R-2000 i ASeries

(1)

R-2000 iA Series

Basic Description

The R-2000iA series is FANUC Robotics’ latest-generation, six- axis, heavy-payload, high- performance family of industrial robots, supported by our extensive service and parts network.

The R-2000iA provides higher value through improved performance, reliability and maintainability. It features the SYSTEM R-J3iB intelligent robot control system.

R-2000iA, the Solution for:

n Automotive spot welding and general assembly

n General industrial applications

n Parts transfer

n Material removal

n Dispensing

n Machine loading Features

Mechanical:

n Large work envelope with ability to reach overhead and behind

n 6 axes of motion

n Slim profile design

n RV reducers for all axes

n Elimination of counterweight increases available workspace

n Process/application cables routed through the arm

n No motors at wrist

Control:

n B-size cabinet

n Quick change amplifier (< 5 min)

n Fast boot-up time

n Easy connections to a variety of I/O, including distributed I/O networks

Software:

n Specific tool packages for various applications

Benefits

n Slim arm and wrist assem- blies minimize interference with system peripherals and allow operation in confined spaces.

n Large allowable wrist moments and inertias meet a variety of heavy handling challenges.

n Many process attach- ment points make integration easier.

n Stationary outer arm simplifies hose and cable dressout, prolonging service life.

n Proven, reliable FANUC servo drives provide highest uptime and productivity.

n Longer maintenance intervals equate to lower operating costs.

n Fewer mechanical components reduce down time, increase mean time between failure and minimize spare part requirements.

n High-performance motion yields fast cycle times and high throughput.

n Wrist flange and base mounting are identical to the S-430i, allowing for seamless backward compatibility.

n R-2000iA/165F can reach all areas of S-430iW/165 work envelope, making replacement easy.

Options

n Three faceplate types

n Electrically insulated faceplate

n Internal I/O cables

n Harsh environment protection

n Adjustable hard stops for J1-J2-J3

(2)

REAR SIDE INTERFERENCE AREA

J5-AXIS ROTATION CENTER

215 1635

225

814

312 1075

670

710 0° 253

R3001 R583

+180°

–180°

R-2000iA/125L

Front Back

Top

Side

J5-AXIS ROTATION CENTER 225

1075 710

215 (235, 210F) 1280

670 +180°

–180°

R583 (R622, 210F)

0°

R2650

814

253

312

434 348

R-2000iA/165F, 210F

Front Back

Top

Side

+180°

–180°

R583

1110

225

814

REAR SIDE 312 INTERFERENCE AREA

300 0°

R2483

260

1075

670 J5-AXIS ROTATION CENTER

710

R-2000iA/200F

Front Back

Top

Side

M10X20.0 DP.

TYP.(6) EQUALLY SPACED ON 125.0 DIA. B.C.

10.000 DIA. DWL. X 20.0 DP.

TYP. (2) EQUALLY SPACED ON 125.0 DIA. B.C.

145

115 9

240 R167.7

A B

A. 80 B. 160

+0.015 –0.000

10.000 DIA. DWL. X 20.0 DP.

+0.015 –0.000 M10x20.0 DO.

TYP.(10) AS SHOWN ON 125.0 DIA. B.C.

170

130

R189.3

A. 80 B. 160

260 9

A B

M10x16.0 DP.

138 9 115

215

R161 B A

A. 80 B. 160

10.000 DIA. DWL. X 12.0 DP.

TYP. (2) EQUALLY SPACED ON 125.0 DIA. B.C.

+0.015 –0.000

ISO Flange Wrist 165F, 165R, 125L

ISO Flange Wrist 165CF

A. 80 B. 160

10.0

235

A B

R197.3

M10x16.0 DP.

TYP.(10) AS SHN.

ON 125.0 DIA. B.C.

10.000 DIA. DWL. x 12.0 DP.

+0.015 –0.000 154.5

129.5

ISO Flange Wrist 210F

ISO Flange Wrist 200F, 200R

(3)

24.0 DIA. THRU &

38.0 DIA. C'BORE 5.0 DP.

TYP.(8) MOUNTING HOLES 540

270

460 230

460

230

270

423

540 610

348

Footprint (165F/200F/125L/165R /200R/165CF/210F)

Front

Note: Dimensions shown in millimeters.

720 1075 225

1280

215 1885

+180° –180°

R721

0°

R3095

R-2000iA/165R

Front Back

Top

Side

720 1075 225

1110

260 1885

+180° –180°

R721

0°

R2928

R-2000iA/200R

Front Back

Top

Side

600 250

463

240 620

210

550 +180°

R355

0° R1429

–180°

R-2000iA/165CF

Front Back

Top

Side

Isometric 165F R-2000iA/130U

J2=0°J2=0°100kg100kg

348 434

260 R 2650 R 5

83

670670

± 180°

1100

MOTION RANGE 647

1075

Top

Side

(4)

Axes 6 6 6 6 6 6 6

Payload - Wrist (kg) 165 200 125 165 200 165 210

- J3 Arm (kg) 25 25 20 25 0 25 25

- J2 Base (kg) 550 550 550 550 550 550 550

Reach (mm) 2650 2483 3001 3095 2928 1429 2650

Repeatability (mm) ± 0.2 ± 0.2 ± 0.2 ± 0.3 ± 0.3 ± 0.15 ± 0.3

Motion range J1 360 360 360 360 360 360 360

(°) J2 135 135 135 185 185 165 135

J3 362 367 352 365 365 250 362

J4 720 720 720 720 720 720 720

J5 250 250 250 250 250 250 250

J6 720 720 720 720 720 720 720

J1 105 90 105 105 90 110 95

Motion speed J2 105 85 105 90 85 90 90

(°/s)

J3 105 90 105 105 90 100 95

J4 130 110 170 130 110 130 120

J5 130 110 170 130 110 130 120

J6 210 155 260 210 155 210 190

Wrist moment J4 921.2 1274 588 921.2 1274 911.4 1332.8

(Nm) J5 921.2 1274 588 921.2 1274 911.4 1332.8

J6 460.6 686 343 460.6 686 450.8 706

J4 78.4 117.6 58.8 78.4 117.6 88.2 141.1/215.6*

Wrist inertia⁽¹⁾ J5 78.4 117.6 58.8 78.4 117.6 88.2 141.1/215.6*

(kgm²)

J6 40.18 58.8 22.5 40.18 58.8 44.1 78.4/196*

Mechanical brakes All axes All axes All axes All axes All axes All axes All axes

Mechanical weight (kg) 1210 1240 1230 1540 1570 1050 1270

Mounting method Floor Floor Floor Shelf Shelf Floor Floor

Installation environment

Ambient temperature (°C) 0 to 45

Humidity Normally: 75% or less

Short term (within a month): 95% or less No condensation (No dew or frost allowed)

Vibration (m/s2) 4.9 or less (0.5G or less)

IP Rating Wrist & J3 arm IP67, rest IP54 (IP55 optional)

Comment Floor Heavy duty Long arm Shelf Heavy duty Compact Floor

mount floor mount floor mount mount shelf mount floor mount mount

R-2000iA Series Specifications

Items /165F /200F /125L /165R /200R /165CF /210F /130U

Notes:

(1) Allowable load inertia at wrist can be switched by software parameters.

(*) High inertia mode.

Note: Dimensions are shown in millimeters.

FANUC Robotics (UK) Ltd.

Seven Stars Industrial Estate Quinn Close, Whitley Coventry CV3 4LB

Tel +44 24 76 63 96 69 Fax +44 24 76 30 43 33

www.fanucrobotics.co.uk

FANUC Robotics United Kingdom +44-2476-63-96-69

FANUC Robotics Spain +34-93-664-1335

FANUC Robotics Italy +39-02-9345-601

FANUC Robotics Benelux +32-3-844-71-30

FANUC Robotics France +33-1-69-89-7000

6 130

25 550 2650

± 0.3 360 135 367.5

720 250 720 90 85 90 110 110 155 686 686 343 40.9 40.9 10.2 Alle axes

1210 Upside-down