Paint Mate 200iA & Paint Mate 200iA/5L Basic Description FANUC Robotics’ Paint Mate robot is a compact, electric servo-driven paint robot with best-in-class performance designed for operation in a hazardous environment. Based ® on the highly-acclaimed LR Mate series, this robot’s envelopes, speed, and dexterity are a perfect fit for coatings and hazardous duty applications. The Paint Mate can be used for small parts painting or a material saving alternative to multiple fixed guns. Paint Mate - Maximum performance at minimal cost. Class 1 Division 1 hazardous approval ratings enables the Affordable robotic automation for small parts coating. Paint Mate robot to be used for handling applications in explosive and extreme environments Paint Mate, the Solution for: n Painting n HandlingTool™ allows for n Approved for use in hazardous n Coating the setup, programming, locations; see specifications n Assembly and Handling in and operation for basic and for details. Hazardous Environments custom applications. Built-in n FM: Flex field and rigid conduit macro functions including paint n Material removal where ATEX: ROX FANUC Robotics offers a complete application plug-in routines hazardous cooling chemicals n Tabletop size, slim wrist, and line of painting robots and turnkey and menu-driven programming are present system solutions for all your small footprint permit operation tools allow users to create, n Dispensing coatings needs. in tight work spaces test, and run robot application n Extremely fast acceleration and programs with minimal training Features deceleration motion results in and program assistance. faster cycle times. n iPendant™, a color, Internet- n Control Reliable Safety Circuit ready teach pendant for even n PaintTool™ software with (RIA1506.1999 compliant) easier programming and custom optional configurations for stand cell user interface design. alone or multi robot systems Reliability and Maintenance with built-in paint function n Optional one or four pneumatic Advantages controls: three-way solenoid valves located in the purge cavity for - Analog parameter control n The latest generation of a gun triggering capability. - Color change control proven design n Floor, invert, angle and wall - “Cancel/Continue” feature n Sealed bearings and brushless mounting permits versatility for - Integral 2K variable ratio Intelligent Robot Solutions AC motors robot location and allows for Pump Control n Purged and pressurized cavities FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada minimal spray booth size. - ACCUFLOW™ closed-loop 3900 W. Hamlin Road (704) 596-5121 (905) 812-2300 n Designed for painting Rochester Hills, MI 48309-3253 n Absolute serial encoders fluid control. Chicago, IL Montréal, Canada environment eliminate the need for - Line tracking (847) 898-6000 (450) 492-9001 calibration at power-up. - Collision detection For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico Software n Standard FANUC Robotics - Internet connectivity 1-800-iQ-ROBOT (513) 754-2400 52 (449) 922-8000 ® purge control. - KAREL programming Los Angeles, CA Sao Paulo, Brazil Two standard software applications language (949) 595-2700 (55) (11) 3619-0599 are available: Process control hardware must marketing@fanucrobotics.com Toledo, OH be added separately. fanucrobotics.com (419) 866-0788 ©2008 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-10/08 ® ® LR Mate and iRVision are registered trademarks of FANUC LTD. Dimensions Paint Mate Isometric Paint Mate Series Robot Specifications R-30iA Mate Controller Dimensions Paint Mate 200iA Items Paint Mate 200iA Paint Mate 200iA/5L Axes 6 6 Top Payload - wrist (kg) 5 5 R704 Top Reach (mm) 704 892 Repeatability (mm) ±0.02 ±0.03 Interference Radius (mm) 181 181 10° J1 340 340 Motion range (degrees) 10° J2 200 230 J3 388 373 J4 380 380 R181 J5 240 240 J6 720 720 J1 350 270 470 320 Motion speed (degrees/s) J2 350 270 320 80 J3 400 270 B J4 450 450 C J5 450 450 400 J6 720 720 Wrist moments N-m J4 11.9 (1.21) 11.9 (1.21) (kgf-m) J5 11.9 (1.21) 11.9 (1.21) 300 J6 6.7 (0.68) 6.7 (0.68) 1079 Wrist load inertia J4 0.3 0.3 950 2 145 75 (kg-m ) 750 825 J5 0.3 0.3 ROBOT PURGE CONTROL PURGE PURGE PURGE ENABLE COMPLETE FAULT Paint Mate J6 0.1 0.1 128 Mechanical brakes All axes All axes 251 450 Mechanical weight (kg) 35 37 REPLACE BA REPLACE BATTERIES WITH CONTROLLER POWER ON TTERIES WITH CONTROLLER POWER ON.. USE ON USE ONLY LY DURACEL DURACELL L PC1300 D-TYPE PC1300 D-TYPE ALKALINE (AM1) BA ALKALINE (AM1) BATTERIES TTERIES.. DO NO DO NOT T MIX OLD & NEW BA MIX OLD & NEW BATTERIES OR BA TTERIES OR BATTE TTERY RY MANUF MANUFACTURERS. ACTURERS. 400 (1) Mounting method Floor, ceiling, angle and wall A A 120 Installation environment Temperature (°C) 0 to 45 108 160 130 Humidity Normally: 75% or less 235 265 Short term (within a month): 95% or less 260 513 704 No condensation Front 2 Vibration m/s (G) 0.5 or less 150 Side Footprint (All models) Ratings FM Class l, ll, lll, Div l, Group C, D, E, F, G T4 45°C Ambient ATEX ll 2 G c Ex ib px llB Ta=0°C to +45°C 282 ATEX ll 2 D c Ex pD 21 Tl 35°C Ta=0° to =45°C 260 Note: iPendant™ for non-hazardous areas only Paint Mate 200iA/5L 20 205 Front Side 160 Note: (1) J1 and J2 axes motion range will be limited for angle and wall mount installations. 15 R892 Top 130 117 R-30iA™ Mate Controller Specifications 95 160 Items Isometric 234 265 External Dimensions (mm) - 470(W) x 320(D) x 950(H) 10° Weight - 56 kg Operating Environment 10° - Ambient temperature: 0 - 45 ° C (R-30iA Mate) Humidity: 75% RH or less; Short term (within a month): 95% or less Vibration: 0.5G or less Front Power Supply - 200-230VAC Single Phase; +10%, -15%, 50/60 Hz ± 1Hz R276 Power Consumption - 0.5 KW (average), 1.2 KVA (maximum) CPU - Multi-processor architecture (separate motion and communication) with real-time clock/calendar Wrist (All models) Controlled Axes - 24 (up to 5 motion groups for R-30iA Mate) 104 123 410 80 Serial/ - One 100 Base-TX/10 Base-T Ethernet port with RJ-45 connector ø5 DOWELL x 7 DP host communications - One RS-232-C / RS-485 port 45° TYP(1) ø31.5 BC 6 ø70 Teach Pendant TM - Color graphic iPendant with available touch screen option ø40 (Not in hazardous area) ø20 ® 1267 iRVision - Built-in camera interface for 2-D vision applications 400 Optional: multiplexer for multiple 2-D cameras and 3-D vision Built-in I/O - Up to 28 digital inputs / 24 digital outputs 24VDC 925 (external 24VDC power supply is required for digital outputs) 3 75 M5 x 8 DP Safety Features - Dual Check Safety (DCS) circuit 80 TYP(4) EQ SPC’D 128 ø31.5 BC 251 Memory Card - PCMCIA type 2 interface: ATA flash disk (SanDisk compatible) 450 R-30iA Mate Controller Options: I/O sub-systems - Model A I/O (remote mounted modular rack- 5 or 10 slots) 120 - Model B I/O (distributed DIN rail mounted) 130 - FANUC I/O link 265 160 Remote I/O sub-systems - DeviceNet (single channel slave) 273 260 Front - Profibus DP slave/master - CC-Link (slave) - Ethernet I/O (EGD and EIP Adapter/Scanner) 170 Note: Dimensions are shown in millimeters. 742 892 Integrated PMC - Ladder logic control for peripheral devices Detailed CAD data is available upon request. - Including ladder monitor with hot edit on iPendant Side Dimensions Paint Mate Isometric Paint Mate Series Robot Specifications R-30iA Mate Controller Dimensions Paint Mate 200iA Items Paint Mate 200iA Paint Mate 200iA/5L Axes 6 6 Top Payload - wrist (kg) 5 5 R704 Top Reach (mm) 704 892 Repeatability (mm) ±0.02 ±0.03 Interference Radius (mm) 181 181 10° J1 340 340 Motion range (degrees) 10° J2 200 230 J3 388 373 J4 380 380 R181 J5 240 240 J6 720 720 J1 350 270 470 320 Motion speed (degrees/s) J2 350 270 320 80 J3 400 270 B J4 450 450 C J5 450 450 400 J6 720 720 Wrist moments N-m J4 11.9 (1.21) 11.9 (1.21) (kgf-m) J5 11.9 (1.21) 11.9 (1.21) 300 J6 6.7 (0.68) 6.7 (0.68) 1079 Wrist load inertia J4 0.3 0.3 950 2 145 75 (kg-m ) 750 825 J5 0.3 0.3 ROBOT PURGE CONTROL PURGE PURGE PURGE ENABLE COMPLETE FAULT Paint Mate J6 0.1 0.1 128 Mechanical brakes All axes All axes 251 450 Mechanical weight (kg) 35 37 REPLACE BA REPLACE BATTERIES WITH CONTROLLER POWER ON TTERIES WITH CONTROLLER POWER ON.. USE ON USE ONLY LY DURACEL DURACELL L PC1300 D-TYPE PC1300 D-TYPE ALKALINE (AM1) BA ALKALINE (AM1) BATTERIES TTERIES.. DO NO DO NOT T MIX OLD & NEW BA MIX OLD & NEW BATTERIES OR BA TTERIES OR BATTE TTERY RY MANUF MANUFACTURERS. ACTURERS. 400 (1) Mounting method Floor, ceiling, angle and wall A A 120 Installation environment Temperature (°C) 0 to 45 108 160 130 Humidity Normally: 75% or less 235 265 Short term (within a month): 95% or less 260 513 704 No condensation Front 2 Vibration m/s (G) 0.5 or less 150 Side Footprint (All models) Ratings FMuc Class l, ll, lll, Div l, Group C, D, E, F, G T4 45°C Ambient ATEX ll 2 G c Ex ib px llB T4 Ta=0°C to +45°C 282 ATEX ll 2 D c Ex pD 21 T 135°C Ta=0° to +45°C 260 Note: iPendant™ for non-hazardous areas only Paint Mate 200iA/5L 20 205 Front Side 160 Note: (1) J1 and J2 axes motion range will be limited for angle and wall mount installations. 15 R892 Top 130 117 R-30iA™ Mate Controller Specifications 95 160 Items Isometric 234 265 External Dimensions (mm) - 470(W) x 320(D) x 950(H) 10° Weight - 56 kg Operating Environment 10° - Ambient temperature: 0 - 45 ° C (R-30iA Mate) Humidity: 75% RH or less; Short term (within a month): 95% or less Vibration: 0.5G or less Front Power Supply - 200-230VAC Single Phase; +10%, -15%, 50/60 Hz ± 1Hz R276 Power Consumption - 0.5 KW (average), 1.2 KVA (maximum) CPU - Multi-processor architecture (separate motion and communication) with real-time clock/calendar Wrist (All models) Controlled Axes - 24 (up to 5 motion groups for R-30iA Mate) 104 123 410 80 Serial/ - One 100 Base-TX/10 Base-T Ethernet port with RJ-45 connector ø5 DOWELL x 7 DP host communications - One RS-232-C / RS-485 port 45° TYP(1) ø31.5 BC 6 ø70 Teach Pendant TM - Color graphic iPendant with available touch screen option ø40 (Not in hazardous area) ø20 ® 1267 iRVision - Built-in camera interface for 2-D vision applications 400 Optional: multiplexer for multiple 2-D cameras and 3-D vision Built-in I/O - Up to 28 digital inputs / 24 digital outputs 24VDC 925 (external 24VDC power supply is required for digital outputs) 3 75 M5 x 8 DP Safety Features - Dual Check Safety (DCS) circuit 80 TYP(4) EQ SPC’D 128 ø31.5 BC 251 Memory Card - PCMCIA type 2 interface: ATA flash disk (SanDisk compatible) 450 R-30iA Mate Controller Options: I/O sub-systems - Model A I/O (remote mounted modular rack- 5 or 10 slots) 120 - Model B I/O (distributed DIN rail mounted) 130 - FANUC I/O link 265 160 Remote I/O sub-systems - DeviceNet (single channel slave) 273 260 Front - Profibus DP slave/master - CC-Link (slave) - Ethernet I/O (EGD and EIP Adapter/Scanner) 170 Note: Dimensions are shown in millimeters. 742 892 Integrated PMC - Ladder logic control for peripheral devices Detailed CAD data is available upon request. - Including ladder monitor with hot edit on iPendant Side Paint Mate 200iA & Paint Mate 200iA/5L Basic Description FANUC Robotics’ Paint Mate robot is a compact, electric servo-driven paint robot with best-in-class performance designed for operation in a hazardous environment. Based ® on the highly-acclaimed LR Mate series, this robot’s envelopes, speed, and dexterity are a perfect fit for coatings and hazardous duty applications. The Paint Mate can be used for small parts painting or a material saving alternative to multiple fixed guns. Paint Mate - Maximum performance at minimal cost. Class 1 Division 1 hazardous approval ratings enables the Affordable robotic automation for small parts coating. Paint Mate robot to be used for handling applications in explosive and extreme environments Paint Mate, the Solution for: n Painting n HandlingTool™ allows for n FM and ATEX Hazardous n Coating the setup, programming, approval for Class I, II and IIl n Assembly and Handling in and operation for basic and Div. 1 environments Hazardous Environments custom applications. Built-in n FM: Flex field and rigid conduit macro functions including paint n Material removal where ATEX: ROX FANUC Robotics offers a complete application plug-in routines hazardous cooling chemicals n Tabletop size, slim wrist, and line of painting robots and turnkey and menu-driven programming are present system solutions for all your small footprint permit operation tools allow users to create, n Dispensing coatings needs. in tight work spaces test, and run robot application n Extremely fast acceleration and programs with minimal training Features deceleration motion results in and program assistance. faster cycle times. n iPendant™, a color, Internet- n Control Reliable Safety Circuit ready teach pendant for even n PaintTool™ software with (RIA1506.1999 compliant) easier programming and custom optional configurations for stand cell user interface design. alone or multi robot systems Reliability and Maintenance with built-in paint function n Optional one or four pneumatic Advantages controls: three-way solenoid valves located in the purge cavity for - Analog parameter control n The latest generation of a gun triggering capability. - Color change control proven design n Floor, invert, angle and wall - “Cancel/Continue” feature n Sealed bearings and brushless mounting permits versatility for - Integral 2K variable ratio Intelligent Robot Solutions AC motors robot location and allows for Pump Control n Purged and pressurized cavities FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada minimal spray booth size. - ACCUFLOW™ closed-loop 3900 W. Hamlin Road (704) 596-5121 (905) 812-2300 n Designed for painting Rochester Hills, MI 48309-3253 n Absolute serial encoders fluid control. Chicago, IL Montréal, Canada environment eliminate the need for - Line tracking (847) 898-6000 (450) 492-9001 calibration at power-up. - Collision detection For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico Software n Standard FANUC Robotics - Internet connectivity 1-800-iQ-ROBOT (513) 754-2400 52 (449) 922-8000 ® purge control. - KAREL programming Los Angeles, CA Sao Paulo, Brazil Two standard software applications language (949) 595-2700 (55) (11) 3619-0599 are available: Process control hardware must marketing@fanucrobotics.com Toledo, OH be added separately. fanucrobotics.com (419) 866-0788 ©2009 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-12/09 ® ® LR Mate and iRVision are registered trademarks of FANUC LTD.