200iC Series & R-30iATM Mate Controller - FANUC America

1 LR Mate 200iC Series & R-30iATM Mate ControllerBasic DescriptionThe new LR Mate 200iC Series isFANUC Robotics next generation,electric servo-driven mini- robot seriesoffering best-in-class performance ina light, efficient, accurate and nimble(LEAN) package. The new LR Mate200iC s tabletop size, slimmer armprofile, lighter weight, highest dexterity,faster sustained speed and superiorpositioning accuracies make it theperfect solution for countless industrialand commercial Mate 200iC ,the Solution for:n Machine tendingn Material handlingn Assemblyn Picking and packingn Part washingn Material removaln Dispensingn Testing and samplingn Education and entertainment Features and Benefitsn 5 or 6 degrees of freedomn mm ( 200iC & 200iC /5H) and mm ( 200iC /5L)repeatability at full payload and full speed within entire robot work envelopen Up to 5 kg payload at wristn Best-in-class wrist moment and inertias for real-world EOATs and workpiecesn Pneumatic and electrical (6 RDI)

2 Connections for EOAT conveniently located on J4n Two, double-acting solenoid valves integrated in forearm simplify EOAT dressoutn Highest joint speeds maximize throughputn Tabletop size, slim wrist, and small footprint permit operation in tight work spacesn robot can flip over backwards for a larger work envelopen Enclosed mechanical design eliminates cables and hose snaggingn Upright, angle, wall or invert mounting increases installation flexibilityn Higher rigidity and the most advanced servo technology enable smooth motion without vibration in high speed operationn Advanced communication capabilties via standard Ethernet and serial connectionsn Integrated PMC provides ladder-logic control for peripheral devicesn Lighter and more compact than its predecessorn The arm profile cross-section area is 42% smaller than the previous generation LR Mate 200iBn Same

3 Footprint and wrist bolt pattern as previous generation for easy upgradesRobot Reliabilityn The latest generation of a proven designn Sealed bearings and brushless AC motorsn Standard C size batteries for encoder backupn Grease fittings on all lubrication points for quick and easy preventive maintenanceRobot and Controller Otionsn 110 VAC single phase input voltagen 360-degree J1 axis rotationn Fail-safe mechanical brakes on all jointsn Available R-30iA Mate rack mount compact Controller fits in standard 19 electronics rack and is ideal for climate controlled applications such as food, lab, pharmaceutical, medical and educationn iPendantTM, a color, Internet-ready teach pendant for even easier programming and custom cell user interface designn Extended networked I/O capabilities.

4 I/O Link, DeviceNet, Profibusn Supports a variety of intelligent functions including iRVision (built-in vision-ready Controller ) and force sensingn Available IP67 rating for the entire robot allows it to withstand harsh environmentsn 7 m or 14 m Controller -to- robot connection cablesn Available Class 100 and Class 10 clean-room option on 200iC /5C and 200iC /5 LCn Available 200iC /5F food grade robot for primary and secondary food handlingUnique Software Optionsn Patented real-time singularity avoidancen Collision protectionn Internet connectivityn KAREL programming languagen Many more software solutions for control.

5 Communication, and motionNote: LR Mate and iRVision are reg-istered trademark of FANUC Mate 200iC , /5H, /5WP, /5C, /5F and /5 HSLR Mate 200iC IsometricFootprint (All models)Wrist (All models)LR Mate 200iC /5L IsometricLR Mate 200iC /5L, /5LC 20 40 70M5 x 8 DPTYP(4) EQ SPC D BC45 6380 5 DOWELL x 7 DPTYP(1) BC24095951908080160205 11 THRU(4) PLC sTop+170 170 +180 OPTION 180 OPTIONR276R18111 3M5 AIR PORTSR8920 7575400330742170276892410801147393104123 251128 FrontSideTopNote: The dimensions in parenthese are applicable to LR Mate 200iC /5F model only.

6 Dimensions are shown in millimeters. Detailed CAD data are available upon request.+170 170 +180 OPTION 180 OPTION0 R246R181109M5 AIR PORTSR70475320 8095975300330246228704170 513251128123 104(R248)( ) (711) Speed100% DutyLR Mate 200> 80 cpm(1 kg)LR Mate 200> 90 cpm(1 kg)max. payl oad5 kgmmmmCycl e timeHigh Speed100% DutyLR Mate 200iC > 80 cpm(1 kg)LR Mate 200iC /5H> 90 cpm(1 kg)max. payl oad5 kg30025mm25 Cycl e timeR-30iA Mate Controller DimensionsR-30iA Mate (rack mount) Controller DimensionsItemsExternal Dimensions (mm)- 470(W) x 320(D) x 400(H) for RIA - Option: 590(W) x 320(D) x 400(H) for CE - Option: 370(W) x 455(D) x 200(H) for rack mount compactOperating Environment- Ambient temperature: 0 - 45 C (R-30iA Mate) - Ambient temperature: 0 - 30 C (R-30iA Mate rack mount) Humidity: 75% RH or less.

7 Short term (within a month): 95% or less Vibration: or lessPower Supply- 200-230 VAC Single Phase; 10%, -15%, 50/60 Hz 1Hz - Option: 120 VAC Single Phase (requires top or side cabinet)Power Consumption- KW (average), KVA (maximum)CPU- Multi-processor architecture (separate motion and communication) with real-time clock/calendarControlled Axes- 24 (up to 5 motion groups for R-30iA Mate)Serial/ host communications- One 100 Base-TX/10 Base-T Ethernet port with RJ-45 connector - One RS-232-C / RS-485 portTeach Pendant- Color graphic iPendantTM with available touch screen option (teach pendant is optional for LR Mate 200iC /5H SCARA Eliminator)

8 IRVision - Built-in camera interface for 2-D vision applications Optional: multiplexer for multiple 2-D cameras and 3-D visionBuilt-in I/O- Up to 28 digital inputs / 24 digital outputs 24 VDC (external 24 VDC power supply is required for digital outputs)Safety Features- Dual Check Safety (DCS) circuitMemory Card- PCMCIA type 2 interface: ATA flash disk (SanDisk compatible)Mass (kg)- 55 (R-30iA Mate RIA)R-30iA Mate Controller Options:I/O sub-systems- Model A I/O (remote mounted modular rack- 5 or 10 slots) - Model B I/O (distributed DIN rail mounted) - FANUC I/O linkRemote I/O sub-systems- DeviceNet (slave up to single channel) - Profibus DP slave/master - CC-Link (slave) - Ethernet I/O (EGD and EIP Adapter/Scanner)

9 Integrated PMC- Ladder logic control for peripheral devices - Including ladder monitor with hot edit on iPendantiRVision - Remote mounted multiplexer to support up to four 2-D cameras and/or four 3-D laser unitsForce Sensing- FS-10iA force sensor interface option Rated load capacity: 10 kgfIntelligent Parts Feeder- Flexible turn-key feeder package driven off R-30iA Mate Controller - Includes auxiliary axis & iRVision/2D vision packageServo-Driven RTU Package- Standard and 1m linear ball-screw driven RTU with Aux. AxisR-30iA Mate Controller SpecificationsLR Mate 200iC Series robot SpecificationsItemsLR Mate 200iC LR Mate 200iC /5WP LR Mate 200iC /5C(2)LR Mate 200iC /5 HLR Mate 200iC /5 LLR Mate 200iC /5LC (2)LR Mate 200iC /5F LR Mate 200iC /5 HSAxes6565 Payload - wrist (kg)5555 Reach (mm)704704892711 (/5F) / 704 (/5HS)Repeatability (mm) Radius (mm)181181181181 Motion range (degrees)J1340 (360 option)340 (360 option)340 (360 option)340 (360 option)

10 J2200200230200J3388388373388J43802403802 40J5240720240720J6720-720-Motion speed (degrees/s)J1350350270350J2350350270350J 3400400270400J4450450450450J545072045012 00J6720-720-Wrist moments N m (kgf m) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )-Wrist load inertia(kg m2) brakes All axes J1, J2 & J3 (all axes option)All axesJ1, J2 & J3(all axes option)Mechanical weight (kg)27262926 Mounting method(1)Floor, ceiling, angle and wallInstallation environmentTemperature ( C)0 to 45 HumidityNormally: 75% or lessShort term (within a month): 95% or less No condensationVibration m/s2 (G) or lessIP Rating(s)IP 67 entire robot (option)Not