FA & ROBOT

Multi-purpose
Intelligent
Robot
R-2000iA

FANUC LTD

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 FA & ROBOT

Intelligent
IntelligentFunction
Function
• Newly developed robot controller R-J3iB makes robot intelligent by the newest servo
function, network function, sensor control function, etc.
Robot Link
High Sensitive Collision Detection
Simultaneous motion or coordinated motion is realized by
This is safety function which detects the symptom of the multiple robots which are connected with ethernet. This can
collision and stops the robot urgently. This can protects robot handle heavy /large workpiece which can’t be handled by
and peripherals without traditional mechanical clutch. single robot or can reduce system cost by replacing from
current special machine to multiple robot handling system.
Automatic Payload Identification
Sensor Control
Robot identifies payload by itself and realizes best
By combining various sensors (force sensor, 2D sensor, 3D
performance automatically.
sensor, etc.), robot can be realized better performance.

Soft Float Diagnosis

Diagnostic function for appropriate maintenance is enriched
Floating function is realized by software. This can reduce
by using various information(voltage, current,temperature,
the system cost by eliminating mechanical floating device. etc.) from amplifier and pulsecoder.

Intelligent software function Sensor

High Sensitive Collision Detection Robot Link Force sensor MIG EYE
Automatic Payload Identification Sensor Control 3D sensor

Soft Float Diagnosis 2D sensor

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Configuration
Configuration
R-2000iA Mechanical Unit

• Newly
R-2000iA Controller developed
(R-J3iB) motor

• Same operation as R-J3

• Same programs of R-J3 can be used • Existing servo spot gun,servo
hand can be used for R-2000iA
by adding aux. axis amplifier and
aux. axis brake unit.

• Aux. axis amplifier

(option)
• Newly developed control unit, amplifier, transformer,etc.
• Aux. axis brake unit
(option;this unit is required • Remote type controller only.
in case of aux axis with
existing motor) Aux. • Existing aux. axis unit can be used for R-2000iA by adding aux.
axis axis amplifier and aux. axis brake unit.

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Features
Featuresof
ofthe
theMechanical
MechanicalUnit
Unit
As the allowable wrist load moment is
As the wrist size becomes compact,
increased, it is easily applied spot welding
interference with car body is reduced.
with large size gun or handling of heavy
workpiece.
As the height becomes lower, robot can
be mounted in low ceiling places.

Flip over mechanism as the standard

As the distance from J5 axis center to wrist
and 360 degree rotation axis enables
flange is reduced, the substantial allowable
operation to all directions.
wrist load moment is increased

As the rear side interference area is small,

line width can be reduced and floor space As the projection of J2 and J3 axis motor is
is used effectively. reduced, high density installation of the
robots and peripherals is possible.

As the various models and options are

prepared, customer can choose the most
suitable model and use more wider application.
As the minimum maintenance period is
extended from 6 months to 1 year,
As the diagnostic function is enriched,
maintenance becomes easier.
customer can use robot more safely.

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Improvement
Improvementof
ofMotion
MotionPerformance
Performance
In order to evaluate motion performance, the following many programs are used.
• Box pattern - from short pitch to long pitch
• Actual programs used by customers

1) Box pattern 2) Actual programs used by customers

Programs with servo weld gun
1.2 Cycle Time [sec] Improve
S-430iW R-2000iA/165F -ment
1.0 No.1 29.3 23.1 -21%
Cycle Time [sec]

No.2 18.0 13.4 -26%

0.8 No.3 25.0 22.0 -12%
No.4 25.8 21.7 -16%
Average Improvement -19%
0.6

0.4
Programs without servo weld gun
Cycle Time [sec] Improve
S-430iW R-2000iA/165F -ment
0.2
No.1 25.8 24.7 -4.2%
No.2 21.9 21.7 -1.2%
0.0 No.3 19.3 17.3 -10.5%
30 50 100 150 200 300 400 500 600 700
No.4 22.9 22.6 -1.5%
Pitch [mm]
No.5 18.1 15.8 -13.1%
S-430iW R-2000iA/165F No.6 29.2 28.8 -1.5%
No.7 14.5 14.1 -2.5%
No.8 17.5 17.6 0.6%
Average Improvement -4.2%

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Outer
Outerview
viewand
andSpecification
Specification(R-2000iA/165F)
(R-2000iA/165F)

Payload at wrist 165 kg

Reach 2650mm
J1 105 deg/sec
J2 105 deg/sec
J3 105 deg/sec
Maximum speed
J4 130 deg/sec
J5 130 deg/sec
J6 210 deg/sec
J4 921 Nm
Allowable load
J5 921 Nm
moment at wrist
J6 461 Nm
J4 78.4 kgm2
Allowable load
J5 78.4 kgm2
inertia at wrist
J6 40.2 kgm2
Repeatability ±0.3mm

Note) All specifications are subject to change without notice. 6

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Compact
CompactMechanical
MechanicalUnit(1)
Unit(1)
• Total height is reduced 98mm still maintaining a motion range equivalent to the S-430i. This reduction enables
mounting in low ceiling places.

• Thanks to the newly developed small size motor, the projection of J2 and J3 axis motor is reduced, and then
total width of the robot is reduced 158mm. This enables high density installation of the robots and peripherals.
S-430iW

R-2000iA/165F
J3 axis motor

699
2113
2211

J2 axis motor

868

Note) All specifications are subject to change without notice. 7

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Compact
CompactMechanical
MechanicalUnit(2)
Unit(2)

• The wrist size becomes further more compact. This reduces its interference with car body
and the robot can be operated even through smaller opening. And besides, rubbing against
cable/hose is reduced.

R168
R16
1
φ210

φ214
φ222
φ226

215
240

Note) All specifications are subject to change without notice. 8

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Compact
CompactMechanical
MechanicalUnit(3)
Unit(3)
• Simple direct drive mechanism reduces rear side projection at robot escape position. Line
width can be reduced and floor space is used effectively.

Note) All specifications are subject to change without notice. 9

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Excellent
ExcellentPerformance
Performanceand
andFunction(1)
Function(1)
• As maximum reach is extended 7mm, wider operating area can be covered.

• Flip over mechanism as the standard and 360 degree rotation axis enables operation to all
directions.
R-2000iA/165F

J3 arm flip over

Wide operation area at flip over side

360 degree rotation 2650

(Reach is increased 7mm)
Note) All specifications are subject to change without notice. 10
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Excellent
ExcellentPerformance
Performanceand
andFunction(2)
Function(2)
• Payload at wrist is 165kg as standard, and allowable load moment at wrist is increased. It is
easily applied spot welding with large size gun or handling of heavy workpiece.
• The distance from J5 axis center to wrist flange is reduced 25mm.(ISO flange)
This reduction increases the substantial allowable load moment at wrist.

165kg

Allowable wrist moment at wrist

J4,J5 : 921 Nm 215mm
(▲25mm)
J6 : 461 Nm

Substantial allowable load moment

is increased by reduction of the distance
from J5 axis center to wrist flange.

Note) All specifications are subject to change without notice. 11

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Improvement
Improvementof
ofMaintainability
Maintainability
• Every 6 months greasing points are eliminated and minimum maintenance period is extended to
1 year.
• As all motors and pulsecoders are faced to outside, replacement of these elements is easy.
• New pulsecoder mechanism enables automatic uniting with temperature detecting device which
is wired so far. This can reduce replacing time of pulsecoder.
• As the mechanical unit cable is routed along with the outside of the J2 arm, it is easy to replace.

Minimum maintenance period Mechanical unit cable

Wrist motors is easy to replace
6 months 1 year

All motors and pulsecoders

J3 motor
are faced to out side.
Replacement of these elements
is easy.
J1 motor
J2 motor

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SERVO
SERVODIAGNOSIS
DIAGNOSIS
• SERVO DIAGNOSIS displays the information
useful to maintain robots.
- It calculates the recommended reducer overhaul time
- It displays the percentage of margin of alarms(overheat, OVC etc.) with
present duty useful to evaluate the propriety of the duty
- It keeps the history of collision detection useful to maintain the robot

Information is displayed on overheat

present max
the teach pendant. current
J 1 32.5 % 46.4 %
J 1 J 2 35.8 % 11.4 32.7 % %
disturbance
J 2 J 3 10.0 % 43.6 123.4%
current max(%)/min(%) %
J 3
OVC J 1 5.2 % J 4 10.0 % 10.0 %
123.4 %
J4 5 % 123.4/ -20.1%
10.0 123.4
%
J1 J 2 13.5 J%5 J23.8 10.0 % -20.3%
123.4/ 10.0 123.4
%
%
Collision detection
J2 J 6
27.5 %10.0 % %
J 3 10.0 J%6 123.4/ -20.7%
10.0 %
reducer J1 J3 1 times
25.4 %
J 4 10.0 % 123.4/ -20.3%
J1 98356.2 hours J2 J4 ***** times
J 5 10.0 % 19.3 %123.4/ -20.2%
J2 28940.6 hours J3 J5 ***** times
J 6 10.0 % 75.4 %123.4/ -20.3%
J3 93746.5 hours J4 J6 ***** times28.3 %
J4 164856.2 hours J5 5 times
J5 26374.5 hours J6 ***** times
J6 18273.9 hours last detection
2001 / 1 / 10, 12: 15: 57

Reducer overhaul time calculated Margin of alarms

from torque and current History of collision detection
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Various
Various Models
Modelsand
andOptions
Options
• Various models are prepared. Customers can choose the most suitable model according to their use.
- Floor mount 165kg payload type
- Floor mount 200kg payload type
- Long arm 125kg payload type
- Rack mount 165kg payload type
- Rack mount 200kg payload type
- Compact 165kg payload type

• By using various options, robot will become more convenient and can be used for wider application.
- Spot welding dressout package
- Severe dust / liquid protection option
- Mechanical unit option cable（signal,power,DeviceNet,etc.)
- Servo weld gun cable（inside of the mechanical unit - J3 casing - servo weld gun）
- Over travel switch（J1-J3 axis）
- Stopper for motion range restriction
- Insulated wrist flange(ISO）
- Brake release unit

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Replacement
Replacementfrom
fromS-430i
S-430i
• In case of replacement from S-430iW to R-2000iA/165F , almost operation space can be
covered even installed at the same position.
• Further more, if R-2000iA/165F is installed 70mm rise, almost entire operation space can be
covered.

70mm

R-2000iA/165F

70mm
J1 axis rotation center(S-430iW, R-2000iA/165F) S-430iW
Operation space(1) Operation space(2)
In case of same position In case of 70mm rise

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Wrist
WristFlange
FlangeInterface(R-2000iA/165F)
Interface(R-2000iA/165F) Wrist
WristLoad
LoadDiagram(R-2000iA/165F)
Diagram(R-2000iA/165F)

ISO Flange tap depth E

EQSP

注 1)
Note depth H
1） EQSP

Standard/Special Flange tap depth E

EQSP

注 1)
Note depth H
1）
EQSP

ISO Flange Standard Flange Special Flange

注 2)
Note 注 2)
Note 注 2)
Note
2） 2） 2） R-2000iA/165F
Wrist load diagram(ISO Flange)
注 2)
Note 注 2)
Note 注 2)
Note Note) In case of Standard/Special flange,
2）
(Based on ISO 9409-1-A125) 2） 2） the allowable position of X direction
Note 1) The length of fitting(outside) is 1-4 mm shorter than S-430i. becomes 25mm shorter
Note 2) The depth of tap/pin holes is 4mm/8mm shallower than S-430i.
Note) All specifications are subject to change without notice. 16
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Dimensions
Dimensionsofofthe
theRobot
RobotBase
Base Equipment
EquipmentMounting
MountingSurface(R-2000iA/165F)
Surface(R-2000iA/165F)

• Dimensions of the robot base is the same as S-430i

Note) All specifications are subject to change without notice. 17

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R-2000iA/200F
R-2000iA/200Fspecification
specification

Maximum load capacity at wrist 200 kg

Maximum load capacity at J3 arm 25kg
Maximum load capacity at J2 base 550kg
360 deg
J1 axis (90 deg/s)
135 deg
J2 axis (85 deg/s)
367.4 deg
J3 axis (90 deg/s)
Motion range
(Maximum speed) 720 deg
J4 axis (110 deg/s)
250 deg
J5 axis (110 deg/s)
720 deg
J6 axis (155 deg/s)
J4 axis 1274 Nm
Allowable load moment
J5 axis 1274 Nm
at wrist
J6 axis 686 Nm
J4 axis 117.6 kgm2
Allowable load inertia
J5 axis 117.6 kgm2
at wrist
J6 axis 58.8 kgm2
Repeatability +/-0.3 mm
Mass 1,240 kg

Note) All specifications are subject to change without notice. 18

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R-2000iA/200F
R-2000iA/200Fwrist
wristload
loadconditions R-2000iA/200F
conditions R-2000iA/200Fequipment
equipmentmounting
mountingsurfaces
surfaces

R-2000iA/200F
Wrist load diagram(ISO Flange)

Note) All specifications are subject to change without notice. 19

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R-2000iA/125L
R-2000iA/125Lspecification
specification

Maximum load capacity at wrist 125 kg

Maximum load capacity at J3 arm 20 kg
Maximum load capacity at J2 base 550 kg
360 deg
J1 axis (105 deg/s)
135 deg
J2 axis (105 deg/s)
352.4 deg
J3 axis (105 deg/s)
Motion range
(Maximum speed) 720 deg
J4 axis (170 deg/s)
250 deg
J5 axis (170 deg/s)
720 deg
J6 axis (260 deg/s)
J4 axis 588 Nm
Allowable load moment
J5 axis 588 Nm
at wrist
J6 axis 343 Nm
J4 axis 58.8 kgm2
Allowable load inertia
J5 axis 58.8 kgm2
at wrist
J6 axis 22.5 kgm2
Repeatability +/-0.3 mm
Mass 1,230 kg

Note) All specifications are subject to change without notice. 20

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R-2000iA/125L
R-2000iA/125Lwrist
wristload
loadconditions R-2000iA/125L
conditions R-2000iA/125Lequipment
equipmentmounting
mountingsurfaces
surfaces

R-2000iA/125L
Wrist load diagram(ISO Flange)
Note) In case of Standard/Special flange,
the allowable position of X direction
becomes 25mm shorter

Note) All specifications are subject to change without notice. 21

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R-2000iA/165R
R-2000iA/165Rspecification
specification

Maximum load capacity at wrist 165 kg

Maximum load capacity at J3 arm 25 kg
Maximum load capacity at J2 base 550 kg
360 deg
J1 axis (105 deg/s)
185 deg
J2 axis (90 deg/s)
365 deg
J3 axis (105 deg/s)
Motion range
(Maximum speed) 720 deg
J4 axis (130 deg/s)
250 deg
J5 axis (130 deg/s)
720 deg
J6 axis (210 deg/s)
J4 axis 921 Nm
Allowable load moment
J5 axis 921 Nm
at wrist
J6 axis 461 Nm
J4 axis 78.4 kgm2
Allowable load inertia
J5 axis 78.4 kgm2
at wrist
J6 axis 40.2 kgm2
Repeatability +/-0.3 mm
Mass 1,540 kg

Note) All specifications are subject to change without notice. 22

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R-2000iA/165R
R-2000iA/165Rwrist
wristload
loadconditions R-2000iA/165R
conditions R-2000iA/165Requipment
equipmentmounting
mountingsurfaces
surfaces

R-2000iA/165R
Wrist load diagram(ISO Flange)
Note) In case of Standard/Special flange,
the allowable position of X direction
becomes 25mm shorter

Note) All specifications are subject to change without notice. 23

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R-2000iA/200R
R-2000iA/200Rspecification
specification

Maximum load capacity at wrist 200 kg

Maximum load capacity at J3 arm 0 kg
Maximum load capacity at J2 base 550 kg
360 deg
J1 axis (90 deg/s)
185 deg
J2 axis (85 deg/s)
365 deg
J3 axis (90 deg/s)
Motion range
(Maximum speed) 720 deg
J4 axis (110 deg/s)
250 deg
J5 axis (110 deg/s)
720 deg
J6 axis (155 deg/s)
J4 axis 1274 Nm
Allowable load moment
J5 axis 1274 Nm
at wrist
J6 axis 686 Nm
J4 axis 117.6 kgm2
Allowable load inertia
J5 axis 117.6 kgm2
at wrist
J6 axis 58.8 kgm2
Repeatability +/-0.3 mm
Mass 1,570 kg

Note) All specifications are subject to change without notice. 24

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R-2000iA/200R
R-2000iA/200Rwrist
wristload
loadconditions R-2000iA/200R
conditions R-2000iA/200Requipment
equipmentmounting
mountingsurfaces
surfaces

R-2000iA/200R
Wrist load diagram(ISO Flange)

Note) All specifications are subject to change without notice. 25

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R-2000iA/165CF
R-2000iA/165CFspecification
specification

Maximum load capacity at wrist 165 kg

Maximum load capacity at J3 arm 25kg
Maximum load capacity at J2 base 550kg
360 deg
J1 axis (110 deg/s)
165 deg
J2 axis (90 deg/s)
250 deg
J3 axis (100 deg/s)
Motion range
(Maximum speed) 720 deg
J4 axis (130 deg/s)
250 deg
J5 axis (130 deg/s)
720 deg
J6 axis (210 deg/s)
J4 axis 911 Nm
Allowable load moment
J5 axis 911 Nm
at wrist
J6 axis 451 Nm
J4 axis 88.2 kgm2
Allowable load inertia
J5 axis 88.2 kgm2
at wrist
J6 axis 44.1 kgm2
Repeatability +/-0.3 mm
Mass 1,050 kg

Note) All specifications are subject to change without notice. 26

 FA & ROBOT

R-2000iA/165CF
R-2000iA/165CFwrist
wristload
loadconditions
conditions R-2000iA/165CF
R-2000iA/165CFequipment
equipmentmounting
mountingsurfaces
surfaces

R-2000iA/165CF
Wrist load diagram(ISO Flange)

Note) All specifications are subject to change without notice. 27

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R-2000iA
R-2000iA Controller
Controller Configuration
Configuration
(R-J3iB)
(R-J3iB)

• Special controller designed for R-2000iA robot

• Based on current R-J3 and increase performance with keeping reliability
• Enhance communication function
Flash ATA Card

R-J3iB Line control

Controller PLC
R-2000iA

PC Card
Teach Pendant Slot Remote access
by MODEL Card

Serial I/O (Slave)

Integrated
PMC
(Option)
Serial I/O (Master)
- AB Remote I/O
Host PC - DeviceNet
- InterBus-S
- Profibus-DP
- ControlNet
Ethernet Weld timer I/O device

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Controller（Hardware)
Controller（Hardware)

•Providing Main CPU and communication CPU as dual processor

system

‐64 bit RISC processor for Main CPU

‐Enhancement of communication processor to realize 100 BaseT
Ethernet
•Expanding Flash memory from 4-16MB to 16,32MB

•Adopting ECC for battery-backed up SRAM for high reliability

•Enhancement servo DSP

‐Two times faster than R-J3

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Controller(Hardware)
Controller(Hardware)
•For CE mark and RIA standard, to provide category-4 safety level of IEC
standard and control reliable of RIA standard.

Dual chain
24V

•Dual contact
Teach Pendant •Approved parts
0V E-Stop
Dead-man

•Dual contact
•Approved parts
Redundant E-Stop
OP panel
E-Stop 24V
3-Mode switch
Servo Amp
External E-Stop
Fence 0V
….
Primary power

Dual chain of
EMG input Dual MCC
Dual chain Circuit
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Controller(Hardware)
Controller(Hardware)

•Two expandable high speed reliable serial buses are provided

OP Panel
6-ch amplifier

HSSB Motor power

FSSB Pulsecoder signal
（High Speed Serial Bus） (FANUC Serial Servo Bus)
•Serial bus to OP panel ROT/HBK
•50 Mbps optical fiber communication RDI/RDO
•Providing PCMCIA port at •High reliable ECC function
OP panel •Various data transfer except motor
•Switch/LED control Control unit control signal
•Status of E-Stop signal •High speed Communication directly
to/from servo DSP

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Controller(hardware)
Controller(hardware)
Aux amp
•FSSB(aux axis, analog input) Analog input board

6-ch amplifier Analog input

FSSB •Flow sensor

(FANUC Serial Servo Bus) •Welding sensor
•Pressure sensor
Control unit
•Force sensor

•Providing high speed serial communication between servo DSP

and aux axis amplifier/analog input board by FSSB
•Realizing real time control based on the data from sensors

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Controller(Hardware)
Controller(Hardware)

•FSSB(Servo amplifier)

Various data transfer directly to servo DSP

6-ch amplifier •Voltage information
FSSB •Discharge current
(FANUC Serial Servo Bus)
•Detail alarm status

Control unit

•Improvement of servo control by use of voltage information.

•Providing good maintenance information based on various data
from servo amplifier

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Controller(Hardware)
Controller(Hardware)

•FSSB(Pulse coder)

Serial
communication Pulsecoder
6-ch amplifier

FSSB
(FANUC Serial Servo Bus)

Control unit
•High speed serial communication of absolute position data
•Because of absolute data, higher reliability than pulse transfer
•Detecting alarms at pulsecoder and transfer them to control unit
for better maintenance

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Controller(Hardware)
Controller(Hardware)

•Reducing transformer size and Robot connection cable

•Transformer S-430iW : 10.5KVA R-2000iA : 7.5KVA

•Connection cable S-430iW : (4) cables R-2000iA : (2) cables
S-430iF : (3) cables

Robot connection cable:

(2) cables

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Controller(Hardware)
Controller(Hardware)

•Providing PCMCIA port at OP panel

OP panel

•Expanding PCMCIA bus to OP panel by HSSB

•Easy to access PCMCIA port for Data back-up
or modem connection
•Available to use large size ATA flash memory
card HSSB
•Easy to back-up to/from PC through memory (High Speed Serial Bus)
card

Control unit

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Controller(Hardware)
Controller(Hardware)

•Enhancement of network
•Providing 100BaseT Ethernet by enhancement of
communication processor
•Field Bus option
‐Device Net
‐Control Net
‐FL Net
‐Profi Bus
‐InterBus S
Control unit

100BaseT

Field Bus

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Controller(Hardware)
Controller(Hardware)

•Sensor Board
Sensor board 2D vision

3D vision/
MigEye

Full size option

Force
sensor

•Having all sensor I/F at one board(sensor board)

•Possible to provide various sensors to robot system easily

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Controller(Configuration)
Controller(Configuration)
•Inside of cabinet
Discharge
Aux amp 6ch amplifier resister

Fan unit

Breaker

E-Stop unit

Control PCB
Transformer

I/O unit

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Controller(Configuration)
Controller(Configuration)
Mode switch(key switch)
•OP panel IEC-947-5-1(force opening)
AUTO : Running
T1 : Teach(safety speed)
T2 : Teach(100% speed) E-Stop switch
Hour meter (option) ON/OFF (alternate) IEC-947-5-1(force opening)

PCMCIA
RS-232-C
Ethernet(option)

(Option)
Optional panel with Alarm LED,
Start switch, Reset switch and
User #1, #2 switch is available.

ON/OFF (alternate)
Reset switch Alarm LED
User #1,#2
Start switch(with cover)
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Controller(Configuration)
Controller(Configuration)

•Option PCB Mini slot

•Profibus
4 slot back-plane
•DeviceNet
Option PCB Main CPU PSU
•FL Net
•Aux axis
Wide mini slot
•Line Tracking
•Interbus-S(PC104)
•ControlNet(PC104)
2-mini
slot
Full size slot
•DeviceNet(PC104)
•Interbus-S(PC104)
•ControlNet(PC104)
Wide mini
•Process I/O
•Sensor Board
Full size

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Controller(Configuration)
Controller(Configuration)

•Servo Gun Amplifier for servo gun

•Add servo amplifier and cables to

realize servo gun

Brake power is provided from 6 ch

amplifier
DC link is also provided from 6 ch
amplifier

•Add gun change unit to realize gun

change

Gun change unit

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Controller(Maintenance)
Controller(Maintenance)

•Servo amplifier
•Connector for all connection 6ch amplifier

•Reduce 18% weight as R-J3

•Exchanging within 5 minutes

•Fan unit

Air Flow
Exchanging
fan
•Rear-to-rear air flow
•No maintenance space at side of
cabinet
Fan unit
•Exchanging fan unit from front
side

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R-J3iB
R-J3iB Software
Software
Ethernet 100Base-TX
• 100Base-TX Ethernet is supported
• Higher data transfer is available than current 10Base-T
• Robot can connect 100Base-TX Ethernet directly in factory without any converter

R-J3iB

100Base-TX
Ethernet 100Base-TX
100Base-TX
100Base-TX -> 10Base-T
converter
10Base-T

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R-J3iB
R-J3iB Software
Software
Web Server
• HTTP interface is supported
• Access robot data through Internet or Intranet
• Access robot data through Internet Explorer on PC. Special software is not needed on PC
• Customer can look/modify/save robot data as same manner of Internet Home Page

PC

R-J3iB

Web server

Ethernet

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R-J3iB
R-J3iB Software
Software
３ Mode Switch
• 3 mode switch (AUTO, T1, T2) is provided as standard. Previously, only CE/RIA controller
provides 3 mode switch.
• In T1 mode, robot speed is limited under 250mm/sec. Teaching operation becomes safe.
• In T1 and T2 mode, robot is energize only when Dead-man switch of TP is held
• Mode can be fixed by key-lock. Prevent to change mode unexpectedly

R-J3iB
T1 Controller

AUTO T2

3 Mode Switch

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R-J3iB
R-J3iB Software
Software
Automatic Backup Function
• User programs and other system setup are saved in system automatically
• Reduce effort to data backup when program is changed and prevent to forget to save
modified program
• When user programs and/or system setup are lost in unexpected reason, easy to
recover system with minimum effort and time

R-J3iB
¾ Backup is automatic done at following timing
− Specified time (5 times per day)
− Specified digital input signal turning on
− Power on

¾ Multiple backups are available. If wrong program and

setup is saved, previous another backup can be loaded

Save user programs and system

setup in integrated Flash memory

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R-J3iB
R-J3iB Software
Software
Robot Link Simultaneous Motion
• Handling for heavy / large workpiece by multiple robots
• By handling with multiple robots, robot hand can be simple and small
• Does not need special hardware
• When one robot is stopped, other robots are also stopped automatically.

Slave robots follow

a motion of master robot

Slave Robot #2

Master Slave
Robot Robot

Move master robot by

program or jogging
Ethernet Slave Robot #1
Master robot moves by Slave robot follows
program or jogging a motion of master robot
Master Robot Ethernet

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R-J3iB
R-J3iB Software
Software
Robot Link Approach Deterrence
• Approach stop function Approach stop
Feature: This function detects near-miss between a robot and
another one/fixed object. This function decelerates and
stops robots before collision.If deceleration is not in
time, robots are E-stopped.
Usage : This function prevents interference by operation error.

• Approach wait function

Feature: If distance between a robot and another one/fixed
object is less than approach wait distance, this function
decelerates former robot to stop. According to
situation,motion of stopped robot can be restarted
automatically.
Usage : This function is used when robots move in close range (Waiting for I/O condition)
to each other.
Approach wait

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R-J3iB
R-J3iB Software
Software
ROBOGUIDE
• Connect PC to robot controller and execute high accurate simulation is available on PC
¾ Robot motion
¾ TCP path trajectory
¾ Cycle time
¾ I/O Interlock
• Easy to switch simulation to actual robot. After simulating a robot program, execute this
program and move actual robot.
• 3D animation on PC is available for create/edit robot program, teach/modify taught robot
position
• Multiple robots animation is available

ROBOGUIDE

R-J3iB

Ethernet
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