IR-R4 Six-axis robotic arm (manipulator)
Six-axis Robot · Load 4kg · High-speed light load
IR-R4 Specifications
Light-load, high-speed six-axis for handling, assembly, and inspection of 3C electronic small parts
Model introduction
IR-R4 Six-Axis Robot · Load 4kg · High-speed light load. Light-load, high-speed six-axis for handling, assembly, and inspection of 3C electronic small parts
IR-R4 / R4H Series Six-Axis Robots · Series technical features
4kg light load · Ultra-high-speed precision operations
Lightweight six-axis robots are specially designed for high-speed handling and assembly of small 3C parts.
Light-load, high-acceleration design with excellent beat performance, suitable for high-frequency pick-and-place applications.
The body is lightweight and compact, can be hung or installed on a desktop, saving space.
The R4H high-precision model meets more demanding precision assembly requirements.
Typical application scenarios
Common application processes for this model (click to view process details):
IR-R4 / R4H Series Six-Axis Robots · Other models in the same series
Compare load and reach to choose the model that best suits your process.
IR-R4 model positioning and working condition adaptation
IR-R4 It belongs to the Inovance IR-R4 / R4H series six-axis robot models, with a rated load of 4kg, a motion radius of 600mm, and repeatability of ±0.02mm. Inovance Technology's technical foundation is a leading domestic product: full-stack self-developed servo-control-robot, strong EtherCAT synchronization, outstanding cost-effectiveness, and local service responsiveness; The control platform is the Inovance RC series controller (supporting AM/AC platform), with a program ecosystem of graphical programming + script extensions and an EtherCAT bus.
From the perspective of working condition adaptation, typical applications for small load (4kg) positioning are:High-speed sorting, precision assembly, dispensing coating, and inspection/pick-and-place processingCommon application processes for this model include precision assembly, handling, and inspection. The short arm (600mm) model has a compact structure, suitable for dense workstations and close-range pick-and-place operations, with a small working unit footprint. ± 0.02mm repeatability is the standard level for six-axis industrial robots, covering the vast majority of welding operations, handling, palletizing, and loading and unloading operations. Although the load is light, it is recommended to keep the total weight of the end and workpiece within 70% of the rated value, leaving ample acceleration margin at high speeds.
| Parameters | Engineering interpretation and usage recommendations |
|---|---|
| Rated load 4kg | It is recommended to reserve a load margin of 20%–30%; Verification is made by combining end self-weight + workpiece + imbalanced load inertia, especially sensitive to high-speed conditions |
| Movement radius: 600mm | Determine the radius of the workcell layout: bins, tooling, and fences are bounded by maximum arm span + safety distance; Verify the accessibility of each pick-and-place point during cross-station service |
| Repeatability: ±0.02mm | Repeatability ≠ absolute accuracy: Precision assembly requires external measurement closed-loop or visual guidance; Long-term accuracy trends rely on annual retest management |
| Number of axes: 6 | Six-axis all-posture capability, the preferred choice for complex trajectory and inclined surface operations |
| Protection rating: IP40 | Suitable for standard workshop environments; Dusty and moisture-prone workstations require additional protective kits or positive pressure protection |
| Controller: Inovance RC Series Controller (Equipped with AM/AC Platform) | Decide on the process ecosystem, spare parts channels, and second-hand residual value; Currently, spare parts channels are smooth, and repair and upgrade paths are mature |
Control systems and common failure modes
The IR-R4 comes with the Inovance RC series controller (supporting AM/AC platform) controller, with a programming language and development environment of graphical programming + script extensions, and an EtherCAT bus. Maintenance of this generation of control platforms focuses on three basic components: power, storage, and cooling—most "sudden downtime" can be detected in advance when preventive maintenance is in place.
| Failure mode | Typical performance | Disposal recommendations |
|---|---|---|
| Servo driver alarm | Servo driver alarm (overcurrent/overload/encoder abnormality) | Included as a mandatory inspection item for annual maintenance, with spare parts stocked in advance |
| Bus communication was interrupted | Bus communication interruptions (high incidence of network cable shielding and grounding improperly) | Initial interpretation of alarm codes by reference with manuals, remote diagnosis allows for early positioning |
| Parameter files are missing | Parameter files missing (if backup policy is missing) | Daily inspection coverage, with abnormal trends (abnormal noises/temperature rise/errors) recorded |
| Teach pendant touch and display faults | Teach pendant touch and display faults | Quarterly dust removal maintenance and cabinet temperature monitoring |
| Maintenance projects | Cycle recommendations | Key points |
|---|---|---|
| Replace the battery as prompted by the alarm | According to the manufacturer's manual cycle | Battery replacement prompts as prompted, with dual backup of programs and parameters |
| Annual inspection of EtherCAT cables and connectors (shield grounding) | Year | Annual inspection of EtherCAT cables and connectors (shield grounding) |
| Reducer lubrication should be carried out according to the manual cycle | According to the manufacturer's manual cycle | Reducer lubrication should be carried out according to the manual cycle |
| Cable and drag chain inspection | every six months | Insulation, shielding, and bending radius inspection of power and encoder lines, as well as wear of cables inside the drag chain, are the main causes of intermittent faults |
| Zero point and accuracy retest | Every year | Repeatability measured by dial gauges or laser trackers, drift trend digitization—accuracy degradation can be seen six months in advance |
| Control cabinet dust removal and fans | Every quarter | Filter cleaning, fan speed and noise checks, cabinet temperature recording; Dust environments shorten the cycle |
Henghuan's service capabilities for IR-R4
This site is a third-party robotics technology service provider. The eight major business supports related to IR-R4 are as follows (sorted by service frequency of each model):
- Maintenance and repair: For IR-R4 on-site diagnostics, board-level repairs, and annual maintenance contracts—battery replacement according to alarm prompts, we follow SOPs and respond to Sichuan-Chongqing on the same day.
- Used & in-stock robot sales: New machines have obvious price advantages, and second-hand models depreciate quickly—at the same budget, we often recommend "buying new, not old"; In-stock IR-R4 or equivalent models come with a full-function test report and a 12-month warranty.
- Sales of new industrial robots: When adding new production lines or replacing entire batches, we conduct cross-brand selection comparisons based on process requirements (including models of the same level as Inovance Technology), and provide configuration and pricing plans.
- Applied technology services: IR-R4 process programming, trajectory optimization, tap time potential, and reconfiguration formula management, with targeted commissioning according to precision assembly, handling, and inspection conditions.
- Research and development of automation equipment: Custom fixture ends, peripheral tooling, and safety fences for IR-R4, with interfaces designed according to Inovance Technology flange and IO standards.
- Robot rental: For short-term capacity or process validation periods, IR-R4 equivalent in-stock models can be rented, including transportation, installation, and commissioning; rental terms are flexible and can be repurchased.
Common issues with this device
Is it easy to find IR-R4 spare parts?
Inovance Technology: The spare parts channel for this generation is smooth, with regular parts such as drivers, power modules, batteries, and teach pendant components available in stock or short-cycle channels; It is recommended to replace consumables according to the alarm prompt and configure the battery according to the annual maintenance contract.
With a nominal load of 4kg, how much can it actually handle?
The rated load is the static load limit of the flange surface. In actual selection, three factors must be considered: the self-weight of the end fixture (vacuum suction cup groups or grippers often account for 2–5kg), the inertia generated by the workpiece offload (checked according to the inertia ratio when the center of gravity deviates from the flange center), and the dynamic load during high-speed movement. The conventional engineering practice is to keep the "end + workpiece" within 70%–80% of the rated value to ensure cycle time and service life.
If the equipment's accuracy deteriorates after several years of use, how can it be restored?
According to the inspection order: first check whether the zero point is drifting (common after collision or battery depletion), then perform zero calibration; Check the reducer's return error (actual measurement of forward and reverse positioning deviation; if exceeded, disassemble or replace); Then check the installation base fastening and foundation settlement; Finally, trajectory compensation parameter restructuring. Most accuracy issues can be mostly restored after calibration and maintenance, so there is no need to rush into major repairs—we first release the inspection data before deciding on the plan.
Is a used IR-R4 worth buying?
New machines have a clear price advantage, and used robots depreciate quickly—at the same budget, we often recommend "buying new, not old." Three essential items for second-hand procurement: comprehensive inspection reports (axial accuracy, driver status, insulation and battery), maintenance history and operating hours, controller generation, and software license integrity. Every used machine we sell comes with inspection records and a 12-month warranty, and we can also accept third-party inspections designated by customers.
Need technical support or procurement for this model?
Whether it's model selection comparison, installation and commissioning, or maintenance of in-use equipment, you can contact Henghuan. Tell us about your processes, loads, and equipment status, and we will provide third-party technical support and solution recommendations.
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