The FAIRINO FR20 is a 6-axis collaborative robot with a payload of 20 kg (25 kg max), 1,854 mm reach, and ±0.1 mm repeatability (ISO 9283). It’s built for heavy-duty tasks like palletizing, welding, screw-tightening, and material handling requiring long reach and high payload. Key features include an open development stack (WebAPP, SDKs for C#/C++/Python, ROS/ROS2), broad certifications (ISO 10218/13849/15066; CE, KCs, NRTL, RoHS 2.0), and IP54 protection (IP65 optional). The FR20 supports any mounting orientation and flexible integration via tool I/O and optional fieldbuses (CC-Link, PROFINET, EtherNet/IP, EtherCAT).
The FR20 handles a 20 kg payload, with a 25 kg max per its load curve. The effective limit depends on the payload’s center of gravity relative to the flange.
The FR20 has a 1,854 mm max TCP reach, with joint limits of: J1 ±175°, J2 +85°/−265°, J3 ±160°, J4 +85°/−265°, J5 ±175°, J6 ±175°. Some singular poses, like a fully contracted elbow or parallel wrists, are mechanically unreachable, limiting edge-case positions.
The FR20 offers ±0.1 mm repeatability (ISO 9283) for precise handling. TCP speed reaches 2 m/s, with joint speeds of ±120°/s (J1–J3) and ±180°/s (J4–J6), enabling fast, smooth motion. Acceleration is user-adjustable (0–100%) to match industry application needs without compromising path quality.
The FR20 controller supports joint, linear, and circular moves (MoveJ/MoveL/MoveC/Circle) with real-time B-spline planning for smoother, low-jerk paths. Cornering uses configurable blending with a 0–1000 mm smooth radius and Acceleration Smooth Mode to maintain continuous motion and minimize settling.
Example: Palletizing Solution
Example: Welding Scenario
Example: Plasma Cutting
Example: Healthcare
The FR20 has hardware E-stops on the button box and teach pendant that cut joint power and trigger an emergency stop. Category-0 stop times range from 170–700 ms and distances from 0.22–0.80 rad, measured with the arm fully extended at full speed (180°/s) and max load.
The FR20 supports hand-guiding through Drag teaching mode, activated via the button box. An end-of-arm LED indicates states like Automatic, Manual, Drag, Start/Stop, Enable, and errors to aid operator awareness.
The FR20 supports force/torque-assisted dragging with singularity avoidance and offers collision detection via the FT_Guard command with configurable force and torque thresholds.
The FR series cobots are certified to ISO 10218, ISO 13849, and ISO/TS 15066 for functional safety, and hold CE, KCs, NRTL, RoHS 2.0, and IP54 product certifications, with IP65 available as an option.
The FR20 is programmed via FAIRINO’s WebAPP, accessible from any PC or tablet at 192.168.58.2. The same interface is mirrored on the teach pendant.
The interface provides both graphical programming and Lua scripting for building tasks in one environment, with multilingual UI support. Programs are created by teaching points (via drag mode or button-box) or by coding directly using commands like PTP() in the editor. Lua is the native scripting language, with all commands and teach files written and run as Lua programs in the WebAPP.
The FR20 uses FAIRINO’s self-developed open platform, offering SDKs for C#, C++, and Python, and supports ROS / ROS 2 for integration with common tools and research stacks. The WebAPP also provides communication primitives (e.g., socket send/receive) for connecting to external systems via Lua.
The Controller Communication Protocol provides API access over TCP/IP for robot state, motion modes, I/O, and peripherals, enabling host applications to control the arm. The WebAPP also converts CAD-generated G-code (G0–G3) into Lua trajectories (MoveJ/MoveL/MoveC/Circle) for offline path planning and verification.
The FR20 offers 50+ connectivity options. The tool flange includes 2 DI, 2 DO, 1 AI, 1 AO, and a 24 V/1.5 A supply for end-effectors. The controller adds 16 DI, 16 DO, 2 AI, 2 AO, and two high-speed pulse inputs for cell-level I/O.
Standard networking includes Ethernet (TCP/IP) with Modbus TCP/RTU. Optional MiniPCIe boards enable CC-Link, PROFINET, EtherNet/IP, and EtherCAT fieldbuses.
The controller has two network interfaces with default IPs 192.168.57.2 and 192.168.58.2 for WebAPP access and device integration. The Safety Box connects via RJ45/PoE and mirrors the WebAPP on the plant network. For host control, the protocol supports UDP configuration for PLC/IPC links, including IP, port, cycle, and reconnect settings.
The FR20 features an aluminum-steel arm with sealed IP54 joints (IP65 optional) and a compact 240 mm base. The arm weighs ~85 kg and can be mounted in any orientation. Noise is <70 dB during typical operation.
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 FR20 operates at 0–45 °C and up to 90% RH (non-condensing), matching its IP54 rating (IP65 optional). Installation conditions are 0–45 °C, 20–80% RH, below 2000 m altitude, and free from mechanical shock or impact.
The standard FAIRINO FR20 collaborative robot arm package includes:
The FR20 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 FR20 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 three prebuilt workstations for bin-picking, welding, and palletizing.
| 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+ |
| Turnkey Palletizing Workstation | Pre-engineered palletizing cell with platform, column, control box and suction kit; guided three-step setup | Manufacturing & logistics lines | $25,000+ |
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.
The pre-engineered FR10 palletizing cell sets up in three guided steps and includes a platform, standard or lifting column, control box, and suction cup kit.
The standard column package weighs ~230 kg with the FR10 and is movable by one person. The lifting-column version extends stack height to ~2,370 mm (1140–1670 mm stroke, 45 mm/s, AC 220 V/400 W) and ships plug-and-play for fast deployment.
End-effector ecosystem (selected FR20-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 FR20 offers 2 DI/2 DO, 1 AI/1 AO tool-side I/O with a 24 V/1.5 A tool power supply, plus controller-side I/O and support for Modbus TCP/RTU (standard) and optional fieldbus protocols like CC-Link, PROFINET, EtherNet/IP, and EtherCAT. This enables integration of electric grippers and smart vacuum or vision devices via direct signaling or network protocols.
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.
Install the FAIRINO FR20 on a rigid, flat base with at least 5x its weight capacity, high stiffness, and no resonance. Keep it structurally separate from moving equipment. Use six M10 (≥8.8 grade) bolts torqued to ≥45 Nm and two Ø8 mm locating pins. FAIRINO recommends mounting directly to solid ground due to the robot’s mass and inertia. If using a mobile platform or external axis, minimize acceleration.
FR20 model collaborative robot installation size
The FR20 uses either the AC Controller 5 kW or DC Controller 5 kW. Use a controller matched to site power: options include AC 100–240 V, 50–60 Hz, 10 A (2 kW) or AC 100–240 V, 50–60 Hz, 16 A (5 kW), with DC-input variants also listed; the robot must be electrically grounded and the control-box ground resistance ≤ 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 |
Use 4 mm² copper or 16 mm² aluminum conductors if no mechanical protection is provided. Install an upstream air switch and consider an EMC filter. Always isolate power and post a safety warning before wiring. For I/O power, the controller's internal 24 V supply (1.5 A max) is default; if higher load is needed, use the external 24 V supply (up to 2 A) via the “Power Communication” terminals per the schematic.
Robot wiring schematic diagram
Before first run, check all physical connections and grounding. Test the teach pendant cable, clean the control-box air filter, check terminal tightness, confirm mains connection, and ensure ground resistance is ≤1 Ω. Validate safety circuits by wiring redundant safety I/O and confirming Emergency and Safety Stop functions per your risk assessment. Power on only after all checks are complete and safety signage is removed.
The FAIRINO FR20 requires 8+ maintenance procedures to retain mechanical fastening integrity, electrical safety, and functional stopping performance over monthly, semi-annual, and annual intervals. These include visual/mechanical checks of the arm, functional tests of safety circuits, and controller housekeeping performed with power isolated.
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 (planned stops)
Power down, then inspect the robot–controller cable, base and tool-flange bolts, joint backs, rear covers, and rubber rings. Clean the arm with water, isopropyl alcohol, 10% ethanol, or 10% naphtha — avoid bleach. Minor grease at joints is normal and doesn't affect lifespan.
Preventive maintenance (monthly / semi-annual)
Test the Emergency Stop to ensure the robot halts and joint power cuts. Verify safety I/O, start/stop, and mode switching on the button box. Inspect the pendant cable. Clean the control-box air filter, check and tighten terminals, confirm main power, and ensure ground resistance is ≤1 Ω. Use a torque wrench to check base and tool-flange fasteners per install specs. Clean the controller interior with an ESD vacuum — do not use compressed air.
Comprehensive maintenance (annually)
Repeat full arm and controller inspections. Re-test Emergency Stop from both the pendant and button box. Recheck base and tool-flange torque, and verify controller power and grounding as before.
Skills and tools
With power off, perform operational cleaning and visual checks using hand tools and approved cleaners. Preventive tasks require a torque wrench, ESD vacuum, controller access for terminal and air filter checks, and ground resistance testing (≤1 Ω). Functional tests include E-stop activation and restart per procedure. Always isolate control-box mains before any work; never use compressed air inside the controller. Downtime results from required isolation, inspection, torque checks, and restart steps.
The FAIRINO FR20 includes a 12-month warranty for material and workmanship defects, excluding misuse or unauthorized changes. FAIRINO offers lifetime maintenance support and 24/7 assistance, with remote triage within 12 hours and on-site repair within 36 hours when needed. Support is available at +86 400-811-0929 or sales@frtech.fr. Customers can access manuals, FAQs, a documentation portal, and tutorials — including the FR controller communication manual and quick-start guides for components like the button box and end-LED.
Full warranty terms: https://fairino.com/SupportCenter
The FAIRINO FR20 is priced at $15,499.00, reflecting its heavy-duty payload, collaborative design, broad accessory support, and OEM scalability. Typical add-on premiums over the base price include: Teach Pendant +3–6%, Safety Box +2–4%, both +5–9%; electric grippers +3–5%; vision kits +15–25%; 6-axis force/torque sensors +4–7%; palletizing hardware +20–35%; explosion-proof cabinet +18–30%. Contact Top 3D Shop for custom quotes. Final pricing depends on application kits, fieldbus boards, end-effectors, mounting, commissioning, training, warranty, parts, logistics, and taxes.
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