R-2000iA Series

Basic Description

The R-2000iA series is FANUC

Robotics latest-generation, six-
axis, heavy-payload, high-
performance family of industrial
robots, supported by our extensive
service and parts network.
The R-2000iA provides higher
value through improved
performance, reliability and
maintainability. It features the
SYSTEM R-J3iB intelligent robot
control system.

R-2000iA, the Solution for:

n Automotive spot welding and

general assembly
n General industrial applications
n Parts transfer
Material removal
n n
n Dispensing
n Machine loading
Features
Mechanical:
n Large work envelope with
ability to reach overhead
and behind
n 6 axes of motion
n Slim profile design
n RV reducers for all axes
n Elimination of counterweight
increases available workspace
n Process/application cables
routed through the arm
No motors at wrist
n cable dressout, prolonging
Control:
n B-size cabinet
n Quick change amplifier
(< 5 min)
n Fast boot-up time
n Easy connections to a variety of
I/O, including distributed
I/O networks
Software: n Fewer mechanical
components reduce down
Specific tool packages for
time, increase mean time
various applications
between failure and minimize
spare part requirements.
Benefits n High-performance motion
yields fast cycle times and
n Slim arm and wrist assem- high throughput.
blies minimize interference
n Wrist flange and base
with system peripherals
mounting are identical to the
and allow operation in
S-430i, allowing for seamless
confined spaces.
backward compatibility.
n Large allowable wrist
n R-2000iA/165F can reach
moments and inertias
all areas of S-430iW/165
meet a variety of heavy
work envelope, making
handling challenges.
replacement easy.
n Many process attach-
ment points make
Options
integration easier.
n Stationary outer arm n Three faceplate types
simplifies hose and
n Electrically insulated faceplate
service life. n Internal I/O cables
n Proven, reliable FANUC n Harsh environment protection
servo drives provide highest n Adjustable hard stops for
uptime and productivity. J1-J2-J3
n Longer maintenance
intervals equate to
lower operating costs.
 R-2000iA/165F, 210F ISO Flange Wrist 165F, 165R, 125L
R583 (R622, 210F) 138
Top
9 115

+180 0
253
180

R2650 A B

215 M10x16.0 DP.

1280 TYP.(6) EQUALLY SPACED
R161 ON 125.0 DIA. B.C.
215 (235, 210F)
A. 80
225 B. 160

814 J5-AXIS
REAR SIDE +0.015
ROTATION 0.000
INTERFERENCE CENTER
AREA 10.000 DIA. DWL. X 12.0 DP.
312 710 TYP. (2) EQUALLY SPACED
1075
ON 125.0 DIA. B.C.

670

434 348
Back Side Front ISO Flange Wrist 200F, 200R
170

9 130

R-2000iA/200F
A B
R583
Top
260
+180 0
300 M10x20.0 DO.
180
R189.3 TYP.(10) AS SHOWN
ON 125.0 DIA. B.C.
R2483 A. 80
B. 160

1110
+0.015
260 0.000
10.000 DIA. DWL. X 20.0 DP.
225 TYP.(2) EQUALLY SPACED
ON 125.0 DIA. B.C.

814 J5-AXIS
ROTATION
CENTER
REAR SIDE 312 710
INTERFERENCE 1075
AREA

ISO Flange Wrist 165CF

670 145

9 115

Back Side Front

A B

240 M10X20.0 DP.

R167.7
TYP.(6) EQUALLY SPACED
ON 125.0 DIA. B.C.
R-2000iA/125L A. 80
B. 160
R583
+0.015
Top 0.000
10.000 DIA. DWL. X 20.0 DP.
TYP. (2) EQUALLY SPACED
+180 0 ON 125.0 DIA. B.C.
253
180

R3001
ISO Flange Wrist 210F
154.5

129.5
1635 10.0

215
225

REAR SIDE 814 J5-AXIS A B

INTERFERENCE ROTATION
AREA CENTER
312 1075 710

235
M10x16.0 DP.
TYP.(10) AS SHN.
R197.3
A. 80 ON 125.0 DIA. B.C.
B. 160
670

+0.015
0.000
10.000 DIA. DWL. x 12.0 DP.
TYP.(2) EQUALLY SPACED
ON 125.0 DIA. B.C.
Back Side Front
 R-2000iA/165R R-2000iA/130U
R
R721 58
Top 3
Top

100kg
J2=0
+180 0
180
180

R 2650
R3095

REAR SIDE
INTERFERENCE
AREA

1100 260

720 1075 225

647 J5-AXIS
1885
ROTATION CENTER

1075
600
MOTION RANGE

1280

Side

670
215
J5-AXIS
ROTATION
CENTER 434 348
Back Front
Side

R-2000iA/200R Isometric 165F

R721
Top
+180 0
180

R2928

REAR SIDE
INTERFERENCE
AREA

720 1075 225

1885

600
1110

Side
260
J5-AXIS
ROTATION
CENTER
Back Front

R-2000iA/165CF Footprint (165F/200F/125L/165R

/200R/165CF/210F)
Top
R1429 540

460
+180 0
180 230

270
R355

210 620 240

463
230 270

250 460 540 610

REAR SIDE
INTERFERENCE J5-AXIS
AREA ROTATION
550 CENTER

423 348
600

Front
24.0 DIA. THRU &
38.0 DIA. C'BORE 5.0 DP.
TYP.(8) MOUNTING HOLES

Back Side Front Note: Dimensions shown in millimeters.

R-2000iA Series Specifications
Items /165F /200F /125L /165R /200R /165CF /210F /130U
Axes 6 6 6 6 6 6 6 6
Payload - Wrist (kg) 165 200 125 165 200 165 210 130
- J3 Arm (kg) 25 25 20 25 0 25 25 25
- J2 Base (kg) 550 550 550 550 550 550 550 550
Reach (mm) 2650 2483 3001 3095 2928 1429 2650 2650
Repeatability (mm) 0.2 0.2 0.2 0.3 0.3 0.15 0.3 0.3
Motion range J1 360 360 360 360 360 360 360 360
() 135
J2 135 135 135 185 185 165 135
J3 362 367 352 365 365 250 362 367.5
J4 720 720 720 720 720 720 720 720
J5 250 250 250 250 250 250 250 250
J6 720 720 720 720 720 720 720 720
J1 105 90 105 105 90 110 95 90
Motion speed J2 105 85 105 90 85 90 90 85
(/s)
J3 105 90 105 105 90 100 95 90
J4 130 110 170 130 110 130 120 110
J5 130 110 170 130 110 130 120 110
J6 210 155 260 210 155 210 190 155
Wrist moment J4 921.2 1274 588 921.2 1274 911.4 1332.8 686
(Nm)
J5 921.2 1274 588 921.2 1274 911.4 1332.8 686
J6 460.6 686 343 460.6 686 450.8 706 343
J4 78.4 117.6 58.8 78.4 117.6 88.2 141.1/215.6* 40.9
Wrist inertia(1) J5 78.4 117.6 58.8 78.4 117.6 88.2 141.1/215.6* 40.9
(kgm2)
J6 40.18 58.8 22.5 40.18 58.8 44.1 78.4/196* 10.2
Mechanical brakes All axes All axes All axes All axes All axes All axes All axes Alle axes
Mechanical weight (kg) 1210 1240 1230 1540 1570 1050 1270 1210
Mounting method Floor Floor Floor Shelf Shelf Floor Floor Upside-down
Installation environment
Ambient temperature (C) 0 to 45
Humidity Normally: 75% or less
Short term (within a month): 95% or less
No condensation (No dew or frost allowed)
Vibration (m/s2) 4.9 or less (0.5G or less)
IP Rating Wrist & J3 arm IP67, rest IP54 (IP55 optional)
Comment Floor Heavy duty Long arm Shelf Heavy duty Compact Floor
mount floor mount floor mount mount shelf mount floor mount mount

Notes:
(1) Allowable load inertia at wrist can be switched by software parameters.
(*) High inertia mode.

Note: Dimensions are shown in millimeters.

FANUC Robotics (UK) Ltd. FANUC Robotics United Kingdom

Seven Stars Industrial Estate +44-2476-63-96-69
Quinn Close, Whitley
Coventry CV3 4LB FANUC Robotics Spain
+34-93-664-1335
Tel +44 24 76 63 96 69
FANUC Robotics Italy
Fax +44 24 76 30 43 33
+39-02-9345-601

FANUC Robotics Benelux

+32-3-844-71-30

FANUC Robotics France

www.fanucrobotics.co.uk +33-1-69-89-7000