DualARM System

Basic Description
FANUC Robotics DualARM System allows two robots and a positioner to be controlled in a single program with coordinated motion and arc start synchronization. The system provides the optimum solution for dual robot processing on a single positioner. The DualARM System includes hardware and software designed to simplify workcell integration. Setup time and process development are made easier through intelligent control of two ARC Mate series robots and positioners.

Features and Benefits

The DualARM System tightly integrates two ARC Mate robots controlled through one CPU and teach pendant, providing a common interface for the entire system. Direct entry of welding data into the program provides localized weld control, ease of use and ensures single point control. Multiple-Equipment ArcStart commands in one program (up to four) simplifies programming. Automatic Fault Recovery reduces down time by automatically moving the faulted robot to a service location without touching the teach pendant. Optional Lincoln Power Wave series with ArcLink interface allows setup of the entire welding system through a single teach pendant. Selectively disabling motion of one single robot increases operator safety during attended program verification.
One E-stop I/O interface reduces e-stop circuit complexity and safety hardware costs. Expanded user operator panel signals and elimination of interference zone I/O simplify cell interface and reduces hardware. Multi-group motion feature allows multiple motion groups to operate simultaneously while multi-tasking. Arc start synchronization ensures that both robots have established an arc before motion starts along the weld path, improving weld quality. Single CPU means reduced expense for software options with one option being used for two robots. Common Ethernet connection for both robots simplifies offline connectivity. Single program control of all motion groups eliminates need for cumbersome, timed moves, providing better motion control, fewer taught points and improved weld quality.
Programming time is reduced with the group mask exchange utility, allowing programs created for one postioner to be automatically created for a second positioner. Tightly-integrated, auxiliary axes allow both weld torches to be repositioned faster during part repositioning, reducing cycle time. All axes in the DualARM System are controlled through a single teach pendant improving safety for operators and reducing the risk of damage to tooling, end effectors, robots and parts. Single program motion control allows parts to be programmed and touched up easily by stepping forward and backward through teach pendant programs during program verification. Track and mirror jogging of robots allows for fast creation and editing of dual robot programs.

DualARM System Examples

DualARM System Software Specifications

Included Software

Multi-robot Coordinated Motion Multi-equipment Multi-group Motion Two Robot Libraries Track/Mirror Jog

Optional Software

Data Monitor (1) Condition Monitor Touch Sensing TorchMate 3 R-J3iB Integrated PMC Error Code Output Extended Axes Detached Jog Password Protection Domain Name Server Menu Utilities Web Server Servo Index Interference Check Local Stop Ethernet-based Options All Standard I/O Products
Notes: (1) Data Monitor records all data relative to robot 1 (time or distance).
Robot-to-Robot Coordinated Motion
FANUC Robotics America, Inc. 3900 W. Hamlin Road Rochester Hills, MI 48309-3253 (248) 377-7000 Fax (248) 377-7362
For sales or technical information, call:
Charlotte, NC (704) 596-5121 Chicago, IL (847) 898-6000 Cincinnati, OH (513) 754-2400 Los Angeles, CA (949) 595-2700
Toronto, Canada (905) 812-2300 Montral, Canada (450) 492-9001 Aguascalientes, Mexico 52 (449) 922-8000 Sao Paulo, Brazil (55) (11) 3619-0599

1-800-47-ROBOT

marketing@fanucrobotics.com www.fanucrobotics.com
2006 FANUC Robotics America, Inc.
Toledo, OH (419) 866-0788
FANUC ROBOTICS LITHO IN U.S.A. FRA-4/06

All rights reserved.

Media Contact: Cathy Powell Marketing Communications FANUC Robotics America Phone: (248) 377-7570 cathy.powell@fanucrobotics.com FANUC Robotics Demonstrates Compact and Flexible Arc and Spot Welding at Automate 2011

For Immediate Release

ROCHESTER HILLS, Mich., March 21, 2011 FANUC Robotics America will demonstrate compact and flexible arc and spot welding with the R-1000iA highspeed, compact robot and dual ARC Mate 100iC welding robots with a two-axis positioner at Automate 2011, held March 21-24, at McCormick Place, Chicago, booth #648. At the show, two ARC Mate 100iC robots use iRVision to locate welding paths on a toolbox mounted to a FANUC two-axis positioner. The dual-arm robots and the positioner simulate welding with coordinated motion. The R-1000iA/80F with a lightweight spot welding servo gun performs simulated spot welding on the toolbox. The robots use iRVision Weld Tip Inspection to verify the condition of the welding tips. Learning Vibration Control (LVC) is also being demonstrated, which minimizes vibration and helps decrease cycle time. iRVision Tip Inspection software verifies that welding tips are in good condition, and properly aligned to help arc and spot welding customers reduce product issues and scrap/rework costs caused by poor tip conditions, said Mike Eckert, product manager, FANUC Robotics. LVC is a tool for improving robot performance by measuring and adjusting the application path, added Eckert. With the LVC system, the software measures the path characteristics with an accelerometer mounted to the EOAT. After the path is run several times, allowing the LVC system to collect the path data and download it to the controller, the robot operates according to the LVC data with less vibration, which can improve cycle time. R-1000iA Intelligent Robot The R-1000iA/80F has an 80kg payload, and the R-1000iA/100F has a 100kg payload. Both robots feature a slim design, allowing customers to reduce the overall size of their automation system by using more robots in each work cell, or making work cells with a single robot significantly smaller. The narrow footprint -more-
FANUC Arc and Spot Welding

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of the R-1000iA also allows for easy access to adjacent robots, fixtures and work pieces. The R-1000iA can be floor or invert mounted, and has a large work envelope. The compact design is lighter and faster than conventional spot welding robots, allowing faster cycle times and lower energy usage, said Joe Gazzarato, engineering director, FANUC Robotics America. These benefits combined with a very compact footprint, generous payload, and world-class motion performance makes the R-1000iA an ideal choice for customers looking to maximize manufacturing productivity. R-1000iA Features and Benefits Very small footprint reduces size of automation system. High-density installations allow work to be completed in fewer stations. Single-robot work cells can be designed to fit in tight spaces. High-speed operation minimizes robot cycle times. Simple serial-link configuration with large operating envelope (including rear and downward side). Upright or invert mounting accommodates a wide range of work areas. Substantial wrist load ratings support the latest compact servo weld guns. IP67 rated wrist allows operation in wet conditions. Right sized for 80kg or 100kg applications reduces energy usage. Optional Solution Arm dressout package with internal cable routing for spot welding processes. The latest R-30iA robot controller offers a variety of intelligent functions including iRVision, Force Sensing, ROBOGUIDE, Robot Link, and Collision Guard.
The R-1000iA is more energy efficient than robots with larger payloads, added Gazzarato. Manufacturers using much smaller work cells that require less conveyance equipment, sensors, and control panels will realize an added energy advantage provided by smaller automation systems. This equates to a greener facility using less energy for costly utilities such as lighting, heating, and cooling. iRVision Tip Inspection Features and Benefits iRVision Tip Inspection error proofs weld tips to reduce product issues and scrap/rework costs caused by poor tip conditions. It offers a variety of advantages for arc and spot welding, including: -more-
FANUC Arc and Spot Welding Arc Welding: Measures contact tip wear Maintains an accurate tool center point (TCP) Calculates maintenance cycle Improves weld quality Spot Welding: Measures tip wear Measures and verifies alignment Verifies tip dress Verifies new cap and cap type ARC Mate 100iC intelligent welding robot

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FANUC Robotics six-axis, ARC Mate 100iC intelligent welding robot features a compact design, class-leading operation efficiency, speed, load capacity, and enhanced performance for welding parts of all shapes and sizes. Compared to traditional dress packages, which are mounted externally on the robots arm, the ARC Mate 100iCs internal routing allows the dress package to follow the motion range of the robot, simplifying programming and eliminating the worries of bending, snagging or breaking cables. FANUC Force Sensing FANUCs Force Sensors are fully integrated into the CPU of every FANUC R30iA controller. Available in four models ranging from 10kg to 250kg, FANUC Force Sensors provide the most robust and reliable solutions in the market. A single source solution developed and supported by FANUC, the FANUC Force Sensors offer easy setup and operation for factory operations requiring part matching, meshing, inserting, force loading and deburring. FANUC iRVision FANUCs iRVision is a truly integrated, plug-and-go vision system that runs on the standard CPU of every FANUC R-30iA controller without any additional hardware. A single source solution developed and supported by FANUC, iRVision offers easy setup and operation for factory environments requiring 2D and 3D guidance, error proofing, visual tracking, and quality control all with FANUCs world-renowned reliability.

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FANUC Robotics America designs, engineers and manufactures industrial robots and robotic systems for a wide range of applications including arc and spot welding, material handling (machine tending, picking, packing, palletizing), material removal, assembly, paint finishing and dispensing. The company also provides application-specific software, controls, vision products, and complete support services. After 29 years of success, FANUC Robotics maintains its position as the leading robotics company in the Americas. A subsidiary of FANUC Corporation in Japan, the company is headquartered in Detroit, and has facilities in Chicago; Los Angeles; Charlotte; Cincinnati; Toronto; Aguascalientes, Mexico; and Sao Paulo, Brazil. Over 100,000 FANUC robots are installed in the Americas, and 220,000 worldwide. Contact FANUC Robotics at www.fanucrobotics.com or by calling 1-800-iQ-ROBOT, option 5. Also visit us on YouTube, Facebook and Twitter. ###