FANUC Robot R-2000iC

FANUC CORPORATION
Export Control:
Controlled (Related item No. of
Foreign Exchange Order Attachment List of Japan:

Non-controlled for item No. 2 to 15 of

Foreign Exchange Order Attachment List of Japan

July 29th 2014

A-97606-0293E_05

Full-model change of R-2000iB

Over 70,000 units of previous model R-2000iB have been operating throughout the world since 2006.

High reliability proven by past results

More convenient use due to slimmer body
Higher productivity due to speeding up
Extensive application due to enhanced wrist
load capability
Less varieties of spare parts due to common
units among main models
No need of spare entire cable assembly due to
modular configuration

R-2000iC
July 29th 2014

New motor
- Quick-release connector, - Enhanced waterproof
A-97606-0293E_05

Line up
Standard

Long reach

Rack mount
Heavy payload
Ceiling mount

165F

125L

165R

210F

Compact

210R

Various options for multiple applications

July 29th 2014

Spot welding

Material
handling

Motor covers

Stud welding

Severe dust &

Liquid protection

Cooling fan
A-97606-0293E_05

Successor to R-2000iB
0
-0.063

10.5

O 160 h8

O 80 H7

+0.030
0

Identical mounting face with R-2000iB

30

2- O 10 H7
30

+0.015
0

depth10

Succeeding compatibility
and high reliability

30

30

Common compact wrist

125 0.05

10-M10 tap
depth16

(Same dimension with R-2000iB/165Fs)

O 1
25

30

30

215

30

30

Identical arm length

with R-2000iB

8-O24 through
O 42 c'bore depth5
(for fixing robot)

Robot front

230

270

540

460

J1-axis
rotation center

230
460
270
540

Identical installation with R-2000iB

July 29th 2014

A-97606-0293E_05

Slimmer body
R-2000iB/210F

R-2000iB/210F

R-2000iC/210F

284

J3 axis
One-sided width -22%
Total width -16%

J2 axis
One-sided width -17%
Total width -6%

235

R-2000iB/210F

R-2000iC/210F

R-2000iC/210F

265

Rotation
radius
R620

R581

215

More convenient use

July 29th 2014

A-97606-0293E_05

Speed up & Enhanced wrist load capability

R-2000iB
/210F

R-2000iC
/210F

Conventional
ratio

Max. load
at wrist [kg]

210

210

Reach [mm]

2655

2655

J1

95

120

26% up

J2

90

105

17% up

J3

95

110

17% up

J4

120

140

17% up

J5

120

140

17% up

J6

190

220

16% up

J4

1333

1360

Max. speed
[deg/sec]

Allowable
load moment
at wrist

[Nm]

Allowable
load inertia
at wrist
[kgm2]
Mass [kg]

July 29th 2014

J5

1333

1360

J6

706

735

J4

141.1

147

J5

141.1

147

J6

78.4

82

1240

1090

210F

Allowable distance of load gravity center

from mounting face [load:210kg]

R-2000iB/210F

5% up
(Converted to
actual capability)

4% up
4% up

R-2000iC/210F

5% up
12% down

A-97606-0293E_05

Speed up & Enhanced wrist load capability

R-2000iB
/165F

R-2000iC
/165F

Conventional
ratio

Max. load
at wrist [kg]

165

165

Reach [mm]

2655

2655

J1

110

130

18% up

J2

110

115

5% up

J3

110

125

14% up

J4

150

180

20% up

J5

150

180

J6

220

260

J4

921

940

Max. speed
[deg/sec]

Allowable
load moment
at wrist

[Nm]

Allowable
load inertia
at wrist
[kgm2]
Mass [kg]

July 29th 2014

R-2000iB
/125L

R-2000iC
/125L

Conventional
ratio

Max. load
at wrist [kg]

125

125

Reach [mm]

3005

3100

3% up

J1

110

130

18% up

J2

110

115

5% up

J3

110

125

14% up

J4

170

180

6% up

20% up

J5

170

180

6% up

18% up

J6

260

260

J4

588

710

J5

588

710

J6

343

355

J4

58.8

72

J5

58.8

72

J6

22.5

40

78% up

1190

1115

6% down

2% up

J5

921

940

J6

461

490

J4

78.4

89

165F,125L

6% up
14% up

J5

78.4

89

J6

40.2

46

14% up

1170

1090

7% down

Max. speed
[deg/sec]

Allowable
load moment
at wrist

[Nm]

Allowable
load inertia
at wrist
[kgm2]
Mass [kg]

21% up
3% up
22% up

A-97606-0293E_05

Speed up & Enhanced wrist load capability

R-2000iB
/165R

R-2000iC
/165R

Conventional
ratio

Max. load
at wrist [kg]

165

165

Reach [mm]

3095

3095

J1

110

115

5% up

J2

100

110

10% up

J3

110

125

14% up

J4

150

180

20% up

J5

150

180

J6

220

260

J4

921

940

Max. speed
[deg/sec]

Allowable
load moment
at wrist

[Nm]

Allowable
load inertia
at wrist
[kgm2]
Mass [kg]

July 29th 2014

R-2000iB
/200R

R-2000iC
/210R

Conventional
ratio

Max. load
at wrist [kg]

200

210

3% up

Reach [mm]

3095

3095

J1

90

105

17% up

J2

85

97

14% up

J3

95

110

16% up

J4

120

140

17% up

20% up

J5

120

140

17% up

18% up

J6

190

220

17% up

J4

1333

1360

2% up

J5

921

940

J6

461

490

J4

78.4

89

165R,210R

6% up
14% up

J5

78.4

89

J6

40.2

46

14% up

1480

1370

7% down

Max. speed
[deg/sec]

Allowable
load moment
at wrist

[Nm]

Allowable
load inertia
at wrist
[kgm2]
Mass [kg]

5% up
(Converted to
actual capability)

J5

1333

1360

J6

706

735

J4

141.4

147

J5

141.4

147

J6

78.4

82

5% up

1540

1370

11% down

4% up
4% up

A-97606-0293E_05

Speeding up on spot welding motion

Drastically reducing cycle time
Robot + Servo gun motion
(Except pressuring time)

50mm interval x 10 points

Average time

R-2000 B/210F

R-2000 C/210F

with R-30 B

with R-30 B

Actual

Actual

X (Back & Forth) direction

0.485 [sec]

0.402 [sec]

17%

Y (Side to side) direction

0.493 [sec]

0.412 [sec]

16%

Z (Up & Down) direction

0.495 [sec]

0.417 [sec]

16%

Tip distance
Gun tip
: 10mm
Fixed tip : 10mm

50mm

10 points

Reducing cycle time depending on wrist load

BOX C yc le T im e

Ave. Time of Segment [sec]

0.60

iB Linear

0.55

iC Linear
iB Joint
0.50

Z-

iC Joint

X-

X+

0.45

Z+
0.40
0

July 29th 2014

Y-

70

140

Wrist Load [kg]

210

280

YA-97606-0293E_05

Common units among main models

Less varieties of spare parts

Common units among main models

Motors
Wrist unit (including reducers)
Mechanical inner cable
Balancer unit
210F
Motors
Wrist unit

July 29th 2014

165F

125L

210R

165R

Same configuration for 5 models

Common for 5 models

Mechanical inner cable

Common for
3 models

Common for
2 models

Balancer unit

Common for
3 models

Common for
2 models

A-97606-0293E_05

10

Modular configuration of mechanical inner cable

Basic cable unit (for driving 6 motors) and other optional one are separated.
Available to individually replace or install each cable unit.
No need of spare
entire cable assembly
Basic cable unit

Optional cable unit

Entire cable assembly

Basic cable unit

Basic cable unit

Optional cable unit

Optional cable unit

J1 connector plate
Side of J2 arm
July 29th 2014

A-97606-0293E_05

11

New motor
- Easy maintenance
- High reliability

*1 Quick-release connector
*2 Enhanced waterproof by improved seals

Motor configuration
Axis
J1
J2
J3
J4
J5
J6
Pulsecoder

July 29th 2014

R-2000iB

R-2000iC

iSR30/3000

iSR22/4000

A06B-0041-B605#S042

A06B-2048-B605#0042

iSR30/3000

iSR30/3000

A06B-0041-B605#S042

A06B-2041-B605#0042

iSR30/3000

iSR30/3000

A06B-0041-B605#S042

A06B-2041-B605#0042

iS12/4000

iSR10/4000

A06B-0238-B605#S000

A06B-2047-B605

iS12/4000

iSR10/4000

A06B-0238-B605#S000

A06B-2047-B605

iS12/4000

iSR10/4000

A06B-0238-B605#S000

A06B-2047-B605

iAR128

iAR128

A860-2010-T341

A860-2060-T321

A-97606-0293E_05

12

Outline (Standard)

210F,165F,125L

R
1
58

+185v
0v

1280 (210F,165F)
1730 (125L)

1075

225

312

49
7

215

J5-axis
rotation center

220 416

3045 (210F,165F)
3490 (125L)

-185v

1919 (210F,165F)
2364 (125L)

July 29th 2014

333

418

Motion range
of J5-axis
rotation center

2655 (210F,165F)
3100 (125L)

370 (210F,165F)
815 (125L)

670

796

A-97606-0293E_05

13

Outline (Standard)
R

210R,165R

60
3

220 416

+185v

-185v

0v

1708

2975

R8
59

1075

333

225

565

1280

600

720

1758

215

J5-axis
rotation center

Motion range
of J5-axis
rotation center

1117

July 29th 2014

3095

A-97606-0293E_05

14

Solution arm (Option)

Compact dressout including weld power cables and hoses
Highly reliable durability of weld cables and hoses

Unnecessary to check the interference due to optimized cable bundle

Wrist axis solution arm

Ease of maintenance realizes shorter downtime to replace the unit

Available taps around J3 axis
to install equipments

Optimized cable bundle

prevent the interference
with EOAT

Minimize the interference area

Primary axis solution arm

July 29th 2014

Note
1. In case of primary axis solution arm is ordered, its motion range is changed from the standard one.
2. In case of wrist axis solution arm is ordered, motion range restriction is applied to J4/J5/J6 axis.
3. Wrist axis solution arm is available for standard reach, not for R-2000iC/125L.
A-97606-0293E_05

15

Outline (with solution arm)

R

58

210F,165F
Restriction to J4/J5/J6 axis
(with wrist axis solution arm)

+185v

J4
J4 motion range
J4=+210v

0v
-185v

49
7

J2+J3=-75v
J2+J3=+180v

J2+J3=-79v
J4=30v

J2+J3 motion range

J2+J3

312

215
360

1280

265

457
J4=-180v

J4=-210v

1075

J5-axis
rotation center

J6=+205v

3045

225

J6J6
motion range

J6=+130v

333

796

418

J5=-115v

J5=+115v

844

July 29th 2014

J5=+120v

Motion range
of J5-axis
rotation center

J6=-15v

370

670

J5=-120v

2655

J5 motion range
J5

J6=-170v

J6=-205v

A-97606-0293E_05

16

Outline (with solution arm)

R

60
3

210R,165R
Restriction to J4/J5/J6 axis
(with wrist axis solution arm)

265

457

+185v

-185v

J4
J4 motion range

0v

J4=+210v

R8
59
J2+J3=-75v
J2+J3=+180v

J2+J3=-79v
J4=30v

J2+J3 motion range

J2+J3

J4=-180v

1708

2975

J4=-210v

J6J6
motion range

720

1075

333

225

731
J6=+205v

600

J6=+130v
J5=-115v

J5=+115v

J5=-120v

1280

J5=+120v

J6=-15v

J5 motion range
J5

360
215

1758

J5-axis
rotation center

Motion range
of J5-axis
rotation center
393

July 29th 2014

J6=-170v

J6=-205v

3095

A-97606-0293E_05

17

End effecter mounting face

210F,165F,125L
210R,165R

0
-0.063

10.5

O 80 H7

+0.030
0

O 160 h8

30

2- O 10 H7
30

+0.015
0

depth10

30

30

125 0.05

10-M10 tap
depth16

O 1
25

30

30

215

30

30

Based on ISO 9409-1-A125

July 29th 2014

A-97606-0293E_05

18

210F,165F,125L
210R,165R

Installation
348
(Mounting face)

37

(Mounting face)

281

268

8-O 24 through
O 42 c'bore depth5
(for fixing robot)

8-M20through
(for mounting transportation equipment)

50

230

305

45

J1-axis
rotation center

460

Robot front

230

205 0.1

Pin holes for

positioning are
added
230

270

540

205 0.1

278
278

(Mounting face)

310 0.1

45
30

230

(Mounting face)

2-O 16 H7

+0.018
0

through

460
270
540

Section A-A
July 29th 2014

35

278

278

35

A-97606-0293E_05

19

Press handling package (option)

The cooling fans for J1/J2 axis or J1/J2/J3 axis motor
improve duty performance.
Suitable for high-duty application such as press-to-press
handling and high-speed palletizing.
Available with R-30iB A-cabinet/B-cabinet controller.

Cooling fan

Power supply
cable

Power supply connector

for cooling fan
July 29th 2014

A-97606-0293E_05

20

Severe dust and liquid protection (option)

Enhanced protective performance against
harsh environment
Include motor covers, water proof connectors
and protection sheath for exposed cable

Main body IP56

J3 arm, wrist IP67

Anti-rust bolts and washers for exposed parts

Available with epoxy paint designation (FoundryPRO)
Motor covers

Water proof connector

for EE(RI/RO)

Battery box cover

July 29th 2014

A-97606-0293E_05

21

Zero-positioning plate (option)

New option for zero degree mark in addition to scribe mark
and vernier mark seal
Stainless plate and bolts for all

Suitable for harsh environment

J4-axis
J5-axis
J6-axis

J3-axis

J6-axis
Type1:A05B-1333-H063

J2-axis

J6-axis
Type2:A05B-1333-H064

J1-axis

J1-axis
July 29th 2014

J5-axis

J4-axis

J2-axis

J3-axis
A-97606-0293E_05

22