TM R-2000iB Series Basic Description The R-2000iB series is FANUC Robotics’ latest-generation, six-axis, heavy-payload, high-performance family of industrial robots. The R-2000iB provides higher value through industry-leading performance, reliability and maintainability, and is supported by our extensive service and parts network. R-2000iB Series, the Solution for: n Automotive spot welding and general assembly n General industrial applications n Material handling n Part transfer n Material removal n Disensing n Machine loading Features Options n Process specific software Mechanical: Benefits n Large work envelope with ability packages for various applications. n Slim arm and wrist assemblies n Web-based software tools for to reach overhead and behind. minimize interference with n 6 axes of motion. remote connectivity, diagnostics system peripherals and allow and production monitoring. n Slim profile design. ® operation in confined spaces. n RV reducers on all axes. n FANUC’s iRVision (Integrated n Large allowable wrist moments Robot Vision) system delivers n Lack of counterweight increases and inertias meet a variety of available workspace. high performance 2-D and 3-D heavy handling challenges. machine vision capabilities with n Process/application cables n Many process attachment routed through the arm. FANUC reliability. Additional points make integration easier. option for Error Proofing can n No motors at wrist. n Non-rotating forearm simplifies n Standard J1 adjustable hard stop. provide integrated vision based hose and cable dressout to n IP67 rated wrist/forearm. capabilities to check for product prolong service life. completeness before product is n Proven, reliable FANUC servo Control: packaged or further operations drives provide highest uptime n 35% average faster TPP and are performed. ® ® and productivity. KAREL execution speed over n FoundryPRO protection package n Longer maintenance intervals and two-part epoxy paint for previous generation. equate to lower operating costs. n Up to 24 axes on main servo card foundry and harsh environments. n Fewer mechanical components n Standard baseplate for quick plus 16 axes on mini-slot card for reduce down time, increase mean 40 axes maximum. robot installation. time between failure (MTBF) and n Auxiliary axes packages for n Quick change amplifier <5 minutes. minimize spare part requirements. n Fast boot time <30 seconds. integration of peripheral servo-con- n High-performance motion yields trolled devices and robot track n Two Ethernet ports standard. fast cycle times and high n USB interface on panel and units. throughput. n Adjustable hard stops for J1, PCMCIA slot internal. n Wrist flange and base mounting n Easy connections to a variety of J2 and J3. are identical to the R-2000iA, n Various robot connection cable I/O, including a number of allowing for seamless backward distributed I/O networks. lengths for flexible cabinet compatibility. ™ placement and optional track n iPendant , a color, Internet-ready n R-2000iB can reach all areas of teach pendant for even easier rated cables. R-2000iA work envelope for easy programming and custom cell user n iPendant with touch screen for replacement. interface design. custom HMI applications. n Built-in support for machine vision n Monochrome teach pendant. ® ® applications for error proofing and n Integrated spot welding utilities. Note: iRVision and FoundryPRO robot guidance, without the n Electrically insulated faceplate. are registered trademarks of need for a PC. FANUC LTD. R727 R727 R 620 R620 R582 R 2852 R3095 R3095 R2655 R2655 R3005 R-2000iB/175L R-2000iB/165F R582 Top Top +180° 0° +180° 0° –180° –180° 1280 215 744 1480 235 REAR SIDE REAR SIDE INTERFERENCE AREA INTERFERENCE 814 814 AREA J5 AXIS J5 AXIS ROTATION ROTATION CENTER CENTER 312 312 MOTION RANGE OF J5 AXIS MOTION RANGE ROTATION CENTER OF J5 AXIS ROTATION CENTER (0,0) Side Front Side Front R-2000iB/210F R-2000iB/165R Top Top +180° 0° -180° +180° 0° –180° REAR SIDE INTERFERENCE AREA 720 1075 235 1280 225 REAR SIDE INTERFERENCE AREA 814 J5 AXIS ROTATION CENTER 312 J5 AXIS ROTATION CENTER MOTION RANGE OF J5 AXIS ROTATION CENTER 252.5 MOTION RANGE OF J5 AXIS ROTATION CENTER Front Side (0,0) Front Side R-2000iB/125L R-2000iB/200R Top Top +180° +180° 0° –180° 0° –180° REAR SIDE INTERFERENCE AREA MOTION RANGE (+1192, +713) OF J5 AXIS 720 1075 ROTATION CENTER 225 1635 215 REAR SIDE 814 INTERFERENCE J5 AXIS AREA ROTATION CENTER 312 J5 AXIS ROTATION CENTER 284 MOTION RANGE OF J5 AXIS ROTATION CENTER Side Front (0,0) Front Side 225 225 225 670 1075 670 1075 670 1075 252.5 252.5 284 600 600 1883 1883 225 1280 235 1280 215 670 1075 284 R534 R727 R2655 R1520 R3500 Isometric 165F R-2000iB/100P Top +180° 0° –180° REAR SIDE INTERFERENCE AREA 720 1075 225 J5 AXIS ROTATION CENTER MOTION RANGE OF J5 AXIS ROTATION CENTER Footprint (All models) 284 540 Front Side 460 230 R-2000iB/170CF 270 Top +180DEG 0 DEG 270 230 -180DEG 460 540 610 423 348 Front REAR SIDE 758 300 670 215 INTERFERENCE AREA 24.0 DIA. THRU & 326 38.0 DIA. C'BORE 5.0 DP. TYP.(8) MOUNTING HOLES J5 AXIS ROTATION CENTER ISO Flange Wrist 165F, 125L, 165R, 150U, 170CF MOTION RANGE 138 OF J5 AXIS ROTATION CENTER 115 9 (0,0) A B Front Side R-2000iB/150U 215 M10x16.0 DP. TYP.(6) EQUALLY SPACED Side ON 125.0 DIA. B.C. R161 Front A. 80 (0,0) B. 160 +0.015 –0.000 10.000 DIA. DWL. X 12.0 DP. TYP. (2) EQUALLY SPACED MOTION RANGE ON 125.0 DIA. B.C. OF J5 AXIS ROTATION CENTER 312 ISO Flange Wrist 175L, 210F, 200R, 100P 814 J5 AXIS 154.5 ROTATION CENTER REAR SIDE INTERFERENCE AREA 129.5 10.0 215 1280 739 THE ROBOT MAY NOT REST THE ROBOT MAY NOT REST DEPENDING ON ITS LOAD DEPENDING ON ITS LOAD CONDITIONS AND POSTURE. A B CONDITIONS AND POSTURE. 2260 1648 235 M10x16.0 DP. TYP.(10) AS SHN. R197.3 A. 80 ON 125.0 DIA. B.C. B. 160 Top -180DEG 0 DEG +180DEG +0.015 –0.000 10.000 DIA. DWL. x 12.0 DP. TYP.(2) EQUALLY SPACED ON 125.0 DIA. B.C. Note: Dimensions are shown in millimeters. Detailed CAD data are available upon request. 600 1883 252.5 1075 670 1690 235 500 550 225 252.5 R-2000iB Specifications Items /165F /210F /125L /175L /165R /200R /100P /170CF /150U Heavy payload Heavier payload Longer reach Longer reach Heavy payload Heavier payload Longer reach Compact floor Heavy payload General purpose floor mount floor mount floor mount floor mount rack mount rack mount rack mount or ceiling mount ceiling mount Controlled Axes 6 6 6 6 6 6 6 6 6 Payload - Wrist (kg) 165 210 125 175 165 200 100 170 150 Payload - J2 base (kg) 550 550 550 550 550 550 550 550 550 Payload - J3 forearm (kg) 25 25 20 20 25 0 25 25 10 Horizontal reach (mm) 2655 2655 3005 2852 3095 3095 3500 1520 2655 Repeatability (mm) per JISB 8432 ±0.2 ±0.3 ±0.2 ±0.3 ±0.3 ±0.3 ±0.3 ±0.15 ±0.2 J2 interference radius (mm) 582 620 582 620 727 727 727 284 534 J1 360 360 360 360 360 360 360 360 360 Motion range (degrees) J2 136 136 136 136 185 185 185 190 136 J3 362 362 362 356 365 365 365 332 362 J4 720 720 720 720 720 720 720 720 720 J5 250 250 250 250 250 250 250 250 250 J6 720 720 720 720 720 720 720 720 720 Motion speed J1 110 95 110 95 110 90 110 110 110 (degrees/s) J2 110 90 110 90 100 85 90 110 85 J3 110 95 110 95 110 95 110 110 110 J4 150 120 170 120 150 120 120 150 150 J5 150 120 170 120 150 120 120 150 150 J6 220 190 260 190 220 190 190 220 220 (1) Wrist moments N•m J4 921(94) 1333(136) 588(60) 1226(125) 921(94) 1333(136) 980(100) 921(94) 833(85) (kgf•m) J5 921(94) 1333(136) 588(60) 1226(125) 921(94) 1333(136) 980(100) 921(94) 833(85) J6 461(47) 706(72) 343(35) 706(72) 461(47) 706(72) 706(72) 461(47) 421(43) (2) J4 78 141/225 59 141 78 141 225 78 78 Wrist inertia 2 kg•m J5 78 141/225 59 141 78 141 225 78 78 J6 40 78/196 22 78 40 78 196 40 40 All joints All joints All joints All joints All joints All joints All joints All joints All joints AC electric servo drive Fail-safe brakes All joints All joints All joints All joints All joints All joints All joints All joints All joints Robot mass (kg) 1170 1240 1190 1260 1480 1540 1570 800 1070 ° Ambient temperature ( C) 0 to 45 Vibration (G) ≤0.5 Relative humidity Normally ≤ 75%. Short term (≤ month) ≤ 95%. No condensation (dew or frost). Installation altitude Up to 1000 m abouve sea level (3) IP Ratings per BS EN 60529-1992 Standard: IP67 wrist and forearm, IP54 main body. Optional: FoundryPRO IP66 main body drivetrain, two-part epoxy paint. Notes: (1) Higher allowable wrist moments are possible with wrist flange facing up or down. (2) Higher wrist inertias can be toggled from within application code; acc/dec slightly affected when on but all other specs unchanged. (3) Fluids which harm nitrile rubber (NBR) must not be used. FoundryPRO not available on R-2000iB/100P. Contact FANUC Robotics for details. 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 (248) 377-7000 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 Los Angeles, CA Sao Paulo, Brazil (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-2/09