™ F-200iB Basic Description The F-200iB is a six degrees of freedom servo-driven parallel link robot designed for use in a variety of manufacturing and automotive assembly processes. The F-200iB is engineered for applications requiring extreme rigidity and exceptional repeatability in a compact, powerful package. F-200iB, the Solution for: ■ Sub-compact robot welding ■ Pedestal welding ■ Part loading/positioning ■ Nut running ■ Vehicle lift and locate ■ Flexible/convertible fixturing ■ Material Removal ■ Dispense ■ Spare part requirements ■ Provides additional options Benefits minimized by commonality of for line balancing. design; six identical actuators ■ Easy and quick to set up, ■ Provides flexibility and tune-in and debug – F-200iB ■ ISO faceplate convertability – the ability to uses the same software as reprogram the F-200iB ■ 31,000 hour life at 100% other FANUC robots. facilitates rapid and cost- duty cycle effective model changeovers. ■ No special electrical or mechanical training needed – Control: ■ Reduces capital expense – basics are the same as any F-200iB process solutions ■ R-J3iB Controller other robot. take less time and money to ■ Common controller process and design. They also ■ Standardized system requires components with other reduce tooling and build costs. less retraining at changeover. FANUC robot controllers ■ Lowers operating expense – ■ Compact size adds ■ Easy connection to built-in using the F-200iB reduces application versatility. digital I/O tooling complexity, resulting in less maintenance and Software: Features down time. ■ F-200iB is supported on the ■ Optimizes use of floorspace – Mechanical: following “Tool” packages the sub-compact F-200iB can ■ Six degrees of freedom fit in spaces too cramped for – SpotTool Plus serial link robots. ■ Simple, robust, low- – DispenseTool maintenance design ■ Makes it feasible to perform – HandlingTool more welds per station, thus ■ Electric AC servo motors – PaintTool reducing the number of ■ Precision gear drives stations per system. Options ■ Fail-safe brake on each leg ■ New process possibilities – ■ Components protected from the F-200iB opens the door to ■ Harsh environment skirting weld flash, grease, chemicals new process solutions not and water ■ Insulated Faceplate available with current tools. F-200iB Dimensions Front Top Side (+Y) KINEMATICS WORK 1040 1021.86 ENVELOPE 510.93 520 KINEMATICS 332.72 WORK 409 443 ENVELOPE (+Z) (+Z) (-X) (+X) 1237.27 1237.27 1023.78 1039.92 1024.57 868.67 829.19 743.52 790.61 754.64 800 TO BATTERY UNIT (-Y) (+X) (+Y) 15 Faceplate (ISO Flange) 100 DIA. 90 DIA. F-200iB Specifications Items 10 +0.000 Degrees of freedom Six 1 X 45° 160 DIA. –0.063 +0.030 Payload (kg) 100 (Higher payloads permissible with FANUC approval) 80 DIA. –0.000 5 Allowable load moment (+X) at faceplate (kgf•m) 60 Allowable load inertia 2 30° at faceplate (kgf•cm•s ) 367 30° Motion range As noted (pitch, yaw and roll vary depending upon (degrees) the position of the faceplate within the envelope) 411.6 (+Y) M10 X 20.0 DP. TYP. (6) Motion speed (mm/s) 219 EQUALLY SPACED ON TYP. Vertical (Z) 300 125.0 DIA. B.C. Horizontal (X & Y) 1500 +0.015 10.000 DIA. DWL X –0.000 204 Repeatability (mm) ± 0.1 20 DP. TYP. (2) EQUALLY CENT. SPACED ON 125 DIA. B.C. TYP. Mounting method Floor and inverted. Wall mount permissible with FANUC approval. 475.3 Installation environment Ambient temperature °C 0 to 45 Humidity Normally: 75% or less Short term (within a month): 95% or less. No condensation 2 Vibration (m/s ) 0.5G or less Mechanical brakes All actuator legs Mechanical weight (kg) 190 Baseplate Controller R-J3iB Level of protection: 700 609 Mechanical IP54 103.5 162 313.5 Electrical IP54 Controller IP54 325 231.5 220 144 126.5 650 126.5 Note: Dimensions are shown in millimeters. 144 231.5 220 Detailed CAD data are available upon request. FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada 3900 W. Hamlin Road (704) 596-5121 (905) 812-2300 Rochester Hills, MI 48309-3253 18 DIA. THRU & 28 DIA. C’BORE 7 DP. (248) 377-7000 Chicago, IL Montréal, Canada ±0.1 (9) MOUNTING HOLES 314.927 284.073 FOR M16 X 35 MIN LG Fax (248) 276-4133 (847) 898-6000 (450) 492-9001 SOC HD CAP SCR For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico 260 1-800-47-ROBOT (513) 754-2400 52 (449) 922-8000 248 ±0.1 177.5 185.000 82 82 Los Angeles, CA Sao Paulo, Brazil 177.5 ±0.1 (949) 595-2700 (55) (11) 3619-0599 248 185.000 260 marketing@fanucrobotics.com Toledo, OH +0.022 8 DIA. –0.000 44 www.fanucrobotics.com (419) 866-0788 THRU TYP. (2) 80 ©2005 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-6/05 77.5 189 142