® LR Mate 200iC Series & TM R-30iA Mate Controller Basic Description The new LR Mate 200iC Series is FANUC Robotics’ next generation, electric servo-driven mini-robot series offering best-in-class performance in a light, efficient, accurate and nimble (LEAN) package. The new LR Mate 200iC’s tabletop size, slimmer arm profile, lighter weight, highest dexterity, faster sustained speed and superior positioning accuracies make it the perfect solution for countless industrial and commercial applications. LR Mate 200iC, the Solution for: n Machine tending n Material handling n Assembly n Picking and packing n Part washing n Material removal n Dispensing n Available R-30iA Mate rack mount n Higher rigidity and the most advanced n Testing and sampling compact controller fits in standard 19” servo technology enable smooth n Education and entertainment electronics rack and is ideal for climate motion without vibration in high controlled applications such as food, speed operation Features and Benefits n Advanced communication capabilties lab, pharmaceutical, medical and n 5 or 6 degrees of freedom education via standard Ethernet and serial n ±0.02 mm (200iC & 200iC/5H) and TM connections n iPendant , a color, Internet-ready ±0.03 mm (200iC/5L)repeatability teach pendant for even easier n Integrated PMC provides ladder-logic at full payload and full speed within control for peripheral devices programming and custom cell entire robot work envelope user interface design n Lighter and more compact than its n Up to 5 kg payload at wrist predecessor n Extended networked I/O capabilities: n Best-in-class wrist moment and I/O Link, DeviceNet, Profibus n The arm profile cross-section area inertias for real-world EOATs and n Supports a variety of intelligent is 42% smaller than the previous workpieces ® functions including iRVision generation LR Mate 200iB n Pneumatic and electrical (6 RDI) (built-in vision-ready controller) n Same footprint and wrist bolt pattern connections for EOAT conveniently and force sensing as previous generation for easy located on J4 n Available IP67 rating for the entire upgrades n Two, double-acting solenoid valves robot allows it to withstand harsh integrated in forearm simplify EOAT environments Robot Reliability dressout n 7 m or 14 m controller-to-robot n The latest generation of a proven n Highest joint speeds maximize connection cables design throughput n Available Class 100 and Class 10 clean- n Sealed bearings and brushless n Tabletop size, slim wrist, and small room option on 200iC/5C and 200iC/5LC AC motors footprint permit operation in tight n Standard “C” size batteries for n Available 200iC/5F food grade robot for work spaces primary and secondary food handling encoder backup n Robot can flip over backwards for n Grease fittings on all lubrication points a larger work envelope Unique Software Options for quick and easy preventive n Enclosed mechanical design maintenance n Patented real-time singularity eliminates cables and hose avoidance snagging Robot and Controller Otions n Collision protection n Upright, angle, wall or invert n Internet connectivity n 110 VAC single phase input voltage mounting increases installation ® n KAREL programming language n 360-degree J1 axis rotation flexibility n Many more software solutions for n Fail-safe mechanical brakes on ® ® control, communication, and motion Note: LR Mate and iRVision are reg- all joints istered trademark of FANUC LTD. Dimensions LR Mate 200iC, /5H, /5WP, /5C, /5F and /5HS LR Mate 200iC Isometric R246 Top (R248) R181 +170° +180° OPTION 0° 109 –180° OPTION M5 AIR PORTS –170° R704 123 320 75 80 104 (327.5) 75 300 959 Footprint (All models) 330 246 240 95 128 228 251 95 Side 80 Front 170 190 160 513 704 (711) LR Mate 200iC/5L, /5LC 80 ø11 THRU (4) PLC’s 205 Top Wrist (All models) R276 ø5 DOWELL x 7 DP 45° TYP(1) ø31.5 BC R181 6 ø70 +170° ø40 ø20 +180° OPTION 0° 113 –180° OPTION 3 M5 AIR PORTS M5 x 8 DP –170° R892 80 TYP(4) EQ SPC’D ø31.5 BC LR Mate 200iC/5L Isometric 123 75 410 80 104 75 1147 400 330 276 128 170 251 892 742 393 Side Front Note: The dimensions in parenthese are applicable to LR Mate 200iC/5F model only. Dimensions are shown in millimeters. Detailed CAD data are available upon request. R-30iA Mate Controller Dimensions LR Mate 200iC Series Robot Specifications LR Mate 200iC Isometric LR Mate 200iC/5WP LR Mate 200iC/5L LR Mate 200iC/5F Top (2) (2) Items LR Mate 200iC/5C LR Mate 200iC/5H LR Mate 200iC/5LC LR Mate 200iC/5HS Axes 6 5 6 5 Payload - wrist (kg) 5 5 5 5 Reach (mm) 704 704 892 711 (/5F) / 704 (/5HS) Repeatability (mm) ±0.02 ±0.02 ±0.03 ±0.02 Interference Radius (mm) 181 181 181 181 Motion range J1 340 (360 option) 340 (360 option) 340 (360 option) 340 (360 option) (degrees) J2 200 200 230 200 28 J3 388 388 373 388 45 J4 380 240 380 240 J5 240 720 240 720 J6 720 - 720 - 20.5 512 Motion speed J1 350 350 270 350 (degrees/s) J2 350 350 270 350 J3 400 400 270 400 J4 450 450 450 450 J5 450 720 450 1200 J6 720 - 720 - J4 11.9 (1.21) 11.9 (1.21) 11.9 (1.21) 11.9 (1.21) Wrist moments N•m (kgf•m) J5 11.9 (1.21) 6.7 (0.68) 11.9 (1.21) 4.0 (0.41) 150 J6 6.7 (0.68) - 6.7 (0.68) - J4 0.3 0.3 0.3 0.3 Wrist load inertia 2 (kg•m ) J5 0.3 0.1 0.3 0.036 446 12 55 190 75 J6 0.1 - 0.1 - 320 470 Mechanical brakes J1, J2 & J3 J1, J2 & J3 All axes All axes (all axes option) (all axes option) Mechanical weight (kg) 27 26 29 26 Side Front (1) Mounting method Floor, ceiling, angle and wall Installation environment Temperature (°C) 0 to 45 Humidity Normally: 75% or less Short term (within a month): 95% or less No condensation 2 Vibration m/s (G) 0.5 or less High Spee High Speed d IP Rating(s) IP 67 entire robot (option) Note: (1) J1 and J2 axes motion range will be limited for angle and wall mount installations. (2) LR Mate 200iC/5C and /5LC are rated for Class 100 clean-room environment. Clean-room Class 10 is C Cyycclle e ti tim me e available as an option. m ma ax x.. p pa ay yllo oa ad d 5 5 k kg g R-30iA Mate Controller Specifications L LR R M Ma ate te 2 20 00 0iC 300 mm Items > > 8 80 0 c cp pm m ((1 1k kg g) ) External Dimensions - 470(W) x 320(D) x 400(H) for RIA (mm) - Option: 590(W) x 320(D) x 400(H) for CE 25 mm L LR R M Ma ate te 2 20 00 0iC/5H - Option: 370(W) x 455(D) x 200(H) for rack mount compact 25 mm > > 9 90 0 c cp pm m ((1 1k kg g) ) Operating Environment - Ambient temperature: 0 - 45 ° C (R-30iA Mate) 1 10 00 0% % D Du utty y - Ambient temperature: 0 - 30 ° C (R-30iA Mate rack mount) Humidity: 75% RH or less; Short term (within a month): 95% or less Vibration: 0.5G or less Power Supply - 200-230VAC Single Phase; 10%, -15%, 50/60 Hz ± 1Hz - Option: 120VAC Single Phase (requires top or side cabinet) R-30iA Mate (rack mount) Power Consumption - 0.5 KW (average), 1.2 KVA (maximum) CPU - Multi-processor architecture (separate motion and communication) Controller Dimensions with real-time clock/calendar Controlled Axes - 24 (up to 5 motion groups for R-30iA Mate) Serial/ - One 100 Base-TX/10 Base-T Ethernet port with RJ-45 connector host communications - One RS-232-C / RS-485 port Top Side TM Teach Pendant - Color graphic iPendant with available touch screen option (teach pendant is optional for LR Mate 200iC/5H SCARA Eliminator) ® iRVision - Built-in camera interface for 2-D vision applications Optional: multiplexer for multiple 2-D cameras and 3-D vision Built-in I/O - Up to 28 digital inputs / 24 digital outputs 24VDC (external 24VDC power supply is required for digital outputs) Safety Features - Dual Check Safety (DCS) circuit Memory Card - PCMCIA type 2 interface: ATA flash disk (SanDisk compatible) Mass (kg) - 55 (R-30iA Mate RIA) R-30iA Mate Controller Options: I/O sub-systems - Model A I/O (remote mounted modular rack- 5 or 10 slots) - Model B I/O (distributed DIN rail mounted) - FANUC I/O link Remote I/O sub-systems - DeviceNet (slave up to single channel) - Profibus DP slave/master - CC-Link (slave) - Ethernet I/O (EGD and EIP Adapter/Scanner) Integrated PMC - Ladder logic control for peripheral devices - Including ladder monitor with hot edit on iPendant ® iRVision - Remote mounted multiplexer to support up to four 2-D cameras and/or four 3-D laser units Force Sensing - FS-10iA force sensor interface option Rated load capacity: 10 kgf Intelligent Parts Feeder - Flexible turn-key feeder package driven off R-30iA Mate controller - Includes auxiliary axis & iRVision/2D vision package Front Isometric Servo-Driven RTU - Standard 0.5m and 1m linear ball-screw driven RTU with Aux. Axis Package 12 255 65 38 275 375 10 400 50 LR Mate 200iC Series Application Examples LR Mate 200iC – Ideal for variety of material Cleanroom LR Mate 200iC/5C - the right choice for handling and machine tending applications!! semiconductors & pharmaceutical applications! Food Grade LR Mate 200iC/5F - The rugged solution for wipe-down sanitization environment in primary & secondary food handling! LR Mate 200iC picks & sorts multiple style parts through flexible feeder using built-in iRVision and available Aux. Axis option! Intelligent Robot Solutions FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada 3900 W. Hamlin Road (704) 596-5121 (905) 812-2300 Rochester Hills, MI 48309-3253 Chicago, IL Montréal, Canada (847) 898-6000 (450) 492-9001 For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico 1-800-iQ-ROBOT (513) 754-2400 52 (449) 922-8000 Tough and rugged LR Mate 200iC/5WP used for high pressure washing, deburring and Los Angeles, CA Sao Paulo, Brazil cleaning applications! (949) 595-2700 (55) (11) 3619-0599 marketing@fanucrobotics.com Toledo, OH fanucrobotics.com (419) 866-0788 ©2009 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-1/09