™ M-20iA Series Basic Description The evolutionary design of the M-20iA solves two of the oldest problems for industrial robots. The first issue is the time it takes to engineer the robot dressout and the second is the down-time caused when the dressout is disrupted by contact with plant equipment. The innovative M-20iA solves these issues with a hollow upper arm and wrist. This unique design permits the utilities to be neatly contained within the arm, eliminating dress out issues like snagging, tearing and rubbing. A shelf with ample space on the back of the upper arm completes the package by allowing peripheral equipment to be easily mounted. The hollow arm and wrist together with the shelf greatly simplifies the integration engineers job. To complement the built-in vision, the M-20iA has an integrated vision cable from the J1 base to n Compact size, slim wrist, and M-20iA Series, the J3 interface panel. This makes small footprint permit operation Solution for: the addition of vision to the robot in tight work spaces application much easier. n Robot can be floor, angle, wall or n Assembly ceiling mounted n Dispensing This design is also a great benefit n High joint speeds maximize n Material handling for offline simulations because the throughput n Machine load/unload dress out and control boxes can n Absolute encoder positioning n Material removal all be designed to fit with in the eliminates homing at power-up n Waterjet cutting confined space of the robot arm n Intelligent color graphic teach n Laser cutting and eliminates the guess work of pendant is network ready n Machine tending dress out interference. n Built-in Solution Arm, 50 mm n Picking and packing hollow wrist and upper arm n Testing and sampling This exceptional design comes with out sacrificing any of the robot’s Reliability Features and Benefits performance specifications. In fact this robot is an industry leader in n RV reducer and gear drivetrains n 6 degrees of freedom payload, reach and axes speed. provide rigidity and performance n ±0.10 mm repeatability Add this to the industry leader in a compact package n 20 kg payload at wrist in reliability and this robot is the n Sealed bearings and brushless, n Large wrist moments and perfect solution for your robotic maintenance-free AC motors inertias for real-world EOATs application. provide protection and improve and workpieces reliability n Supplementary payload mount on J3 casting n Pneumatic and electrical (8 DI/8 DO) connections for EOAT on J3 n 2D vision cables from J1 to J3 as a standard option ® Note: iRvision is a registered trademark of FANUC LTD. Options R2009.0 M-20iA/10L Top +185° 0° -185° n M-20iA/10L variant available for R1811.0 applications that require greater M-20iA R317.0 reach n Up to 40 axes (robot + auxiliary) on same controller n Extended communications 1040 capabilities: FTP, DeviceNet, 150 835 Profibus, Genius, FANUC Model A 103 I/O rack, CC-Link, etc. 250 J5 AXIS ROTATION CENTER n 14 m or 21 m controller-to-robot 790 cables 276.7 n Many unique robot and application-driven software options available 525.0 ® n iRVision (Integrated Robot 15.0 Vision) system delivers high 170 173 Back performance 2-D and 3-D machine Front vision capabilities with FANUC reliability Side MOTION RANGE OF J5 AXIS ROTATION CENTER (M-20iA) MOTION RANGE OF J5 AXIS ROTATION CENTER (M-20iA/10L) Isometric J4 Note: Dimensions are shown in millimeters. (400°) Detailed CAD data are available upon request. Wrist M-20iA J3 +0.012 (458°) -0.000 22.5° Ø4.000 H7 DWL. x 6.0 DP. J5 R120.0 ON 56.0 DIA. B.C. J6 (280°) M-20iA Specifications (540°) 75.0 J2 62.5 Items M-20iA M-20iA/10L (260°) Axes 6 6 100.0 62.5 75.0 (1) Payload (kg) 20 10 M4x6.0 DP. Payload (kg) on J3 casting 12 12 13.5 TYP.(15) AS SHOWN 119.0 56.5 Ø50.0 HOLLOW ON 56.0 DIA. B.C. Reach (mm) 1811 2009 +0.000 -0.080 Ø62.000 h7 (2) Repeatability (mm) ±0.08 ±0.10 J1 Interference radius (mm) 321 321 (370°) J1 340/370 340/370 Motion range (degrees) J2 260 260 (3) (3) J3 458 460 Wrist M-20iA/10L J4 400 400 J5 360 360 J6 900 900 Footprint Motion speed J1 195 195 +0.012 22.5° -0.000 Ø4.000 H7 DWL. x 6.0 DP. (degrees/s) J2 175 175 R110.0 ON 56.0 DIA. B.C. J3 180 180 300 150 J4 360 400 50.0 45.5 100.0 J5 360 400 150 50.0 45.5 343 300 J6 550 600 8.5 Wrist J4 44 (4.48) 15.7 (1.60) M4x6.0 DP. Ø50.0 HOLLOW 108.0 45.5 TYP.(8) AS SHOWN +0.000 -0.080 moments ON 56.0 DIA. B.C. J5 44 (4.48) 9.8 (1.00) 343 Ø62.000 h7 4X Ø18.0 THRU N-m (kgf-m) Ø26.0 FACING DEPTH 5.0 J6 22 (2.24) 5.9 (0.60) (FOR ROBOT MOUNTING BOLT) J4 1.04 0.63 Wrist load inertia J5 1.04 0.22 2 (kg-m ) J6 0.28 0.06 Intelligent Robot Solutions Mechanical brakes All axes Mechanical weight (kg) 250 250 (4) FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada Floor, Ceiling, Angle, and Wall Mounting method 3900 W. Hamlin Road (704) 596-5121 (905) 812-2300 Installation environment Rochester Hills, MI 48309-3253 0 to 45 Temperature (°C) Chicago, IL Montréal, Canada Normally: 75% or less Humidity Short term (within a month): (847) 898-6000 (450) 492-9001 95% or less. No condensation 2 Vibration (m/s ) 4.9 or less (0.5 G or less) For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico IP54 Std.(IP55optional) (5) IP rating(s) 1-800-iQ-ROBOT (513) 754-2400 52 (449) 922-8000 Wrist and Joint 3 arm IP67 Notes: Los Angeles, CA Sao Paulo, Brazil (1) Payload on J3 casting is in addition to wrist payload capacity (949) 595-2700 (55) (11) 3619-0599 (2) Repeatability per JIS8432 (3) Combined J2 & J3 (4) J1 and J2 motion range de-rated when M-20iA & M-20iA/10L are angle marketing@fanucrobotics.com Toledo, OH or wall mounted fanucrobotics.com (419) 866-0788 (5) Organic solvents, acids, alkalis and chlorine/gasoline coolants or any chemicals which may harm NBR (nitrile rubber) must not be used ©2009 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-3/09