® ARC Mate 100iC & 100iC/6L Basic Description The ARC Mate 100iC series is a six-axis, modular construction, electric servo-driven family of robots designed for precise, high-speed welding and cutting. Based on its simple and reliable construction, the ARC Mate 100iC and ARC Mate 100iC/6L provide accurate and consistent path performance. The robot controller and easy-to-use ® ArcTool software provide reliable performance with high productivity. The ARC Mate 100iC robot series has a process specific design that protects the weld torch cable from the wire feeder to the torch goose neck, reducing cable wear and minimizing wire feeder issues. This simplified routing prevents cable n Multiple mounting positions n J3 flip-over capability provides large interference with parts and tooling include upright, inverted, wall or working envelope that is ideal for and allows offline programs to angle mount with no changes to inverted applications. be generated and tested without n Designed with integral utilities the mechanical unit. compensating for the torch cable. including gas/air lines and a Lincoln Electric wire feed motor cable Options Benefits routed inside the robot arm. This TM offers improved reliability, reduced n ServoTorch provides precise n Process specific arm protects and wire feed control for aluminum setup time and eliminates external minimizes wear of the torch cable. cabling requirements. and soft wire application. n Features highest motion speeds in n Integrated weld power cable n Wire feed motor (up to 12 kg) class for maximum performance mounted behind the J4 hollow n EMI shielding kits for TIG (GTAW), and productivity. plasma (PAW) and plasma opening, shortens welding torch n Best in class reach versus stroke length which improves wire feed cutting (PAC) allow operation ratio. in harsh EMI (electro-magnetic reliability and arc start capability. n Compact design simplifies interference) environments. n “Plug and play” simplicity with installation and transportation n Multiple process I/O welding Lincoln Electric’s Power Wave™ or of system. boards integrate multi-channel STT™ (Surface Tension Transfer) n The ARC Mate 100iC series offers welding equipment such as 4 power sources. an extremely large work envelope channel TIG and 3 channel MIG. n Arc welding teach pendant with useful for large parts or complex n Various robot connection cable application-specific hard keys offers tooling. lengths for flexible cabinet intuitive control over the process. n Extremely fast wrist axes reduces n Compatible with all major brands of placement and optional track aircut times, thus improving rated cables. welding equipment. throughput. n Interfaces with most types of servo- n J1 axis stroke modification kit. n Auxiliary axis packages driven or indexing positioners. Features n ARC Mate 100iC has 1,420 mm for integration into welding positioners. reach and 1,066 mm stroke. n Slim wrist size enables the robot n ARC Mate 100iC/6L has 1,632 mm n iRVision™ (Integrated Robot to enter into smaller openings in Vision) system delivers high- reach and 1,154 mm stroke. the work space. n 10 kg payload on faceplate for performance 2-D and 3-D machine vision capabilities with ARC Mate 100iC. n 6 kg payload on faceplate for FANUC reliability. Note: ARC Mate is a registered ARC Mate 100iC/6L. trademark of FANUC LTD. ARC Mate 100iC Dimensions Top Isometric J4 (380°) R262.0 R1632.0 100iC/6L +180° 0° -180° J3 (445°) R1420.0 100iC J5 J6 (380°) (720°) J2 (250°) 860.0 150.0 640.0 100.0 90.5 200.0 J5 AXIS ROTATION CENTER J1 (360°) 600.0 198.2 450.0 Footprint 15.0 J1 AXIS 283 140.0 143.0 Back ROTATION 240 CENTER Front 120 MOTION RANGE Side OF J5 AXIS ±0.1 ROTATION CENTER (100iC) 143 120 283 240 MOTION RANGE OF J5 AXIS ±0.1 ROTATION CENTER (100iC/6L) 100 143 8.5 50.0 HOLLOW ARC Mate 100iC Specifications Wrist +0.000 –0.080 62.000 h7 Items AM100iC AM100iC/6L Axes 6 6 +0.012 Payload (kg) 10 6 –0.000 22.5° 4.000 H7 DWL. x 6.0 DP. Reach (mm) 1420 1632 R110 ON 56.0 DIA. B.C. Repeatability (mm) ±0.08 ±0.1 Interference radius (mm) 262 262 50 45.5 J1 360 360 Motion range 100 (degrees) J2 250 250 50 45.5 J3 445 447 8.5 J4 380 380 50.0 HOLLOW (1) (1) M4x6.0 DP. 108 45.5 J5 380 / 280 380 / 280 +0.000 TYP.(8) AS SHOWN –0.080 (1) (1) J6 720 / 540 720 / 540 62.000 h7 ON 56.0 DIA. B.C. J1 210 210 Motion speed (degrees/s) J2 190 190 +0.012 –0.000 22.5° J3 210 210 Note: Dimensions are shown in millimeters. 4.000 H7 DWL. x 6.0 DP. R110 ON 56.0 DIA. B.C. J4 400 400 Detailed CAD data are available upon request. J5 400 400 J6 600 600 50 45.5 J4 22 (2.2) 15.7 (1.6) Wrist moments J5 22 (2.2) 10.1 (1.0) 50 45.5 N-m (kgf-m) J6 9.8 (1.0) 5.9 (0.6) Intelligent Robot Solutions J4 .63 .63 Wrist load M4x6.0 DP. 108 45.5 inertia TYP.(8) AS SHOWN J5 .63 .38 FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada 2 ON 56.0 DIA. B.C. (kg-m ) J6 .15 .061 3900 W. Hamlin Road (704) 596-5121 (905) 812-2300 Mechanical brakes All axes All axes Rochester Hills, MI 48309-3253 Mechanical weight (kg) 130 135 (248) 377-7000 Chicago, IL Montréal, Canada (2) Floor, ceiling, Floor, ceiling, Mounting method Fax (248) 377-7362 (847) 898-6000 (450) 492-9001 angle, and wall angle, and wall Installation environment For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico 0 to 45 0 to 45 Temperature (°C) 1-800-iQ-ROBOT • 1-800-47-ROBOT (513) 754-2400 52 (449) 922-8000 Normally: 75% or less Humidity Short term (within a month): 95% or less Los Angeles, CA Sao Paulo, Brazil No condensation (949) 595-2700 (55) (11) 3619-0599 2 Vibration (m/s ) 4.9 or less Payload at axis 3 (kg) 12 12 marketing@fanucrobotics.com Toledo, OH Notes: fanucrobotics.com (419) 866-0788 (1) J5 and J6 motion range when internal torch cable is installed. ©2007 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-05/09 (2) Motion range is de-rated for wall and angle mount.