™ M-420iA/M-421iA Basic Description The M-420iA series is FANUC Robotics’ latest-generation, high- performance, high-speed family of industrial robots. Based on a simple and reliable design, the M-420iA and M-421iA provide sophisticated motion control and consistent performance with high productivity. The series is supported by the intelligent robot control system. The M-420iA is a four-axis, modular construction, electric servo-driven robot designed for high-speed case packing and material handling applications. The M-421iA is a two- axis variant designed for the high- speed top-loading packing market. M-420iA/M-421iA, the Features Options Solution for: � � M-420iA - 4 axes of motion, M-420iA high-speed wrist option, � High-speed packaging 40 kg capacity. J4 wrist speed increases from � High-speed palletizing � M-421iA - 2 axes of motion, 50 kg 350 to 720 degrees/sec. for � Machine loading capacity. Waist and wrist rotation applications that require high- � Mechanical assembly removed from four-axis unit. speed wrist motions. Maximum � iPendant™, a color, Internet- payload decreases from 40 kg to Benefits ready teach pendant for even 30 kg. � easier programming and custom iPendant is also available � Features highest motion speeds cell user interface design. with touch screen support. in its class for maximum � � Large work envelope with 1855 Various robot connection performance and productivity. mm horizontal reach developed cable lengths for flexible cabinet � Highest payload in its class helps around packaging applications. placement and optional track achieve maximum throughput by � Repeatability of +/- 0.5 mm rated cables. handling multiple parts. � at full speed and full payload A cleanable unit coated with � Four-axis dexterity enables within entire work envelope. white polyurethane to meet access to multiple packaging � Linear motion speeds up to requirements in typical lines with one unit. 4200 mm/sec. secondary food packaging � Additional auxiliary amplifiers � Dedicated pneumatic and applications. available in the robot controller � electrical (8 digital inputs/8 digital Monochrome pendant available. offer ability to control complete � outputs) connections at wrist to FANUC’s iRVision system high-speed packaging line simplify user’s end-of-arm tooling delivers high performance with robot controller. design and integration. 2-D and 3-D machine vision � FANUC’s iRVision™ (Integrated � Material handling style teach capabilities with FANUC Robot Vision) Option for Visual pendant with large LCD screen reliability. Additional option Line Tracking provides an and ergonomic design offers for Error Proofing can provide integrated vision based solution intuitive control over automated integrated vision based for locating randomly-oriented process. capabilities to check for product product on a moving line for � Sealed bearings and brushless completeness before product is robotic picking and packing AC motor drives provide packaged or further operations operations. protection and improve reliability. are performed. M-420iA Dimensions Wrist Footprint Isometric +0.015 585 2-dia. 8 0 depth 15 190 190 eq. sp. 220 on dia. 100 bolt circle 272 240 6-M8 depth 16 J3 600 544 eq. sp. on dia. J2 100 bolt circle FRONT 240 40° (0,0) 24.0 DIA. THRU & J4 38.0 DIA. C'BORE 4.0 DP. (4) MOUNTING HOLES J1 Top 160° R533.9 0° 1148.2 1633.2 R1855.5 -160° 368.6 800 176 130 223 HEXAHEDRAL OPERATION 180 AREA 800 699.5 REAR 1812.3 TOP SIDE SIDE INTERFERENCE INTERFERENCE AREA AREA 700 1000 1461 650 (0,0) 180 Front Side 780 1000 1850 Note: Dimensions are shown in millimeters. Detailed CAD data are available upon request. M-421iA Dimensions Isometric Wrist Footprint 525 +0.015 2-dia. 8 0 295 depth 15 eq. sp. 190 190 on dia. 100 bolt circle M24 DIA. THRU & 38.0 DIA C'BORE 4.0 DP. 240 (4) MOUNTING HOLES 6-M8 depth 16 eq. sp. on dia. 575 100 bolt circle FRONT 40° 240 (0,0) Top 533 533 1855.5 368.6 800 223 176.2 1552.3 TOP SIDE INTERFERENCE AREA 125 HEXADEDRAL OPERATION AREA 1190 700 1000 1461 390 (0,0) 699.5 REAR SIDE 180 INTERFERENCE AREA Front Side 780 1000 1850 Note: Dimensions are shown in millimeters. Detailed CAD data are available upon request. High-Speed Material Handling High-Speed Packaging High-Speed Mini-Palletizing M-420iA/M-421iA Specifications Fastest cycle times in its class: 500 Items M-420iA M-421iA 400 Axes 42 Payload - Wrist (kg) 40 50 90 - High-Speed Wrist (kg) 30 - 125 - J3 Arm (kg) 10 10 Reach (mm) 1855 1855 600 Repeatability (mm) ±0.5 ±0.5 80 Cycles/Minute Interference radius (mm) 543 - 10 kg Payload Motion range J1 320 - (degrees) J2 115 115 J3 110 110 50 Cycles/Minute J4 540 - 30 kg Payload Motion speed J1 180 - (degrees/s) J2 200 200 J3 200 200 Intelligent Robot Solutions J4 350 - High-Speed J4 720 - FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada Wrist moment J4 98 (10) 98 (10) 3900 W. Hamlin Road (704) 596-5121 (905) 812-2300 N-m (kgf-m) Rochester Hills, MI 48309-3253 High-Speed J4 68.6 (7) - (248) 377-7000 Chicago, IL Montréal, Canada Wrist inertia J4 2.6 2.6 Fax (248) 377-7362 (847) 898-6000 (450) 492-9001 2 (kg-m ) For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico Mechanical brakes All axes All axes 1-800-iQ-ROBOT 1-800-47-ROBOT (513) 754-2400 52 (449) 922-8000 Mechanical weight (kg) 620 520 Mounting method Floor Los Angeles, CA Sao Paulo, Brazil Installation environment: (949) 595-2700 (55) (11) 3619-0599 Ambient temperature °C 0 to 45 Humidity Normally: 75% or less marketing@fanucrobotics.com Toledo, OH Short term (within a month): 95% or less fanucrobotics.com (419) 866-0788 No condensation (No dew or frost allowed) 2 ©2007 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-4/07 Vibration (m/s ) 4.9 or less