Rob

otic

sR-2000iA™ SeriesBasic Description

The R-2000iA series is FANUCRobotics’ latest-generation, heavy-payload, high-performance family of industrial robots. The R-2000iArepresents an advanced evolution of the company’s industry-leading S-430i series of robots. Whilemaintaining many of the features ofthe S-430i, the R-2000iA provideseven higher value through improvedperformance, reliability andmaintainability. It features the SYSTEM R-J3iB intelligent robotcontrol system.

R-2000iA, the Solution for:

■ Automotive spot welding andgeneral assembly

■ General industrial applications

■ Part transfer

■ Material removal

■ Dispensing

■ Machine loading

Benefits

■ Slim arm and wrist assembliesminimize interference withsystem peripherals and allowoperation in confined spaces.

■ Large allowable wrist momentsand inertias meet a variety ofheavy handling challenges.

■ Many process attachment points make integration easier.

■ Stationary outer arm simplifieshose and cable dressout,prolonging service life.

■ Proven, reliable FANUC servodrives provide highest uptimeand productivity.

■ Longer maintenance intervalsequate to lower operating costs.

■ Fewer mechanical componentsreduce down time, increasemean time between failure(MTBF) and minimize spare part requirements.

■ High-performance motionyields fast cycle times andhigh throughput.

■ Wrist flange and basemounting are identical to theS-430i, allowing for seamlessbackward compatibility.

■ R-2000iA/165F can reach allareas of S-430iW/165 workenvelope, makingreplacement easy.

Features

Mechanical:

■ Large work envelope withability to reach overhead and behind

■ 6 axes of motion

■ Slim profile design

■ RV reducers for all axes

■ Elimination of counterweightincreases availableworkspace

■ Process/application cablesrouted through the arm

■ No motors at wrist

Control:

■ B-size cabinet

■ Quick change amplifier (<5 min)

■ Fast boot-up time

■ Easy connections to a varietyof I/O, including a number ofdistributed I/O networks

Software:

■ Specific tool packages forvarious applications

Options

■ Three faceplate types

■ Electrically insulated faceplate

■ Internal I/O cables

■ Harsh environment protection

■ Adjustable hard stops for J1-J2-J3

■ Precision baseplate formounting

REAR SIDEINTERFERENCE

AREA

J5-AXISROTATIONCENTER

215

1635

225

814

312 1075

670

710

0°253

R3001

R583

+180°–180°

R-2000iA/125L

FrontBack

Top

Side

REAR SIDEINTERFERENCE

AREA

J5-AXISROTATIONCENTER

225

7101075

215

1280

670

+180°–180°

R583

0°

R2650

814

253

312

434 348

R-2000iA/165F

FrontBack

Top

Side

+180°–180°

R583

1110

225

814

312REAR SIDEINTERFERENCE

AREA

0°300

R2483

260

1075

670

J5-AXISROTATIONCENTER

710

R-2000iA/200F

FrontBack

Top

Side

M10X20.0 DP.TYP.(6) EQUALLY SPACEDON 125.0 DIA. B.C.

10.000 DIA. DWL. X 20.0 DP.TYP. (2) EQUALLY SPACEDON 125.0 DIA. B.C.

145

1159

240R167.7

BA

A. 80B. 160

+0.015–0.000

10.000 DIA. DWL. X 20.0 DP.TYP.(2) EQUALLY SPACEDON 125.0 DIA. B.C.

+0.015–0.000

M10x20.0 DO.TYP.(10) AS SHOWNON 125.0 DIA. B.C.

170

130

R189.3

A. 80B. 160

260

9

A B

M10x16.0 DP.TYP.(6) EQUALLY SPACEDON 125.0 DIA. B.C.

138

1159

215

R161

BA

A. 80B. 160

10.000 DIA. DWL. X 12.0 DP.TYP. (2) EQUALLY SPACEDON 125.0 DIA. B.C.

+0.015–0.000

ISO Flange Wrist 165F, 165R, 125L

ISO Flange Wrist 165CF

ISO Flange Wrist 200, 200R, 200FO

24.0 DIA. THRU &38.0 DIA. C'BORE 5.0 DP.TYP.(8) MOUNTING HOLES

540

270

460

230

460

230

270

423

540 610

348

Footprint (All models)

Front

Note: Dimensions shown in millimeters.

REAR SIDEINTERFERENCE

AREA

J5-AXISROTATION

CENTER

600

720 1075 225

1280

215

1885

+180°–180°

R721

0°

R3095

R-2000iA/165R

R-2000iA/200FO

FrontBack

Top

Side

REAR SIDEINTERFERENCE

AREA

J5-AXISROTATION

CENTER

600

720 1075 225

1110

260

1885

+180°–180°

R721

0°

R2928

R-2000iA/200R

FrontBack

Top

Side

REAR SIDEINTERFERENCE

AREA

J5-AXISROTATIONCENTER

600

250

463

240620210

550

+180°

R355

0°

R1429

–180°

R-2000iA/165CF

FrontBack

Top

Side

+180°–180°

0°

R2650

1110 260

J5-AXISROTATIONCENTERREAR SIDE

INTERFERENCEAREA

648

225

479 1075

670

434 348

710

FrontBack

Top

Side

Isometric 165F

Axes 6 6 6 6 6 6 6

Payload - Wrist (kg) 165 200 125 165 200 165 200

- J3 Arm (kg) 25 25 20 25 0 25 25

- J2 Base (kg) 550 550 550 550 550 550 550

Reach (mm) 2650 2483 3001 3095 2928 1429 2650

Repeatability (mm) ± 0.3 ± 0.3 ± 0.3 ± 0.3 ± 0.3 ± 0.3 ± 0.3

Interference radius (mm) 583 583 583 721 721 355 583

Motion range J1 360 360 360 360 360 360 360(degrees) J2 135 135 135 185 185 165 135

J3 362 367 352 365 365 250 350.4

J4 720 720 720 720 720 720 720

J5 250 250 250 250 250 250 250

J6 720 720 720 720 720 720 720

Motion speed J1 105 90 105 105 90 110 90(degrees/sec.) J2 105 85 105 90 85 90 85

J3 105 90 105 105 90 100 90

J4 130 110 170 130 110 130 110

J5 130 110 170 130 110 130 110

J6 210 155 260 210 155 210 155

Wrist moment J4 94 130 60 94 130 93 130(kgf•m) J5 94 130 60 94 130 93 130

J6 47 70 35 47 70 46 70

Wrist inertia1 J4 800 1200 600 800 1200 900 1200/2200(kgf•cm•s2) J5 800 1200 600 800 1200 900 1200/2200

J6 410 600 230 410 600 450 600/2000

Mechanical brakes All axes All axes All axes All axes All axes All axes All axes

Mechanical weight (kg) 1210 1240 1230 1540 1570 1050 1310

Mounting method Floor Floor Floor Shelf Shelf Floor Floor

Installation environment

Ambient temperature °C 0 to 45

Humidity Normally: 75% or lessShort term (within a month): 95% or less

No condensation (No dew or frost allowed)

Vibration (m/s2) 4.9 or less (0.5G or less)

IP Rating Wrist & J3 arm IP67, rest IP54 (IP55 optional)

Purpose Floor Heavy duty Long arm Shelf Heavy duty Compact Floor mount -mount flooor mount floor mount mount shelf mount floor mount forward option

R-2000iA SpecificationsItems /165F /200F /125L /165R /200R /165CF /200FO

FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada3900 W. Hamlin Road (704) 596-5121 (905) 812-2300Rochester Hills, MI 48309-3253(248) 377-7000 Chicago, IL Montréal, QuébecFax (248) 276-4133 (847) 898-6000 (450) 492-9001

For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico1-800-47-ROBOT (513) 754-2400 52 (449) 910-8000

Los Angeles, CA Sao Paulo, Brazil(949) 595-2700 (55) (11) 3955-0599

marketing@fanucrobotics.com Toledo, OHwww.fanucrobotics.com (419) 866-0788©2003 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRNA-5/03

Notes:

(1) Allowable load inertia at wrist can be switched by software parameters.