ARC Mate®100iBe &120iBe

Basic Description

These value-oriented robots have been designed to deliver peak productivity for arc weldingapplications. An exceptionalreach/stroke ratio and high-axisspeeds are at the core of thisdesign. The controller has beenintegrated into the base of the robot to simplify installation andconserve production floor space.All basic arc welding softwarefeatures are supported to providesuperior performance for simpleand complex arc weldingapplications. Many advanced, high productivity options such as Torch Guard™, Password and Touch Sensing are supportedto further expand the high value of these robots.

Benefits

■ Excellent reach versus stroke ratio.

■ Compact design simplifiesinstallation and transportation of system.

■ Fast wrist axes reduces aircut times, thus improvingthroughput.

■ Slim wrist design allows foroperation in tight workspaces.

Features

■ Provides ArcLink™ interface to Lincoln Electric PowerWave™ or STT™ (SurfaceTension Transfer) powersources for true integrated“Plug and Play” performance.

■ TurboMove™ advanced servocontrol features allow quick and smooth point-to-pointmotion, which increases arc on-time and throughput.

■ Wire feed motor mounteddirectly to robot’s upper armshortens welding lead length,which improves wire feedreliability and arc startcapability.

■ Arc welding teach pendant with application-specific hardkeys offers intuitive control over your process.

■ ARC Mate 100iBe has 1,373mm reach and 985 mm stroke.

■ ARC Mate 120iBe has 1,667mm reach and 1,282 mmstroke.

■ Serial link constructioneliminates the link arm and provides greater flexibilityand fewer moving parts.

■ RV reducer drivetrain withintegral bearings providesrigidity and performance in a compact package.

■ Proven FANUC AC servo motor with absolute encoderpositioning.

Options

■ J1 axis stroke modification kit.■ Remote connection kit with 4,

7 and 14 meter cable lengths.

R-J3iB Mate ControllerFeatures

■ Provides easy installation,startup, troubleshooting andmaintenance.

■ Integrated 24VDC I/O.■ α-i Series 6-channel amplifier

with FSSB.■ FANUC I/O Link (master or

slave).

System Software

■ LR ArcTool provides fullfunctionality for standardindustrial arc weldingapplications. This includesArcLink™ for the LincolnElectric Power Wave seriesand productivity functions suchas FAStart™ .

Rob

otic

s

J1(340°)

J3(340°)

J2(250°)

J6(720°)

J5(280°)

J4(380°)

R1373

0°

170°

170°

R273

ROBOT REACHTO THE REARRESTRICTED WITHCABINET ATTACHED

150615100

95

100

600

450

765

AXIS 5ROTATION

CENTER

510

140 186

186

178

172

150 153300351

J4 COVER (OPTION)

J2 COVER (OPTION)

Isometric Top

Footprint

SideFront

ARC Mate 100iBe Dimensions

4-M6 Depth 10Equally spaced oncircumference ø40

ø 6H7 Depth 10Circumference ø40

45°

7485

ø25H7

53

6

100

53

ø50h7

Wrist

Axes 6 6

Payload (kg) 6 20

Reach (mm) 1373 1667

Repeatability (mm) ±0.08 ±0.08

Interference radius (mm) 273 310

Motion range J1 340 340(degrees) J2 250 250

J3 340 460

J4 380 400

J5 280 280

J6 720 900

Motion speed J1 150 165(degrees/sec.) J2 160 165

J3 170 175

J4 400 350

J5 400 340

J6 520 520

Wrist moment J4 1.6 4.0(kgf•m) J5 1.0 4.0

J6 0.6 2.0

Wrist inertia J4 6.4 9.0(kgf•cm•s2) J5 1.7 9.0

J6 0.62 2.5

Mechanical brakes All axes All axes

Mechanical weight (kg) 135 230

Mounting method 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

Payload at axis 3 (kg) 12 12

Items AM100iBe AM120iBe

ARC Mate 100iBe & 120iBeSpecifications

MOUNTING FACE

981

693

341

371320

160

365

185±.10

320

160

MOUNTING FACE

MOUNTING FACE

J1 AXISROTATION CENTER

4–ø18 THRUø26 C' BORE DP5

185±.10

20

FRONT

J4(400°)

J5(280°)

J6(900°)

J2(250°)

J1(340°)

J3(460°)

R1667

R310

170°

170°

ROBOT REACHTO THE REARRESTRICTED WITHCABINET ATTACHED

100 740 150

100

770

510

796

234198

180 185351 300

170 234

AXIS 5ROTATION

CENTER

0°

525

Isometric Top

Footprint

SideFront

ARC Mate 120iBe Dimensions

45°

50

50

60

60

89.5 76.3

50h7ø

25H7ø

6

6H7 DEPTH 10ON 40 B.C.

4-M6 DEPTH 10EQ.SP. on 40 B.C.

100

Wrist

ArcLink I/OAutomatic BackupBurnbackController Backup/RestoreDry Run ModeFAStart Frame OffsetI/O InterconnectMACRO FunctionsMirror Image UtilityMulti-tasking UtilityOn-the-fly weld adjustmentOriginal Path ResumeOverride SelectPath JoggingPlug and Play CapabilityPosition RegistersPower Fail RecoveryProcess TrackingProgram Shift UtilityReference Position UtilityRegistersRuninScratch StartTest Cycle FunctionsTool OffsetUNDOUser FrameWeave InstructionsWeld from Teach PendantWeld Process Selection

Condition MonitorData MonitorError RecoveryPassword ProtectionSpace CheckTorch GuardTouch Sensing

LR ArcTool Feature ListStandard Features

Optional Features

ARC Mate R-J3iBe Controller SpecificationsItemsIntegrated “a” size cabinetI/O sub-system Built-in digital I/O (20 input / 20 output)

Built-in FANUC I/O LinkOptional Process I/O, Model A, and Model B modules

Digital communications PC104 interface board accepts up to 4 daughter cards for communication options

Memory card slot Built-in PCMCIA type 2 interface to ATA flash disc cards

Input power source 3.5KVA: 440, 460, 480, 500, 550, 575VAC input

Operator Panel E-stop, breaker, cycle start button, 2-position (auto, T1) switchRS-232 connector

Weight Approx. 100 kg

Installation environment Ambient temperature: 0-45˚C

Ambient humidityNormal 75% RH or less (No dew or frost allowed)Short term Max 95% RH (within one month)

Vibration 0.5G or lessNo corrosive gas allowed

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, CanadaFax (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) 3619-0599

marketing@fanucrobotics.com Toledo, OHwww.fanucrobotics.com (419) 866-0788©2004 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-5/04

Note: Dimensions shown in millimeters.

System Options

■ Torch Guard protects not onlyend-of-arm-tooling, but alsoprotects part tooling and the entire robot arm. It does this byinstantly stopping robot motionwhen a collision is detected,reducing downtime associated with collisions. Torch Guard works in conjunction withTorchMate to automatically adjustfor changes in the tool centerpoint, improving weld quality.

■ Touch Sensing quickly locateseach part, stores positioninformation and offsets the robot path. The ability to search for part movement in 1, 2, or 3dimensions allows compensationfor part variation and reduces the need for trimmed parts orexpensive fixtures.

■ Data Monitor tracks and recordswelding feedback for any user-defined weld. The monitoringfunction can be used to flag any weld where the feedbackparameters do not stay inside apredefined window. Data files canbe saved to a memory card forviewing on a personal computer.

■ Error Recovery offers the userseveral options for arc faultrecovery. Automatically-executed,user-defined programs enable the robot to move to a repairposition, then return and resumewelding after repairs have beenmade. This function reducessystem downtime and scrap,keeping the pendant out of theoperator’s hands.

■ Password Protection restrictsuser access beyond designatedscreens, preventing unauthorizedmodifying of critical data. Pass-word protection offers four levels of protection with up to 100 usersand text strings for each username. Event Logging recordsoperational changes made toteach pendant programs andsystem data.

1005

1053

510

470693

604

OP Box (Full Panel Shown)

ControllerNote: optional 4, 7, 14meter remote kitavailable.