LR Mate 200iC Series & R-30iA Mate Controller

Basic Description

The new LR Mate 200iC Series is FANUC Robotics next generation, electric servo-driven mini-robot series offering best-in-class performance in a light, efficient, accurate and nimble (LEAN) package. The new LR Mate 200iCs tabletop size, slimmer arm profile, lighter weight, highest dexterity, faster sustained speed and superior positioning accuracies make it the perfect solution for countless industrial and commercial applications.
LR Mate 200iC, the Solution for:

n n n n n n n n n

Machine tending Material handling Assembly Picking and packing Part washing Material removal Dispensing Testing and sampling Education and entertainment

Features and Benefits

5 or 6 degrees of freedom 0.02 mm (200iC & 200iC/5H) and 0.03 mm (200iC/5L)repeatability at full payload and full speed within entire robot work envelope Up to 5 kg payload at wrist Best-in-class wrist moment and inertias for real-world EOATs and workpieces Pneumatic and electrical (6 RDI) connections for EOAT conveniently located on J4 Two, double-acting solenoid valves integrated in forearm simplify EOAT dressout Highest joint speeds maximize throughput Tabletop size, slim wrist, and small footprint permit operation in tight work spaces Robot can flip over backwards for a larger work envelope Enclosed mechanical design eliminates cables and hose snagging Upright, angle, wall or invert mounting increases installation flexibility
Note: LR Mate and iRVision are registered trademark of FANUC LTD.
Higher rigidity and the most advanced servo technology enable smooth motion without vibration in high speed operation Advanced communication capabilties via standard Ethernet and serial connections Integrated PMC provides ladder-logic control for peripheral devices Lighter and more compact than its predecessor The arm profile cross-section area is 42% smaller than the previous generation LR Mate 200iB Same footprint and wrist bolt pattern as previous generation for easy upgrades

Robot Reliability

n n n n
The latest generation of a proven design Sealed bearings and brushless AC motors Standard C size batteries for encoder backup Grease fittings on all lubrication points for quick and easy preventive maintenance
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 education iPendantTM, a color, Internet-ready teach pendant for even easier programming and custom cell user interface design Extended networked I/O capabilities: I/O Link, DeviceNet, Profibus Supports a variety of intelligent functions including iRVision (built-in vision-ready controller) and force sensing Available IP67 rating for the entire robot allows it to withstand harsh environments 7 m or 14 m controller-to-robot connection cables Available Class 100 and Class 10 cleanroom option on 200iC/5C and 200iC/5LC Available 200iC/5F food grade robot for primary and secondary food handling

Unique Software Options

n n n n n
Robot and Controller Otions
110 VAC single phase input voltage 360-degree J1 axis rotation Fail-safe mechanical brakes on all joints
Patented real-time singularity avoidance Collision protection Internet connectivity KAREL programming language Many more software solutions for control, communication, and motion

Dimensions LR Mate 200iC, /5H, /5WP, /5C, /5F and /5HS Top
+170 +180 OPTION 180 OPTION 170 M5 AIR PORTS R0 R246 (R248)

LR Mate 200iC Isometric

320 (327.5) 80 104

Footprint (All models)

95 190

80 160

LR Mate 200iC/5L, /5LC Top

R276 R181 +170

80 205

11 THRU (4) PLCs

Wrist (All models)
5 DOWELL x 7 DP TYP(1) 31.5 BC
+180 OPTION 180 OPTION M5 AIR PORTS
M5 x 8 DP TYP(4) EQ SPCD 31.5 BC
LR Mate 200iC/5L Isometric

330 276

Note: The dimensions in parenthese are applicable to LR Mate 200iC/5F model only. Dimensions are shown in millimeters. Detailed CAD data are available upon request.
LR Mate 200iC Series Robot Specifications
Axes Payload - wrist (kg) Reach (mm) Repeatability (mm) Interference Radius (mm) Motion range (degrees) J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6 J4 J5 J6 J4 J5 J6
R-30iA Mate Controller Dimensions Top
LR Mate 200iC LR Mate 200iC/5L LR Mate 200iC/5F LR Mate 200iC/5WP LR Mate 200iC/5C(2) LR Mate 200iC/5H LR Mate 200iC/5LC (2) LR Mate 200iC/5HS
704 0.340 (360 option) 720 11.9 (1.21) 11.9 (1.21) 6.7 (0.68) 0.3 0.3 0.1 All axes 0.340 (360 option) 720 11.9 (1.21) 6.7 (0.68) 0.3 0.1 J1, J2 & J3 (all axes option) 892 0.340 (360 option) 720 11.9 (1.21) 11.9 (1.21) 6.7 (0.68) 0.3 0.3 0.1 All axes 711 (/5F) / 704 (/5HS) (360 option) 1200 11.9 (1.21) 4.0 (0.41) 0.3 0.036 J1, J2 & J3 (all axes option) 26 0.02

Isometric

Motion speed (degrees/s)
Wrist moments Nm (kgfm) Wrist load inertia (kgm2) Mechanical brakes

375 400

446 470

190 320

Mechanical weight (kg) Mounting method(1) Installation environment Temperature (C) Humidity
Floor, ceiling, angle and wall 0 to 45 Normally: 75% or less Short term (within a month): 95% or less No condensation 0.5 or less IP 67 entire robot (option)
Vibration m/s2 (G) IP Rating(s)

High Speed

C yc le time C yc le time max. payload 5 kg
Note: (1) J1 and J2 axes motion range will be limited for angle and wall mount installations. (2) LR Mate 200iC/5C and /5LC are rated for Class 100 clean-room environment. Clean-room Class 10 is available as an option.
R-30iA Mate Controller Specifications
External Dimensions (mm) Operating Environment - 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 compact - Ambient temperature: 0 - 45 C (R-30iA Mate) - Ambient temperature: 0 - 30 C (R-30iA Mate rack mount) Humidity: 75% RH or less; Short term (within a month): 95% or less Vibration: 0.5G or less - 200-230VAC Single Phase; 10%, -15%, 50/60 Hz 1Hz - Option: 120VAC Single Phase (requires top or side cabinet) - 0.5 KW (average), 1.2 KVA (maximum) - Multi-processor architecture (separate motion and communication) with real-time clock/calendar - 24 (up to 5 motion groups for R-30iA Mate) - One 100 Base-TX/10 Base-T Ethernet port with RJ-45 connector - One RS-232-C / RS-485 port - Color graphic iPendantTM with available touch screen option (teach pendant is optional for LR Mate 200iC/5H SCARA Eliminator) - Built-in camera interface for 2-D vision applications Optional: multiplexer for multiple 2-D cameras and 3-D vision - Up to 28 digital inputs / 24 digital outputs 24VDC (external 24VDC power supply is required for digital outputs) - Dual Check Safety (DCS) circuit - PCMCIA type 2 interface: ATA flash disk (SanDisk compatible) - 55 (R-30iA Mate RIA)

300 mm 25 mm

L R Mate 200 200iC > 80 c pm (1kg) L R Mate 200 200iC/5H > 90 c pm (1kg)

100% Duty

Power Supply Power Consumption CPU Controlled Axes Serial/ host communications Teach Pendant iRVision Built-in I/O Safety Features Memory Card Mass (kg) I/O sub-systems
R-30iA Mate (rack mount) Controller Dimensions

Top Side

R-30iA Mate Controller Options:
- Model A I/O (remote mounted modular rack- 5 or 10 slots) - Model B I/O (distributed DIN rail mounted) - FANUC I/O link
Remote 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) Integrated PMC iRVision Force Sensing Intelligent Parts Feeder Servo-Driven RTU Package - Ladder logic control for peripheral devices - Including ladder monitor with hot edit on iPendant - Remote mounted multiplexer to support up to four 2-D cameras and/or four 3-D laser units - FS-10iA force sensor interface option Rated load capacity: 10 kgf - Flexible turn-key feeder package driven off R-30iA Mate controller - Includes auxiliary axis & iRVision/2D vision package - Standard 0.5m and 1m linear ball-screw driven RTU with Aux. Axis
LR Mate 200iC Series Application Examples
LR Mate 200iC Ideal for variety of material handling and machine tending applications!!
Cleanroom LR Mate 200iC/5C - the right choice for semiconductors & pharmaceutical applications!
Food Grade LR Mate 200iC/5F - The rugged solution for wipe-down sanitization environment in primary & secondary food handling!
LR Mate 200iC picks & sorts multiple style parts through flexible feeder using built-in iRVision and available Aux. Axis option!
I n t e l l i g e n t Ro b o t S o l u t i o n s
FANUC Robotics America, Inc. 3900 W. Hamlin Road Rochester Hills, MI 48309-3253 1-800-iQ-ROBOT marketing@fanucrobotics.com fanucrobotics.com
2009 FANUC Robotics America, Inc.
Charlotte, NC (704) 596-5121 Chicago, IL (847) 898-6000 Cincinnati, OH (513) 754-2400 Los Angeles, CA (949) 595-2700 Toledo, OH (419) 866-0788

FANUC ROBOTICS

Toronto, Canada (905) 812-2300 Montral, Canada (450) 492-9001 Aguascalientes, Mexico 52 (449) 922-8000 Sao Paulo, Brazil (55) (11) 3619-0599
For sales or technical information, call:
Tough and rugged LR Mate 200iC/5WP used for high pressure washing, deburring and cleaning applications!

All rights reserved.

LITHO IN U.S.A. FRA-1/09

Paint Mate 200iA & Paint Mate 200iA/5L

Basic Description

FANUC Robotics Paint Mate robot is a compact, electric servo-driven paint robot with best-in-class performance designed for operation in a hazardous environment. Based on the highly-acclaimed LR Mate series, this robots envelopes, speed, and dexterity are a perfect fit for coatings and hazardous duty applications. The Paint Mate can be used for small parts painting or a material saving alternative to multiple fixed guns.
Paint Mate - Maximum performance at minimal cost. Affordable robotic automation for small parts coating.
Class 1 Division 1 hazardous approval ratings enables the Paint Mate robot to be used for handling applications in explosive and extreme environments
Paint Mate, the Solution for:

n n n n

FANUC Robotics offers a complete line of painting robots and turnkey system solutions for all your coatings needs.
Painting Coating Assembly and Handling in Hazardous Environments Material removal where hazardous cooling chemicals are present Dispensing

Features

Intelligent Robot Solutions
FANUC Robotics America, Inc. 3900 W. Hamlin Road Rochester Hills, MI 48309-3253 1-800-iQ-ROBOT marketing@fanucrobotics.com fanucrobotics.com
2008 FANUC Robotics America, Inc.
Charlotte, NC (704) 596-5121 Chicago, IL (847) 898-6000 Cincinnati, OH (513) 754-2400 Los Angeles, CA (949) 595-2700 Toledo, OH (419) 866-0788

FANUC ROBOTICS

Toronto, Canada (905) 812-2300 Montral, Canada (450) 492-9001 Aguascalientes, Mexico 52 (449) 922-8000 Sao Paulo, Brazil (55) (11) 3619-0599
For sales or technical information, call:
iPendant, a color, Internetready teach pendant for even easier programming and custom cell user interface design. Optional one or four pneumatic three-way solenoid valves located in the purge cavity for gun triggering capability. Floor, invert, angle and wall mounting permits versatility for robot location and allows for minimal spray booth size. Absolute serial encoders eliminate the need for calibration at power-up. Standard FANUC Robotics purge control.
locations; see specifications for details. FM: Flex field and rigid conduit ATEX: ROX Tabletop size, slim wrist, and small footprint permit operation in tight work spaces Extremely fast acceleration and deceleration motion results in faster cycle times. Control Reliable Safety Circuit (RIA1506.1999 compliant)
HandlingTool allows for the setup, programming, and operation for basic and custom applications. Built-in macro functions including paint application plug-in routines and menu-driven programming tools allow users to create, test, and run robot application programs with minimal training and program assistance. PaintTool software with optional configurations for stand alone or multi robot systems with built-in paint function controls: - Analog parameter control - Color change control - Cancel/Continue feature - Integral 2K variable ratio Pump Control - ACCUFLOW closed-loop fluid control. - Line tracking - Collision detection - Internet connectivity - KAREL programming language Process control hardware must be added separately.
Reliability and Maintenance Advantages
The latest generation of a proven design n Sealed bearings and brushless AC motors n Purged and pressurized cavities n Designed for painting environment

Software

Two standard software applications are available:

All rights reserved.

LITHO IN U.S.A.

FRA-10/08

LR Mate and iRVision are registered trademarks of FANUC LTD.

Dimensions

Paint Mate 200iA

Paint Mate Isometric

Paint Mate Series Robot Specifications
Axes Payload - wrist (kg) Reach (mm) Repeatability (mm) Interference Radius (mm) Motion range (degrees) J1 J2 J3 J4
R-30iA Mate Controller Dimensions
704 0.11.9 (1.21) 11.9 (1.21) 6.7 (0.68) 0.3 0.3 0.1 All axes 35

Paint Mate 200iA/5L

892 0.11.9 (1.21) 11.9 (1.21) 6.7 (0.68) 0.3 0.3 0.1 All axes 37 Floor, ceiling, angle and wall 0 to 45
REPLACE BATTERIES WITH CONTROLLER POWER ON. USE ONLY DURACELL PC1300 D-TYPE ALKALINE (AM1) BATTERIES. DO NOT MIX OLD & NEW BATTERIES OR BATTERY MANUFACTURERS.
J5 J6 Motion speed (degrees/s) J1 J2 J3 J4
Wrist moments N-m (kgf-m)
J5 J6 J4 J5 J6 Wrist load inertia (kg-m2) J4 J5 J6

ROBOT PURGE CONTROL

PURGE ENABLE PURGE COMPLETE PURGE FAULT

Paint Mate

Mechanical brakes Mechanical weight (kg) Mounting method(1) Installation environment

260 513

265 704

Temperature (C) Humidity

Normally: 75% or less Short term (within a month): 95% or less No condensation 0.5 or less FM Class l, ll, lll, Div l, Group C, D, E, F, G T4 45C Ambient ll 2 G c Ex ib px llB Ta=0C to +45C ATEX ATEX ll 2 D c Ex pD 21 Tl 35C Ta=0 to =45C Note: iPendant for non-hazardous areas only

Footprint (All models)

Vibration m/s2 (G) Ratings
Note: (1) J1 and J2 axes motion range will be limited for angle and wall mount installations.

117 234

160 265
R-30iA Mate Controller Specifications
External Dimensions (mm) - 470(W) x 320(D) x 950(H) Weight - 56 kg - Ambient temperature: 0 - 45 C (R-30iA Mate) Humidity: 75% RH or less; Short term (within a month): 95% or less Vibration: 0.5G or less - 200-230VAC Single Phase; +10%, -15%, 50/60 Hz 1Hz - 0.5 KW (average), 1.2 KVA (maximum) - Multi-processor architecture (separate motion and communication) with real-time clock/calendar - 24 (up to 5 motion groups for R-30iA Mate) - One 100 Base-TX/10 Base-T Ethernet port with RJ-45 connector - One RS-232-C / RS-485 port - Color graphic iPendantTM with available touch screen option (Not in hazardous area) - Built-in camera interface for 2-D vision applications Optional: multiplexer for multiple 2-D cameras and 3-D vision - Up to 28 digital inputs / 24 digital outputs 24VDC (external 24VDC power supply is required for digital outputs) - Dual Check Safety (DCS) circuit - PCMCIA type 2 interface: ATA flash disk (SanDisk compatible) Operating Environment

Isometric

Power Supply

Power Consumption CPU

Wrist (All models)

104 123

Controlled Axes
5 DOWELL x 7 DP TYP(1) 31.5 BC
Serial/ host communications Teach Pendant iRVision Built-in I/O
M5 x 8 DP TYP(4) EQ SPCD 31.5 BC

Safety Features Memory Card I/O sub-systems
R-30iA Mate Controller Options:

260 273

- Model A I/O (remote mounted modular rack- 5 or 10 slots) - Model B I/O (distributed DIN rail mounted) - FANUC I/O link
Remote I/O sub-systems - DeviceNet (single channel slave) - Profibus DP slave/master - CC-Link (slave) - Ethernet I/O (EGD and EIP Adapter/Scanner) Integrated PMC - Ladder logic control for peripheral devices - Including ladder monitor with hot edit on iPendant
Note: Dimensions are shown in millimeters. Detailed CAD data is available upon request.
Normally: 75% or less Short term (within a month): 95% or less No condensation 0.5 or less FMuc Class l, ll, lll, Div l, Group C, D, E, F, G T4 45C Ambient ll 2 G c Ex ib px llB T4 Ta=0C to +45C ATEX ATEX ll 2 D c Ex pD 21 T 135C Ta=0 to +45C Note: iPendant for non-hazardous areas only
2009 FANUC Robotics America, Inc.
FM and ATEX Hazardous approval for Class I, II and IIl Div. 1 environments FM: Flex field and rigid conduit ATEX: ROX Tabletop size, slim wrist, and small footprint permit operation in tight work spaces Extremely fast acceleration and deceleration motion results in faster cycle times. Control Reliable Safety Circuit (RIA1506.1999 compliant)

FRA-12/09