Académique Documents
Professionnel Documents
Culture Documents
transformer mounting
with large guns/tools
spacing of units
positioning
routing
■
■
Extension arm, heavy payload
Mechanical Features
Mechanical construction
Distributed I/O blocks to
reduced maintenance
improve reliability
heavy duty types
few components
and a long life
reduce wiring
■
■
cation programming packages
robots is engineered for maximum
high-speed positioning
less than 15 minutes
Basic Description
installations
reliability
another
welding
Benefits
■
■
S-420i Specifications
Items S-420i F S-420i F S-420i F S-420i L S-420i S S-420i W S-420i W S-420i W
Maximum reach 2.40m 2.85m 3.0m 3.00m 2.25m 2.40m 2.85m 2.40m
Load capacity 120kg (265 lbs) 120kg (265 lbs) 120kg (265 lbs) 75kg (165 lbs) 80kg (176 lbs) 155kg (342 lbs) 155kg (342 lbs) 175kg (386 lbs)
Axis 1 Range 360˚ 360˚ 360˚ 360˚ 360˚ 360˚ 360˚ 360˚
Speed 100˚/sec 90˚/sec 90˚/sec 100˚/sec 70˚/sec 90˚/sec 90˚/sec 90˚/sec
Axis 2 Range 142° 142° 142° 142° 142° 142° 142° 142°
Speed 110°/sec 100°/sec 110°/sec 110°/sec 110°/sec 100°/sec 100°/sec 100°/sec
Axis 3 Range 135˚ 135˚ 135˚ 135˚ 135˚ 135˚ 135˚ 135˚
Speed 100˚/sec 90˚/sec 75˚/sec 100˚/sec 100˚/sec 75˚/sec 75˚/sec 75˚/sec
Axis 4 Range 600° 600° 600° 600° 480° 600° 600° 600°
Speed 210˚/sec 210˚/sec 210˚/sec 210˚/sec 210˚/sec 140˚/sec 140˚/sec 140˚/sec
Axis 5 Range 260° 260° 260° 260° 260° 260° 260° 260°
Speed 150°/sec 150°/sec 150°/sec 150°/sec 150°/sec 110°/sec 110°/sec 110°/sec
Axis 6 Range 720° 720° 720° 720° 720° 720° 720° 720°
Speed 210°/sec 210°/sec 210°/sec 210°/sec 210°/sec 140°/sec 140°/sec 140°/sec
Moments Axis 4 60kgf • m 60kgf • m 60kgf • m 53kgf • m 54kgf • m 86kgf • m 86kgf • m 90kgf • m
Axis 5 60kgf • m 60kgf • m 60kgf • m 53kgf • m 54kgf • m 86kgf • m 86kgf • m 90kgf • m
Axis 6 30kgf • m 30kgf • m 30kgf • m 27kgf • m 28kgf • m 50kgf • m 50kgf • m 52kgf • m
Load Axis 4 306kgf • cm • sec2 306kgf • cm • sec2 306kgf • cm • sec2 387kgf • cm • sec2 376kgf • cm • sec2 486kgf • cm • sec2 486kgf • cm • sec2 472kgf • cm • sec2
Inertia Axis 5 306kgf • cm • sec2 306kgf • cm • sec2 306kgf • cm • sec2 387kgf • cm • sec2 376kgf • cm • sec2 486kgf • cm • sec2 486kgf • cm • sec2 472kgf • cm • sec2
Axis 6 77kgf • cm • sec2 77kgf • cm • sec2 77kgf • cm • sec2 104kgf • cm • sec2 100kgf • cm • sec2 164kgf • cm • sec2 164kgf • cm • sec2 158kgf • cm • sec2
Repeatability ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016")
Mounting method Upright Upright Upright Upright Upright Upright Upright Upright
Mechanical brakes All axes All axes All axes All axes All axes All axes All axes All axes
Weight 1500 kg (3300 lbs) 1600 kg (3520 lbs) 1600 kg (3520 lbs) 1600 kg (3520 lbs) 1500 kg (3300 lbs) 1500 kg (3300 lbs) 1600 kg (3520 lbs) 1500 kg (3300 lbs)
Items S-420i R S-420i R S-420i R FANUC Robotics offers complete
S-420i application dressout featuring:
Maximum reach 3.11m 3.11m 3.11m
Load capacity 100kg (220 lbs) 120kg (265 lbs) 155kg (342 lbs)
■ Maintainability
Axis 1 Range 360˚ 360˚ 360˚ ■ Reliability
Speed 100˚/sec 90˚/sec 90˚/sec ■ Unique configurations
Axis 2 Range 123° 123° 123°
Speed 100°/sec 90°/sec 100°/sec
Axis 3 Range 106˚ 106˚ 106˚
Speed 100˚/sec 90˚/sec 75˚/sec
Axis 4 Range 600° 600° 600°
Speed 210˚/sec 210˚/sec 140˚/sec Robotics
Axis 5 Range 260° 260° 260°
FANUC Robotics North America Charlotte, NC Toronto, Canada
Speed 150°/sec 150°/sec 110°/sec 3900 W. Hamlin Road Phone (704) 596-5121 Phone (905) 812-2300
Axis 6 Range 720° 720° 720° Rochester Hills, MI 48309-3253
Speed 210°/sec 210°/sec 140°/sec Phone (248) 377-7000 Chicago, IL Montréal, Québec
Fax (248) 377-7366 Phone (630) 876-5600 Phone (450) 492-9001
Moments Axis 4 57kgf • m 60kgf • m 86kgf • m
Axis 5 57kgf • m 60kgf • m 86kgf • m Literature Request Cincinnati, OH Mexico City, Mexico
Axis 6 29kgf • m 30kgf • m 50kgf • m 1-800-47-ROBOT Phone (513) 754-2400 Phone (52-5) 611-5998
Load Axis 4 337kgf • cm • sec2 306kgf • cm • sec2 486kgf • cm • sec2 Los Angeles, CA Aguascalientes, Mexico
Inertia Axis 5 337kgf • cm • sec2 306kgf • cm • sec2 486kgf • cm • sec2 Phone (949) 595-2700 Phone (52-4) 973-0453
Axis 6 86kgf • cm • sec2 77kgf • cm • sec2 164kgf • cm • sec2
Toledo, OH Sao Paulo, Brazil
Repeatability ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") Phone (419) 866-0788 Phone (55)(11) 3955-0599
Mounting method Rack Rack Rack
Mechanical brakes All axes All axes All axes web page: http:/ /www.fanucrobotics.com
Weight 1700 kg (3740 lbs) 1700 kg (3740 lbs) 1700 kg (3740 lbs) ©1998 FANUC Robotics North America, Inc. All rights reserved. OM 05-98 FANUC ROBOTICS LITHO IN U.S.A.
Isometric Footprint S-420i Dimensions
S-420i F/W S-420i S S-420i R
556mm
Top Top Top
▲
(21.8")
▲
▲
▲
▲
3 700mm ▲ 578mm
(27.5") Axis 1 (22.7") m
.5 m
5m ")
22 m
▲
rotation 40 .6
")
(1 113
m
R2 (94
▲
640mm 8m )
R3
25 .9"
▲
Controller
(25.1") 4-M20 for 440mm R2 (88
FRONT
6 eye bolt (17.3")
5 4-DIA24 for ▲
▲ ▲
mounting ▲ ▲ ▲
▲
▲
▲ ▲
▲
+/-180° +/-180°
▲
▲ +/-180°
▲
32mm
▲
▲
▲
▲ ▲
(1.3")
284mm ▲ ▲
▲
▲
▲
▲
(11.2") 600mm 313mm
Control Features
▲
600mm
251.5mm S-420i F (23.6") 251.5mm (12.3")
1032mm
524mm (23.6") (9.9") 313mm (9.9") 1206mm
▲
▲
▲
▲
(12.3") (40.6")
171mm (20.6") (47.4")
■ Controller provides easy (6.7") S-420i W
334mm
installation, startup, (13.1")
▲
▲
▲
(23.6") (51.2") (7.8") (23.6") 1150m
■ Built-in TCP teach utility DOWEL HOLES
m
200mm (29.7") (37.4")
240mm
▲
▲
▲
DIA90 EQSP (7.8")
▲
▲
▲
▲ (9.4")
allows setup without special 2808mm
▲ ▲ ▲
▲ 600mm 600mm
fixturing 240mm
(110.5") 240mm ▲ 2733mm (23.6") ▲ ▲ (23.6")
■ Other standard software (9.4") ▲ ▲
(9.4")
▲ ▲
(107.6")
▲ ▲
779mm
■ Easy-to-apply user multi- features include: 950mm 180mm 950mm (30.6")
▲
▲
180mm (37.4") (7.1") (37.4")
▲
▲
tasking programming
▲
(7.1") ▲ ▲
1752mm
- Alarm logging and diagnostics
▲
▲
▲
▲
▲
▲ (68.9")
environment 1000mm
1000mm
516mm
(20.3")
284mm
(11.1")
▲ (39.3")
- Simple robot setup 500mm ▲ (39.3") ▲
■ Six-axis servo drive and 500mm
(19.7")
▲ ▲ ▲
(19.7") ▲ ▲ ▲
1574mm
(62.0") ▲
▲
▲
▲
200mm
Mounting plate
▲
▲
470mm (7.8")
maximizes integration and - File utilities
(18.5") 2405mm 470mm
▲
2258mm
(ISO std) (94.6") (18.5")
▲
(88.9")
reliability 6-MI0 DEPTH20
- Menu windows DIA125 EQSP
▲
- Cause and recovery fault m
▲
increase customers' ease-of- 1m )
00 .1"
m
2m )
diagnostics R3 (118 85 .3"
use R2 (112
▲
(9.9")
Operation box ▲ ▲
▲
▲ ▲
▲
313mm
- Weld controller network 600mm
313mm 600mm (12.3")
Software Features (23.6")
251.5mm
(9.9")
(12.3") (23.6")
251.5mm
(9.9")
support 50 180
313mm
▲
(12.3")
■ Teach pendant uses menu-
- On-line manuals 50 60
driven, plain English
370
▲
▲
▲
paths make setup and pro- (74.8")
▲
▲
▲
▲
▲
■ Tool Frame adjustment Family of S-420i Robots
gramming quick and easy 3109mm 3034mm 770.7mm
▲
▲
(122.4") (119.4") (30.3")
■ Ethernet and RS-232
■ Tool packages allow Model Reach Purpose 240mm
▲
240mm
▲
▲
(23.7")
▲
(23.7")
▲
2.4m (7ft, 11in) Floor mount 950mm
S-420iF
adjustments during robot ■ Remote TCP programming 950mm (37.4")
▲
▲
180mm 180mm
▲
▲
S-420iF 2.85m (9 ft, 4 in) Floor mount (37.4") (7.1")
(7.1")
▲
cycles and jogging control S-420iL 3.0m (9 ft, 9 in) Long arm
▲
▲
▲
▲
▲
1000mm
700mm
2.25m (7 ft, 5 in) Single point 500mm ▲ (39.3")
■ Remote cabinet mounting with S-420iS (27.5")
■ SpotTool soft panel on teach 500mm
▲ 1000mm
(39.3")
(19.7") ▲ ▲ ▲
S-420iW 2.4m (7 ft, 11 in) Heavy duty
pendant reduces hard wired 7m (23 ft.) or 14m (46 ft.) (19.7") ▲ ▲ ▲
▲
▲
S-420iR 3.11m (10 ft, 2 in) Rack std duty 470mm
buttons, switches and signals cables
▲
▲
(18.5") 2852mm
S-420iR 3.11m (10 ft, 2 in) Rack hvy duty Scale
▲
470mm (112.3")
3001mm
lights ■ CSA approval option (18.5") 1/100"
▲
▲
(118.1")
Isometric Footprint S-420i Dimensions
S-420i F/W S-420i S S-420i R
556mm
Top Top Top
▲
(21.8")
▲
▲
▲
▲
3 700mm ▲ 578mm
(27.5") Axis 1 (22.7") m
.5 m
5m ")
22 m
▲
rotation 40 .6
")
(1 113
m
R2 (94
▲
640mm 8m )
R3
25 .9"
▲
Controller
(25.1") 4-M20 for 440mm R2 (88
FRONT
6 eye bolt (17.3")
5 4-DIA24 for ▲
▲ ▲
mounting ▲ ▲ ▲
▲
▲
▲ ▲
▲
+/-180° +/-180°
▲
▲ +/-180°
▲
32mm
▲
▲
▲
▲ ▲
(1.3")
284mm ▲ ▲
▲
▲
▲
▲
(11.2") 600mm 313mm
Control Features
▲
600mm
251.5mm S-420i F (23.6") 251.5mm (12.3")
1032mm
524mm (23.6") (9.9") 313mm (9.9") 1206mm
▲
▲
▲
▲
(12.3") (40.6")
171mm (20.6") (47.4")
■ Controller provides easy (6.7") S-420i W
334mm
installation, startup, (13.1")
▲
▲
▲
(23.6") (51.2") (7.8") (23.6") 1150m
■ Built-in TCP teach utility DOWEL HOLES
m
200mm (29.7") (37.4")
240mm
▲
▲
▲
DIA90 EQSP (7.8")
▲
▲
▲
▲ (9.4")
allows setup without special 2808mm
▲ ▲ ▲
▲ 600mm 600mm
fixturing 240mm
(110.5") 240mm ▲ 2733mm (23.6") ▲ ▲ (23.6")
■ Other standard software (9.4") ▲ ▲
(9.4")
▲ ▲
(107.6")
▲ ▲
779mm
■ Easy-to-apply user multi- features include: 950mm 180mm 950mm (30.6")
▲
▲
180mm (37.4") (7.1") (37.4")
▲
▲
tasking programming
▲
(7.1") ▲ ▲
1752mm
- Alarm logging and diagnostics
▲
▲
▲
▲
▲
▲ (68.9")
environment 1000mm
1000mm
516mm
(20.3")
284mm
(11.1")
▲ (39.3")
- Simple robot setup 500mm ▲ (39.3") ▲
■ Six-axis servo drive and 500mm
(19.7")
▲ ▲ ▲
(19.7") ▲ ▲ ▲
1574mm
(62.0") ▲
▲
▲
▲
200mm
Mounting plate
▲
▲
470mm (7.8")
maximizes integration and - File utilities
(18.5") 2405mm 470mm
▲
2258mm
(ISO std) (94.6") (18.5")
▲
(88.9")
reliability 6-MI0 DEPTH20
- Menu windows DIA125 EQSP
▲
- Cause and recovery fault m
▲
increase customers' ease-of- 1m )
00 .1"
m
2m )
diagnostics R3 (118 85 .3"
use R2 (112
▲
(9.9")
Operation box ▲ ▲
▲
▲ ▲
▲
313mm
- Weld controller network 600mm
313mm 600mm (12.3")
Software Features (23.6")
251.5mm
(9.9")
(12.3") (23.6")
251.5mm
(9.9")
support 50 180
313mm
▲
(12.3")
■ Teach pendant uses menu-
- On-line manuals 50 60
driven, plain English
370
▲
▲
▲
paths make setup and pro- (74.8")
▲
▲
▲
▲
▲
■ Tool Frame adjustment Family of S-420i Robots
gramming quick and easy 3109mm 3034mm 770.7mm
▲
▲
(122.4") (119.4") (30.3")
■ Ethernet and RS-232
■ Tool packages allow Model Reach Purpose 240mm
▲
240mm
▲
▲
(23.7")
▲
(23.7")
▲
2.4m (7ft, 11in) Floor mount 950mm
S-420iF
adjustments during robot ■ Remote TCP programming 950mm (37.4")
▲
▲
180mm 180mm
▲
▲
S-420iF 2.85m (9 ft, 4 in) Floor mount (37.4") (7.1")
(7.1")
▲
cycles and jogging control S-420iL 3.0m (9 ft, 9 in) Long arm
▲
▲
▲
▲
▲
1000mm
700mm
2.25m (7 ft, 5 in) Single point 500mm ▲ (39.3")
■ Remote cabinet mounting with S-420iS (27.5")
■ SpotTool soft panel on teach 500mm
▲ 1000mm
(39.3")
(19.7") ▲ ▲ ▲
S-420iW 2.4m (7 ft, 11 in) Heavy duty
pendant reduces hard wired 7m (23 ft.) or 14m (46 ft.) (19.7") ▲ ▲ ▲
▲
▲
S-420iR 3.11m (10 ft, 2 in) Rack std duty 470mm
buttons, switches and signals cables
▲
▲
(18.5") 2852mm
S-420iR 3.11m (10 ft, 2 in) Rack hvy duty Scale
▲
470mm (112.3")
3001mm
lights ■ CSA approval option (18.5") 1/100"
▲
▲
(118.1")
Robotics
Compact arm option for close
and floor space requirements
operator panel reduces aisle
Wrist axis torque and inertia
allows rated motion speed
transformer mounting
with large guns/tools
spacing of units
positioning
routing
■
■
Extension arm, heavy payload
Mechanical Features
Mechanical construction
Distributed I/O blocks to
reduced maintenance
improve reliability
heavy duty types
few components
and a long life
reduce wiring
■
■
cation programming packages
robots is engineered for maximum
high-speed positioning
less than 15 minutes
Basic Description
installations
reliability
another
welding
Benefits
■
■
S-420i Specifications
Items S-420i F S-420i F S-420i F S-420i L S-420i S S-420i W S-420i W S-420i W
Maximum reach 2.40m 2.85m 3.0m 3.00m 2.25m 2.40m 2.85m 2.40m
Load capacity 120kg (265 lbs) 120kg (265 lbs) 120kg (265 lbs) 75kg (165 lbs) 80kg (176 lbs) 155kg (342 lbs) 155kg (342 lbs) 175kg (386 lbs)
Axis 1 Range 360˚ 360˚ 360˚ 360˚ 360˚ 360˚ 360˚ 360˚
Speed 100˚/sec 90˚/sec 90˚/sec 100˚/sec 70˚/sec 90˚/sec 90˚/sec 90˚/sec
Axis 2 Range 142° 142° 142° 142° 142° 142° 142° 142°
Speed 110°/sec 100°/sec 110°/sec 110°/sec 110°/sec 100°/sec 100°/sec 100°/sec
Axis 3 Range 135˚ 135˚ 135˚ 135˚ 135˚ 135˚ 135˚ 135˚
Speed 100˚/sec 90˚/sec 75˚/sec 100˚/sec 100˚/sec 75˚/sec 75˚/sec 75˚/sec
Axis 4 Range 600° 600° 600° 600° 480° 600° 600° 600°
Speed 210˚/sec 210˚/sec 210˚/sec 210˚/sec 210˚/sec 140˚/sec 140˚/sec 140˚/sec
Axis 5 Range 260° 260° 260° 260° 260° 260° 260° 260°
Speed 150°/sec 150°/sec 150°/sec 150°/sec 150°/sec 110°/sec 110°/sec 110°/sec
Axis 6 Range 720° 720° 720° 720° 720° 720° 720° 720°
Speed 210°/sec 210°/sec 210°/sec 210°/sec 210°/sec 140°/sec 140°/sec 140°/sec
Moments Axis 4 60kgf • m 60kgf • m 60kgf • m 53kgf • m 54kgf • m 86kgf • m 86kgf • m 90kgf • m
Axis 5 60kgf • m 60kgf • m 60kgf • m 53kgf • m 54kgf • m 86kgf • m 86kgf • m 90kgf • m
Axis 6 30kgf • m 30kgf • m 30kgf • m 27kgf • m 28kgf • m 50kgf • m 50kgf • m 52kgf • m
Load Axis 4 306kgf • cm • sec2 306kgf • cm • sec2 306kgf • cm • sec2 387kgf • cm • sec2 376kgf • cm • sec2 486kgf • cm • sec2 486kgf • cm • sec2 472kgf • cm • sec2
Inertia Axis 5 306kgf • cm • sec2 306kgf • cm • sec2 306kgf • cm • sec2 387kgf • cm • sec2 376kgf • cm • sec2 486kgf • cm • sec2 486kgf • cm • sec2 472kgf • cm • sec2
Axis 6 77kgf • cm • sec2 77kgf • cm • sec2 77kgf • cm • sec2 104kgf • cm • sec2 100kgf • cm • sec2 164kgf • cm • sec2 164kgf • cm • sec2 158kgf • cm • sec2
Repeatability ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016")
Mounting method Upright Upright Upright Upright Upright Upright Upright Upright
Mechanical brakes All axes All axes All axes All axes All axes All axes All axes All axes
Weight 1500 kg (3300 lbs) 1600 kg (3520 lbs) 1600 kg (3520 lbs) 1600 kg (3520 lbs) 1500 kg (3300 lbs) 1500 kg (3300 lbs) 1600 kg (3520 lbs) 1500 kg (3300 lbs)
Items S-420i R S-420i R S-420i R FANUC Robotics offers complete
S-420i application dressout featuring:
Maximum reach 3.11m 3.11m 3.11m
Load capacity 100kg (220 lbs) 120kg (265 lbs) 155kg (342 lbs)
■ Maintainability
Axis 1 Range 360˚ 360˚ 360˚ ■ Reliability
Speed 100˚/sec 90˚/sec 90˚/sec ■ Unique configurations
Axis 2 Range 123° 123° 123°
Speed 100°/sec 90°/sec 100°/sec
Axis 3 Range 106˚ 106˚ 106˚
Speed 100˚/sec 90˚/sec 75˚/sec
Axis 4 Range 600° 600° 600°
Speed 210˚/sec 210˚/sec 140˚/sec Robotics
Axis 5 Range 260° 260° 260°
FANUC Robotics North America Charlotte, NC Toronto, Canada
Speed 150°/sec 150°/sec 110°/sec 3900 W. Hamlin Road Phone (704) 596-5121 Phone (905) 812-2300
Axis 6 Range 720° 720° 720° Rochester Hills, MI 48309-3253
Speed 210°/sec 210°/sec 140°/sec Phone (248) 377-7000 Chicago, IL Montréal, Québec
Fax (248) 377-7366 Phone (630) 876-5600 Phone (450) 492-9001
Moments Axis 4 57kgf • m 60kgf • m 86kgf • m
Axis 5 57kgf • m 60kgf • m 86kgf • m Literature Request Cincinnati, OH Mexico City, Mexico
Axis 6 29kgf • m 30kgf • m 50kgf • m 1-800-47-ROBOT Phone (513) 754-2400 Phone (52-5) 611-5998
Load Axis 4 337kgf • cm • sec2 306kgf • cm • sec2 486kgf • cm • sec2 Los Angeles, CA Aguascalientes, Mexico
Inertia Axis 5 337kgf • cm • sec2 306kgf • cm • sec2 486kgf • cm • sec2 Phone (949) 595-2700 Phone (52-4) 973-0453
Axis 6 86kgf • cm • sec2 77kgf • cm • sec2 164kgf • cm • sec2
Toledo, OH Sao Paulo, Brazil
Repeatability ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") Phone (419) 866-0788 Phone (55)(11) 3955-0599
Mounting method Rack Rack Rack
Mechanical brakes All axes All axes All axes web page: http:/ /www.fanucrobotics.com
Weight 1700 kg (3740 lbs) 1700 kg (3740 lbs) 1700 kg (3740 lbs) ©1998 FANUC Robotics North America, Inc. All rights reserved. OM 05-98 FANUC ROBOTICS LITHO IN U.S.A.