrist 2 ±175°, and wrist 3 ±175°.
The FR16 offers ±0.03 mm repeatability (ISO 9283), 1 m/s TCP speed, and joint speeds of J1–J2 ±120°/s and J3–J6 ±180°/s. Its motion system supports real-time trajectory planning with linear, B-spline, and polynomial curves, user-defined smoothing, and limits for velocity, acceleration, and jerk for smooth, fast-settling motion.
For sharp path corners, angular velocity can be increased (default 360°/s) to maintain linear TCP speed within joint limits. In impedance control, adjustable damping and stiffness reduce oscillation. Controller limits for external motion are 250 mm/s linear, 90°/s angular, and 180°/s² angular acceleration.
Example: Welding Automation
Example: Assembly
Example: Pick and Place
Example: Palletizing
Example: Healthcare
The FR16 supports configurable E-stop (types 0, 1a, 1b, 2) and protective stop (types 0, 1, 2) functions at the controller level. Users can set stop time and distance limits, with safety status shown in the WebAPP alarm view.
Manual mode is limited to 250 mm/s, with safety zones set via configurable planes. The controller supports dual-channel I/O safety with 16 digital inputs/outputs and assignable safe states for external interlocks. LED cues indicate system status, including modes, faults, and events through specific color patterns.
Collaborative features include hand-guiding (Drag mode) via the teach pendant or Safety Box, with a three-position enable and dedicated E-stop. Collision sensitivity is adjustable in ten levels or by percentage, with options to stop or continue after detection. The FT_Guard command enables force-based detection per axis. LA versions add advanced responses like gravity, vibration, and rebound detection to auto-switch to Drag mode and retract from contact.
The FR series is certified to ISO 10218, ISO 13849, and ISO/TS 15066 for functional safety, and holds CE, KCs, NRTL, RoHS 2.0, NSF, and SEMI certifications for compliant collaborative use.
The FR16 is programmed through the self-developed browser-based FAIRINO WebAPP on PC, tablet, or phone, with the same interface available on the optional teach pendant.
The teaching environment supports graphical programming and Lua scripting, with UI languages in Chinese, English, French, and Japanese.
For secondary development, FAIRINO offers SDKs in C#, C++, and Python programming languages, and supports ROS / ROS2 across all FR-series controllers, including the FR16.
For API control, the Communication Command Protocol defines callable functions for system queries and settings. Lua scripts can use modules like CNCComSet to manage external communications directly.
FAIRINO’s FR+ kits offer guided, no-code setup — palletizing takes three steps — and a programming-free welding platform with simulation support.
The FR16 supports 50+ connectivity options. Its flange offers 2 DI, 2 DO, 1 AI, 1 AO, and a 24 V/1.5 A supply for direct tool connections. The controller provides 16 DI, 16 DO, 2 AI, 2 AO, and two high-speed pulse inputs, with digital I/O powered by either the internal 24 V/1.5 A rail or an external 24 V/2 A supply via the Power Communication interface.
Digital outputs are NPN, rated up to 1 A per channel (0.5 V typical drop, 0.1 mA leakage). Digital inputs trigger at 11–30 V with ~15 mA typical current. AC wide-voltage controllers also support PNP outputs.
Standard communication includes I/O, TCP/IP, and Modbus TCP/RTU. Optional CC-Link IE Field Basic, Profinet, Ethernet/IP, and EtherCAT are enabled via a MiniPCIe real-time Ethernet board. The Safety Box connects over 100 M TCP/IP and can provide RJ45 access to the WebAPP, simplifying host system integration.
The FR16 has a compact 190 mm base, weighs ~40 kg, and uses a sealed aluminum-steel structure with six rotary joints, allowing dense cell layouts and any mounting orientation.
The controller has a galvanized IP54-rated chassis, measuring 245 x 180 x 44.5 mm and weighing 2.1–2.5 kg.
The optional teach pendant is an IP54-rated ABS/PP unit, 268 x 210 x 88 mm, weighing 1.6 kg — durable and compact for industrial use.
The FR16 is rated IP54, upgradeable to IP65, and operates from 0–45 °C at up to 90% RH (non-condensing), with noise levels under 65 dB during normal use.
The standard FAIRINO FR16 collaborative robot arm package includes:
The FR16 ships fully assembled with a separate control and button box. After securing the base and connecting the cables and power, it’s ready to run via the WebAPP.
Please Note: Package contents are determined by the manufacturer and may change without notice. To confirm the current items included with this product, please contact a Top3DShop sales representative before placing your order.
The FR16 supports 8+ accessories and turnkey kits, including operator tools (Teach Pendant, Safety Box, Explosion-Proof Cabinet), end-effectors and sensors (EPG40-050 gripper, force/torque sensor, depth camera), and two prebuilt workstations for bin-picking and welding.
| Accessory | Function | Target User | Price (USD) |
|---|---|---|---|
| Teach Pendant | 10.1″ handheld HMI for teaching via WebApp | Operators & technicians | $840+ |
| Safety Box | RJ45 PoE button box with E-stop/jog & quick WebApp access | Line operators; safety supervisors | $430+ |
| Explosion-Proof Cabinet | Positive-pressure IP-rated controller cabinet for hazardous areas | EX/flammable-area installations | $700–$1,500+ |
| Intelligent Welding Workstation | Mobile welding cell with 3D camera & process kit | Fabrication & job shops | $25,000+ |
| Intelligent Bin-Picking Workstation | 3D vision bin-picking cell for mixed SKUs | E-commerce/DCs; kitting lines | $30,000+ |
The Teach Pendant is a wired handheld HMI that mirrors the WebAPP, allowing jogging, point teaching, and cell-side control. It features IP-rated hardware and a fixed cable for industrial use with the FR5.
The Safety Box is a PoE RJ45 operator panel with core run/teach functions — Manual/Auto, Drag, Point Record, Start/Stop, and Shutdown — and direct WebAPP access to the FR5 over TCP/IP.
The Explosion-Proof Cabinet is a positive-pressure, IP65 enclosure for housing the FR5 controller in hazardous or dusty environments.
The Intelligent Welding Workstation is a trolley-mounted system with welder hardware, Smart Tool, controller, router, and 3D camera/software for path generation and seam tracking with the FR5.
The Intelligent Bin-Picking Workstation includes a 3D camera, suction-cup kit, IPC, and touchscreen HMI for automated mixed-SKU picking with the FR5.
End-effector ecosystem (selected FR16-compatible tools)
| Tool | Function | Target User | Price (USD) |
|---|---|---|---|
| EPG40-050 | Electric parallel gripper (0–40 mm stroke, programmable force/position) | General assembly, pick-and-place, machine tending | $500+ |
| Orbbec Gemini 2 | Active-stereo depth camera for 3D detection and guidance | Vision-guided bin-picking, localization, inspection | $250+ |
| GZCX-6F-75MM | 6-axis force/torque sensor for force control and contact tasks | Insertion, polishing, compliance testing | $850+ |
| XJC-6F-D80-H28-A | 6-axis force/torque sensor with RS-485/422 options | Advanced force applications, research, compliance control | $3,300+ |
The FR5 supports the EPG40-050 gripper via digital I/O or Modbus RTU (RS-485), enabling precise pick-and-place and tending with closed-loop position and force control.
The FR5 uses the Orbbec Gemini 2 for 3D guidance via UVC stream and official SDK, providing calibrated depth for part localization with defined working and imaging ranges.
The FR5 supports the GZCX-6F-75MM force/torque sensor via RS-485/422 for force-controlled insertion, polishing, and guarded moves, with rated loads, repeatability, and temperature compensation.
The FR5 uses the XJC-6F-D80-H28-A wrist-mounted F/T sensor via RS-485 for guarded motion and force control, with load ratings and stability suited for precision assembly and finishing.
Tool interface standards and mounting: The FR16 tool flange has four M6 threads with Ø6 locating holes; bolts should be torqued to 8 Nm and kept ≤ 8 mm long to prevent damage. Tool-side I/O includes 2 DI, 2 DO, 1 AI, 1 AO, and 24 V/1.5 A power at the wrist.
The FR+ ecosystem includes vision (AL-M PND0700GB4, 0.08 mm z-repeatability @ 500 mm, 0.8 s acquisition), no-code welding kits, and turnkey bin-picking/CNC cells. Components connect via Modbus RTU, digital I/O, or USB/UVC, with the controller supporting higher-level links like Modbus TCP.
The FR16 mounts to a rigid, flat base using four M8 bolts (≥25 Nm, grade ≥8.8) and two Ø8 mm locating pins. The foundation must support at least 5x the robot’s weight and 10x the J1 torque, be isolated from vibration, and allow full arm clearance plus access to grounding and cabling.
FR16 model collaborative robot installation size
The FR16 uses either the AC MINI Controller 2 kW or DC MINI Controller 2 kW. Electrical installation requires selecting the correct controller (30–60 VDC, 100–240 VAC, or 176–264 VAC), using quick connectors, and bonding to protective earth. Control box ground resistance must be ≤ 1 Ω.
| Maximum Input (for customers to configure the front-stage power supply) | Maximum Output (maximum output peak) | |
| DC 2kW | 30–60VDC/30A | 2000W/48VDC/41A |
| DC 5kW | 30–60VDC/40A | 5000W/48VDC/104A |
| AC narrow voltage 2kW | 176–264VAC/10A/Single Machine/50Hz | 2000W/48VDC/41A |
| AC wide voltage 2kW | 100–240VAC/10A/Single Machine/50–60Hz | 2000W/48VDC/41A |
| AC wide voltage 5kW | 100–240VAC/16A/Single Machine/50–60Hz | 5000W/48VDC/104A |
The PoE Button Box hosts the default teach interface at 192.168.58.2. Connect a PC via Ethernet, set its IP to 192.168.58.xx, and access the interface through a browser.
Robot wiring schematic diagram
For commissioning, release the Button Box E-stop, power on the control box, and check that the end-of-arm LED is steady green after enable. Verify E-stop, start/stop, mode switch, and drag mode functions, inspect base and flange fasteners, confirm terminal tightness, and ensure ground resistance is ≤ 1 Ω. If needed, connect a PC to 192.168.58.2 for activation and login checks.
The FAIRINO FR16 requires 15+ inspection and cleaning checks to maintain safety compliance, stable motion accuracy, and reliable uptime across monthly, semi-annual, and annual intervals. These include visual/mechanical checks, safety-function tests, and control-box cleaning/verification.
Arm checklist (rear covers, screws, rubber rings, cables / cable links, base mounting bolts, and end-tool mounting bolts)
| Check item | Monthly | Semi-annually | Annually | ||
| 1 | Check joint rear cover * | V | ✓ | ||
| 2 | Check joint rear cover screws | F | ✓ | ||
| 3 | Check joint rubber ring | V | ✓ | ||
| 4 | Check robot cables | V | ✓ | ||
| 5 | Check robot cable links | V | ✓ | ||
| 6 | Check robot base mounting bolts * | F | ✓ | ||
| 7 | Check end tool mounting bolts * | F | ✓ |
Note: F = Functional check, V = Visual inspection, * = Must be checked after severe collision.
Controller / teach pendant / button-box checklist (E-stop, safety I/O, mode switching, pendant cable, control-box air filter, terminal tightness, ground resistance ≤1 Ω, and main power checks)
| Check item | Monthly | Semi-annually | Annually | ||
| 1 | Emergency stop button on test button box (teach pendant) | F | ✓ | ||
| 2 | Safety input and output functions on the test terminal strip | F | ✓ | ||
| 3 | Detection button box start/stop, mode switching function | F | ✓ | ||
| 4 | Test button box (teach pendant) cable | V | ✓ | ||
| 5 | Check and clean the air filter on the control box | V | ✓ | ||
| 6 | Check whether the terminals of the control box are firm | F | ✓ | ||
| 7 | Ground resistance of detection control box ≤1Ω | F | ✓ | ||
| 8 | Check the main power supply of the control box | F | ✓ |
Note: F = Functional check, V = Visual inspection.
Operational maintenance (daily/weekly)
During planned stops, power down and inspect the robot–controller cable, joint covers, seals, and all fasteners. Clean the arm with water, isopropyl alcohol, 10% ethanol, or 10% naphtha — never use bleach or compressed air. In harsh environments, clean or replace rubber rings more often.
Preventive maintenance (monthly / quarterly)
Monthly and semi-annually, inspect joint rear covers, screws, rubber rings, cables, and links. Re-check base and tool bolt torque with a torque wrench. Test E-stop, safety I/O, start/stop, mode switching, and the pendant/Button Box cable. Clean the control-box air filter, check terminal tightness, confirm ground resistance ≤ 1 Ω, and verify the main power supply.
Comprehensive maintenance (annual)
Annually, perform full mechanical and electrical inspections. Run the E-stop test to confirm motion stops and joint power cycles correctly. Clean the control box with an ESD vacuum — never compressed air. Check the controller clock for signs of a low CMOS battery. Do not separate the robot and control box unless recalibration is planned.
The FAIRINO FR16 includes a 12-month warranty covering material and workmanship defects under regional laws. FAIRINO offers 24/7 support, 12-hour remote triage, and 36-hour on-site repair for eligible cases. Support is available at +86-400-811-0929 or sales@frtech.fr. Manuals, SDKs, software (including SimMachine), and FAQs are available on the technical portal and Support Center. FAIRINO also provides a training platform for hands-on cobot education.
Full warranty terms: https://fairino.com/SupportCenter
The FAIRINO FR16 is priced at $11,699.00, reflecting a 16 kg industrial cobot with FR+ application kits and manufacturer support for faster integration. The IP65 variant adds ~15–20%, the Teach Pendant +7–9%, and the Safety Box +4–5%. For enterprise or custom setups, contact Top 3D Shop for a quote. Final pricing depends on cell design, tooling, safety, vision, networking, commissioning, training, volume, service, logistics, and compliance.
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