Download pdf - S-420i - IRS Robotics … · S-420i ™ Basic Description FANUC Robotics’ S-420i line of robots is engineered for maximum performance and reliability in the automotive body shop

Robotic

sS-420i™

Basic DescriptionFANUC Robotics’ S-420i line ofrobots is engineered for maximumperformance and reliability in theautomotive body shop and is sup-ported by our extensive applicationtechnology and service/partsnetwork. The S-420i features aunique integrated controller, six-axis modular construction and aflexible, electric servo-drivendesign for high-speed and heavypayload processes.

S-420i, the Solution for:■ Automotive spot welding and

body assembly

■ General industrial spotwelding

■ Material handling

Benefits■ Work envelope allows pro-

cessing of large fabrications

■ Modular robot design allowsconversion from one model toanother

■ Combined mechanical unitand robot controller reducesfloor space, point-to-pointwiring and installation costs

■ Minimal mechanical/electricalparts increase reliability

■ High motion speeds reducetime between welds

■ 360° Axis 1 rotation

■ User power/signal/air linesinternal to arm for increasedreliability

■ Easy-to-learn and use appli-cation programming packages

■ “Quick change” electronicscabinet reduces downtime toless than 15 minutes

■ Low mass arm design allowshigh-speed positioning

■ Proven arm design in over13,000 S-420 robotinstallations

Flexibility Features■ Extension arm, heavy payload

wrist, wedge pedestal,reduction ratio and balancermodules allow simple robotconversion to single pointweld, rack mount, long arm orheavy duty types

■ Flexible and expandable I/Osystem internal to controller

■ Distributed I/O blocks toreduce wiring

Mechanical Features■ Mechanical construction

provides precise positioningand high motion speed

■ Direct drive on all axes resultsin higher reliability andreduced maintenance

■ RV speed reducers providesmooth motion at all speedsand a long life

■ Simple modular design withfew components

■ Sealed bearings and drivesprovide protection andimprove reliability

■ Absolute serial encoderpositioning

■ Wrist axis torque and inertiaallows rated motion speedwith large guns/tools

■ Unique hollow RV speedreducers simplify cablerouting

■ Compact remote mountoperator panel reduces aisleand floor space requirements

■ Waist mounted forkliftbrackets can be used forperipheral and weldtransformer mounting

■ Compact arm option for closespacing of units

Control Features■ Controller provides easy

installation, startup,troubleshooting andmaintenance

■ Stores programs in IBMDOS format

■ Built-in TCP teach utilityallows setup without specialfixturing

■ Easy-to-apply user multi-tasking programmingenvironment

■ Six-axis servo drive andsingle board controlmaximizes integration andreliability

■ Distributed I/O blockseliminate costly multi-conductor cables

■ Common SYSTEM RobotController interface to PLC,peripheral control, valvepacks, robot programs andtraining increase customers'ease-of-use

■ Advanced TurboMove motioncontrol increases throughput

Software Features■ Teach pendant uses menu-

driven, plain Englishcommands and process-specific, built-in functions

■ English commands, com-ments, user-defined jogframes and consistent speedpaths make setup and pro-gramming quick and easy

■ Tool packages allowpositional and speedadjustments during robotcycles

■ SpotTool soft panel on teachpendant reduces hard wiredbuttons, switches and signalslights

■ Other standard softwarefeatures include:

- Alarm logging and diagnostics

- Simple robot setup

- Production monitoring

- File utilities

- Menu windows

■ Optional SpotWorks cell PCgraphical interface supple-ments controller functionalityand provides the followingfeatures:

- Cause and recovery faultdiagnostics

- Three-dimensional path editor

- PLC connectivity support

- Weld controller networksupport

- On-line manuals

- Direct PC connection on plantnetwork

Options■ Internal arm user I/O and

power wiring and air tube

■ Tool Frame adjustment

■ Ethernet and RS-232Communications

■ Remote TCP programmingand jogging control

■ Remote cabinet mounting with7m (23 ft.) or 14m (46 ft.)cables

■ CSA approval option

50

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370

300

60

180

48

6-MI0 DEPTH20DIA90 EQSP

2-I0H7 DEPTH 20DOWEL HOLESDIA90 EQSP

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Footprint

32mm(1.3")284mm

(11.2")

524mm(20.6")171mm

(6.7")

440mm(17.3")

Axis 1rotation

4-M20 for eye bolt

4-DIA24 formounting

578mm(22.7")

FRONT

556mm(21.8")

700mm(27.5")

640mm(25.1")

Mounting plate(FANUC std)

Con

trol

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S-420iFS-420iFS-420iLS-420iSS-420iWS-420iRS-420iR

2.4m (7ft, 11in)2.85m (9 ft, 4 in)3.0m (9 ft, 9 in)2.25m (7 ft, 5 in)2.4m (7 ft, 11 in)3.11m (10 ft, 2 in)3.11m (10 ft, 2 in)

Floor mountFloor mountLong arm Single pointHeavy dutyRack std dutyRack hvy duty

Model Reach Purpose

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300

60

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485

Operation box

S-420i Product LineFamily of S-420i Robots

50

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370

300

60

180

48

6-MI0 DEPTH20DIA125 EQSP

2-I0H7 DEPTH 20DOWEL HOLESDIA125 EQSP

Mounting plate(ISO std)

Isometric

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Side

2258mm(88.9")

2733mm(107.6")

470mm(18.5")

500mm(19.7")

240mm(9.4")

180mm(7.1")

600mm(23.6") 1150mm

(45.2")200mm(7.8")

950mm(37.4")

1000mm(39.3")

S-420i R Top

1300mm(51.2")

200mm(7.8")

600mm(23.6")

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Scale1/100"

251.5mm(9.9")

600mm(23.6")

+/-180°

Side

Frontfor S-420i F/W/L/S

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Top

+/-180°

+/-180°

600mm(23.6")

S-420iF313mm(12.3")

S-420iW334mm(13.1")

313mm(12.3")

1032mm(40.6")1206mm

(47.4")

251.5mm(9.9")

2405mm(94.6")

R2405

mm

(94.6"

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R3113

mm

(122

.5")

R3001mm

(118.1")

600mm(23.6")

600mm(23.6")

240mm(9.4")

950mm(37.4")

755mm(29.7")

779mm(30.6")

516mm(20.3")

1574mm(62.0")

251.5mm(9.9")

313mm(12.3")

284mm(11.1")

200mm(7.8")

1752mm(68.9")

Front

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600mm(23.6")

313mm(12.3")251.5mm

(9.9")

R2258

mm

(88.9"

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Side

770.7mm(30.3")

603mm(23.7")

603mm(23.7")

700mm(27.5")

600mm(23.6") 1902mm

(74.8")

200mm(7.8")

950mm(37.4")

1000mm(39.3")

950mm(37.4")

1000mm(39.3")

240mm(9.4")

180mm(7.1")

240mm(9.4")

180mm(7.1")

470mm(18.5")

500mm(19.7")

470mm(18.5")

500mm(19.7")

Side

S-420i L

S-420i DimensionsS-420i F/WTop

S-420i S Top

+/-180°

3001mm(118.1")

3109mm(122.4")

2808mm(110.5")

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TopS-420i F

Side

+/-180°

600mm(23.6")

313mm(12.3")251.5mm

(9.9")

R2852mm

(112.3")

600mm(23.6")

1752mm(68.9") 200mm

(7.8")

950mm(37.4")

1000mm(39.3")

240mm(9.4")

180mm(7.1")

470mm(18.5")

500mm(19.7")

2852mm(112.3")

3034mm(119.4")

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S-420i Specifications

Maximum reachLoad capacityAxis 1 Range

SpeedAxis 2 Range

SpeedAxis 3 Range

SpeedAxis 4 Range

SpeedAxis 5 Range

SpeedAxis 6 Range

SpeedMoments Axis 4

Axis 5Axis 6

Load Axis 4Inertia Axis 5

Axis 6RepeatabilityMounting methodMechanical brakesWeight

2.40m120kg (265 lbs)360˚100˚/sec142°110°/sec 135˚ 100˚/sec600°210˚/sec260°150°/sec720°210°/sec60kgf • m60kgf • m30kgf • m306kgf • cm • sec2

306kgf • cm • sec2


±0.4mm (±0.016") UprightAll axes 1500 kg (3300 lbs)

















Items S-420i F S-420i F





S-420i F S-420i L S-420i S S-420i W





S-420i W





S-420i W

Maximum reachLoad capacityAxis 1 Range

SpeedAxis 2 Range

SpeedAxis 3 Range

SpeedAxis 4 Range

SpeedAxis 5 Range

SpeedAxis 6 Range

SpeedMoments Axis 4

Axis 5Axis 6

Load Axis 4Inertia Axis 5

Axis 6RepeatabilityMounting methodMechanical brakesWeight




±0.4mm (±0.016") RackAll axes 1700 kg (3740 lbs)









Items S-420i R S-420i R S-420i R FANUC Robotics offers complete S-420i application dressout featuring:■ Maintainability■ Reliability■ Unique configurations

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

Literature Request Cincinnati, OH Mexico City, Mexico1-800-47-ROBOT Phone (513) 754-2400 Phone 52 (5) 611-5998

Los Angeles, CA Aguascalientes, MexicoPhone (949) 595-2700 Phone 52 (49) 10-8000

Toledo, OH Sao Paulo, BrazilPhone (419) 866-0788 Phone (55)(11) 3955-0599

web page: http:/ /www.fanucrobotics.com

©1999 FANUC Robotics North America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A.FRNA-11/9-DS-052