innovation drives fresh approach page 6 flexible … · 2019. 11. 22. · times – essential for...

INNOVATION DRIVES FRESH APPROACH PAGE 6

FLEXIBLE PACKERS REMOVE THE STRAIN PAGE 16

ROBOTS BOOST CHEESE PRODUCTIVITY PAGE 20

FOOD SECTOR ROBOTICS REVIEW JUNE 2007

Robots cut lettuce labour issues 0

EDITORIAL

Welcome to FANUC Robotics Food Sector Robotics Review

Welcome to this special issue of FOOD Sector Robotics Review. FANUC Robotics has been supplying robots to

manufacturing industry since 1982 and many of these installations have been in the food industry. Introduced in this

issue is a new robot designed specifi cally to meet the demands of the food sector. The FANUC M430iA represents

a landmark for FANUC Robotics and promises to make a truly reliable and cost effective solution to any business

that picks and packs food.

Flexibility continues to be a key requirement of the industry. From the Arctic Circle to the Mediterranean we report

on leading food companies to give a fl avour of typical solutions robots are providing – what really stands out with all

users is that once a robot is installed, there quickly follows plans to install further systems.

Increasingly we hear from our customers in the food sector that they see robots as an essential component to

integrate into their picking, packing and palletising lines. Robots are penetrating the domain dominated by dedicated

‘hard automation’. Unreliability and infl exibility often associated with specially designed ‘hard automation’ are both

totally unacceptable in today’s highly competitive environment.

Also featured in our reports is the close working partnership we have established with system integrators. Food

industry expertise is essential for both support and integration and these skills are in place to help FANUC Robotics’

customers throughout Europe.

Finally we’re always happy to receive feedback from the food industry as this is the only way we can truly continue

to develop and deliver our class leading, best value products. I personally welcome any comments from readers

and hope you fi nd this issue of interest.

Olaf Gehrels

CONTENT

04M-430iA

Smooth operator ready to set the pace

06Fleury Michon

Innovation drives fresh approach at Fleury Michon

10El Dulze

Robots cut lettuce labour issues

16MS Selfoss

Flexible packers remove the strain

20KH de Jong

Robots boost cheese productivity

Technical Specifi cation

FANUC FoodLine

M-430iASmooth operator ready to set the pace

04

The new FANUC Robotics M430iA has been designed specifi cally for the food industry and is the result of many years development. Using well proven FANUC mechanical and control technology the new robot has been designed from the ground up and resembles no other model in its wide range.

Speed and easy wash down are the two obvious requirements for a food robot but of equal importance is the ability for it to keep working without attention for extended periods of time and for users not to need specialist skill to benefi t from its capabilities.

Looking at the robot it’s immediately apparent that its 5 axes (or

optional 6 axes) arm is designed to be smooth – over its entire exterior

surface there are no areas where contaminants can become trapped.

The paint is a high gloss fi nish and is resistant to acids and alkaline

materials. Washing down the robot with a hose is no problem as it is

sealed to meet IP 67 standards and double seals on the major axes,

joints one, two and three not only keep fl uids out but ensure that its

food grade grease stays within the durable casings. Joints four and

fi ve use nylon gears and do not require any lubrication.

High speeds are achieved with

the M430iA – carrying out the

industry standard benchmark

test where the arm moves up

vertically 25mm, horizontally

300mm and then down 25mm,

the new robot achieves 120

cycles per minute (cpm) with

a 1kg payload and 100cpm with a 2 Kg payload. Using a conventional

anthropomorphic confi guration the arm generates very high torques

to achieve these high speeds – joint one will rotate at 300º per second

if required – to enable this FANUC has used two high speed heavy

duty motors for each of the major axes using dual drive torque,

tandem control technology.

Designed to be base mounted to a machine or hung from a gantry, the

arm is extremely compact with motors well clear of the operational

area. The small ‘footprint’ occupied by the M430iA and its long 900

mm reach ensures a large work envelope that allows the possibility

to position many operations within a small area.

05

FANUC Robotics’ new food sector robot looks set to take automated picking

and packing operations to a new level of fl exibility and reliability. Renowned for

their ultra high reliability and effi ciency, FANUC Robotics products are working

in some of the most aggressive environments possible throughout the World.

Maintaining this reputation is critical to FANUC and developing a new robot for

any industry is understandably a long process.

R-30iA controllerMaking the M430iA’s precise

movements possible is a new

intelligent controller – the R-30iA

controller. The new FANUC Robotics

controller provides enhancements to performance, an increase in

the number of robot arms it can control and a fully integrated vision

control system. The R-30iA controller has improved vibration control

which allows its motors to have shorter acceleration and deceleration

times – essential for high speed food picking operations. Further

control enhancements, including high performance constant path,

help to speed up programming signifi cantly.

iRVision systemWhere vision is required the R-30iA controller helps reduce

integration time and cost with its new integrated iRVision system.

No additional hardware, other than a camera, is required to integrate

vision with the new controller. The iRVision system manages all

image processing on the robot controller and by direct connection to

the FANUC web server provides intuitive setup information. A clear

camera image and programming data is displayed on the controller

teach pendant making it easier for installation engineers to access

information. Control of up to 40 multiple axes is available with the

R-30iA controller and when used in multi-arm mode one controller

can control four arms and four auxiliary axis groups. A typical use

would be a multi-robot picking application.

Further reducing the additional control hardware common to any

installation, the new controller is complete with its own Programmable

Machine Controller (PMC). The PMC has an integrated monitor which

allows the user to monitor the PMC ladder in a graphic display for

all levels and sub programs that reside in the controller.

FANUC R-30iA controller

Innovation drives fresh approach at Fleury Michon

06

With operations across seven sites in France, three in the Vendee region, Fleury Michon

employs in total 3,193 people producing fresh prepared meals, frozen meals and, as the

number one producer in France, pork products including ham and sausages. It has a

clear technological leadership in producing ‘35 days’ fresh meals as well as producing

very fresh ‘8 days’ products.

Along with successful initiatives, including twenty years of collaboration with top chef

Joël Robuchon, Fleury Michon has developed innovative manufacturing processes to

help maintain its lead. Along with a consistent objective to enhance working conditions,

these innovative processes have also driven the implementation of automation at several

sites.

Ten robot systems are now operating at Fleury Michon sites all using FANUC Robotics

products. “We installed our fi rst robots in 2003 on end of line palletising applications,”

explains Laurent Mailly, Fleury Michon’s Packaging and Process Equipment Development

Manager, “Our philosophy then, as it now, was to keep applications simple. The fi rst

systems were implemented successfully and the employees became confi dent with

their capability.”

07

FANUC M-410iB palletising

Appealing to the consumer in today’s ‘ready meal’ market is an increasing

challenge for any manufacturer in the food sector – today’s non-stop lifestyles

are fuelling a highly competitive growth market with many players. A market

leader in France, Fleury Michon, is able to keep ahead of the followers

by its continually innovative approach to its business and manufacturing

processes.

08


More complex systems are now under way at Fleury Michon but the emphasis is strictly

to use robots only where they are justifi ed. Laurent explains, “We don’t do ‘robotisation’

– we implement mechanisation – this means that although we don’t see robots as the

panacea to all problems, we do see them as the solution to many applications that were

previously solved by specially designed and dedicated equipment.

“This approach allows us far more fl exibility – our previous systems were dedicated to one

size of product and to one operation. We now have the opportunity to programme robots

for more than one product and if necessary for a completely different operation.”

More robots will be integrated into Fleury Michon’s production and, as Laurent explains

its still an open book, “We use FANUC Robotics currently throughout the company but

that is on the basis that their products and services continue to fulfi l our needs. The

original decision to buy FANUC was made after an in depth survey of all suppliers. FANUC

Robotics had the widest range to offer and we were impressed by its technical support.

Commercially we have developed a strong relationship with FANUC; an essential element

to continuing effective support.

A food technology innovation developed by Fleury Michon requires that individually

packaged items undergo a thermal process before being packaged into cartons. Three

FANUC M410iB robots are involved in the installation avoiding a potential bottle neck in

production output.

Robot one handles a tray which has been collated with individual packages, total weight

37 kgs, and places the tray onto a stack. Two stacking areas are managed by the robot which

continues loading trays onto the stack until it is ready to be conveyed to a collection point.

Complete stacks of trays are removed manually and taken into the processing area.

Laurent Mailly

09

Robot two takes trays from complete stacks and positions them into a picking area

where they are re-loaded onto the carton packing line. An additional FANUC M410iB is

positioned between the two robot installations. This third robot is able to support either

of the other two robots in cases of maintenance or increased production demands.

“The implementation of robots into Fleury Michon has been a success,” continues Laurent.

“They have helped us to meet our production objectives and in particular our need to

continually try to improve working conditions for Fleury Michon’s employees. We have a

loyal workforce which is essential for us to maintain our very high quality levels”.

Finally when questioned if the robot installations have given a strong return on investment

(ROI), Laurent concludes, “I wouldn’t single out a return on the robots alone – they are

part of a much wider investment related to producing our products to a high standard,

competitively and to produce what the end customer wants. Will we continue to invest

in robots? Yes without any doubt – wherever they can be used to help us maintain our

innovative approach and of course our market leadership.”

“The implementation of robots into Fleury Michon has been a success.

They have helped us to meet our production objectives and in particular

our need to continually try to improve working conditions for Fleury

Michon’s employees. We have a loyal workforce which is essential for

us to maintain our very high quality levels.”

AT A GLANCE• Market leader Fleury Michon maintains market leadership by

innovation in product development and manufacturing processes• Uses ten FANUC Robots and keeps systems engineering simple• See robots as a solution to many applications where

previously dedicated automation was used• Robots allow Fleury Michon more fl exibility• Strong commercial relationships are essential for

successful automation systems• Robots have helped Fleury Michon achieve production

objectives and improve working conditions• Robots alone are not singled out to measure ROI – they are part

of an overall investment in equipment, time and personnel

Robots cut lettuce labour issues

10

Agriculture is big business in the Murcia region of Spain, climatic conditions

and soil type allow the production of vast quantities of vegetables that are a

major contributor to the Spanish economy. The agricultural industry in the

region understands the importance of technology to maintain its competitive

position in European markets and actively applies research and development

to keep ahead.

The value of technology has been fi rmly grasped and implemented by

El Dulze, a family run business that produces lettuce. Its offi ces and packaging

plant are based in San Javier, Murcia. Investment by this company is very

apparent – the new facility has an ultra modern look more familiar to the

technology sector than to farming.

The implementation of technology in this plant is confi rmed throughout

the plant and in the packaging area the company now uses 68 FANUC

robots. The entire packaging system was installed by an Alicante

based FANUC Robotics systems integrator, IT Robotics.

Lettuces taken straight from the ground are delivered to the plant

in plastic containers stacked onto a euro pallet. These pallet stacks

are located into a robot de-palletising area where a FANUC Robotics

R2000iB removes one tray at a time and pours the tray contents onto

the packaging line conveyor.

The input conveyor orientates the lettuces so that they travel

longitudinally onto the system conveyors. Positioned centrally on

the input conveyor, and spaced individually, the lettuces are directed

to the robot cutting stations.

11

“Reducing the amount of people has made

everything more hygienic and damage to the

lettuces caused by handling is now minimal. The

robots have reduced rejects from 20% to 5%.”

12

José Sánchez, Managing Director of El Dulze

“We have a very good commercial relationship

with FANUC and it was clear from fi rst discussions

that they had a good understanding of the size of

the project. We already knew that FANUC made

no compromise on quality and this care of quality

was apparent at all stages from product supply to

customer support.”

Juan Martinez, General Manager of IT Robotics

Each robot, an LR Mate 200iB, performs the same task and sensors

on the conveyor direct lettuces to the next available station. At this

point the lettuce is orientated lengthwise on the conveyor but the

root end is randomly positioned.

A vision system at this point is used to weigh and measure the

diameter to assess the density of the lettuce. Lettuces falling outside

the acceptable parameters are rejected at this point. The vision

system also identifi es the root position to the robot which then picks

up the lettuce with a specially designed pneumatic gripper.

The robot then positions the lettuce into a cutting machine where

the root is removed. A second check is then made on the size of the

lettuce as the robot holds the lettuce under the camera again.

13

Lettuces that pass this fi nal inspection are conveyed to an operator

working at the robot station and these are placed into a plastic tray.

Full trays are placed back onto the conveyor and sent to the packing

area.

The plant is capable of packaging 550,000 lettuces and is currently

operating at 400,000 per day. The system is a major investment for

El Dulze but has been seen as an essential step for the business to

take. José Sánchez, Managing Director of El Dulze, explains, “The

need to invest wasn’t a diffi cult decision to make. Of course there are

many reasons why this investment has been made but generally they

all focus around delivering a consistently high quality product and

keeping El Dulze competitive. This business has traditionally been

labour intensive but today labour is increasingly unavailable.

“This region has a major shortage of labour – many workers in the industry are immigrants

but this hasn’t solved our problem. As minimal skill is needed we have a real problem

with labour and turnover of these workers is high – they just seem to come and go.”

By investing in automation to reduce labour shortage issues El Dulze has benefi tted in

many areas. The work force required to produce the current production levels manually

would need to be 500 people, and would be a major management problem with many

nationalities and languages involved– this has been reduced by 80% with 100 people

producing this level of output.

José explains further, “Reducing the amount of people has made everything more hygienic

and damage to the lettuces caused by handling is now minimal. The robots have reduced

rejects from 20% to 5%.”

El Dulze aims to increase its overseas sales and as it takes the business to a higher level

the overall investment has had an important impact. Visitors to El Dulze from major

retailers are now exposed to a high level of investment and quality throughout the business

and this commitment has had a major impact on gaining new business.

The scale of the installation was a major factor in deciding which products to use in the

project. Juan Martinez, General Manager of IT Robots explains, “The size of the project

dictated that a close commercial relationship with the robot supplier was of major

importance. We knew that FANUC Robotics produced a high quality, reliable product

and that support would be available when required.

Deciding which robots to use was a core decision as they are the heart of the system.

Juan Martinez, continues, “We have a very good commercial relationship with FANUC

and it was clear from fi rst discussions that they had a good understanding of the size of

the project. We already knew that FANUC made no compromise on quality and this care

of quality was apparent at all stages from product supply to customer support.”

14

FANUC R-2000iB loading lettuces to system

15

AT A GLANCE• El Dulze is a leading producer of vegetables and currently

processes 400,000 lettuces a day through its plant• It believes technology is important to maintain

competitiveness in European agriculture markets• Has made a major investment to ensure its delivers

a consistently high quality product• 68 FANUC Robotics robots have been installed to provide

an operating capacity of 550,000 lettuces per day• Employee headcount is reduced by 80% by using robots

and labour shortage issues are reduced• Robots have made operations more hygienic and

also rejects have reduced from 20% to 5%• A good commercial relationship with the robot integrator

is essential for successful installation

Flexible packers remove the strain

16

Iceland is a country of extremes which become immediately apparent to the

fi rst time visitor arriving by aircraft. It’s no surprise that Iceland was the

practice ground for the Lunar landings of the last century. What is surprising

is that even though cattle are not visible to the casual observer, the dairy

industry is a contributor to Iceland’s exports.

Mjólkursamsalan Selfoss (MS Selfoss) based in Selfoss, near to Reykjavik,

is Iceland’s largest dairy products business and is part of the country’s dairy

collective. It is also Iceland’s most automated dairy.

Packaging cartons of Skyr into trays has now been fully automated at MS Selfoss by the integration of three FANUC Robotics LRMate 100iB

– one on the end of each production line. Guðjón Einarsson, Technical Manager, MS Selfoss, explains, “Skyr is a traditional product unique to

Iceland. It is similar to thick yoghurt with a soft and creamy consistency however, and one reason why export sales are so strong, it is totally fat

free and is in fact a very soft cheese made from skimmed milk. Three main factors have made us automate the tray packing process. Firstly

the need to increase output, high turnover of staff in the packing area and the repetitive nature of the job leading to potential strain injuries.”

With only 300,000 Icelanders, 200,000 of which are employed in Reykjavik, there is close to zero unemployment levels. As fi lled and sealed

product cartons travel down the end of line conveyor they are collated within two locating channels. At this point the robot picks up two cartons

at a time and positions them into preformed locations within a packing tray. Each tray holds six cartons and when all locations are full the

robot signals the system to remove the tray and a new tray is positioned into the robot area for the cycle to continue.

“Before the robots were installed the workers on each line, four of them at that time, would take it in turns to transfer the cartons from conveyor

to tray. This was a very repetitive task and couldn’t be undertaken for too long without missing cartons or becoming tired. The labour savings

that have been made by implementing the robot systems are 1½ operators per line,” continued Guðjón.

The fl exibility offered by robots was a key decision point for MS Selfoss in the decision to select robots over conventional ‘dedicated’ automation.

Many small ‘call off’ orders are required demanding total fl exibility. With 30 different products and up to 10 product changes per line per day the

ability to change programmes quickly is essential. The FANUC Robotics LR Mate intelligent control has the ability to hold all the programmes

required for the Skyr product and only two different grippers are required for each system.

17

18

FANUC LR Mate 100iB picking

“Like any dairy environment there’s plenty of

water used in the area for washdown purposes.

This hasn’t been a problem at all as the robots

are positioned within clear enclosures and are

regularly wiped down with detergent.“

Thorkell Jonsson, Managing Director, Samey

AT A GLANCE• Mjólkursamsalan Selfoss (MS Selfoss) is Iceland’s

largest dairy products business • Produces a traditional product unique to Iceland – Skyr - a

totally fat free product made from skimmed milk• Skyr sales growth is strong and it is exported to many countries• Many small call off orders for Skyr require fl exibility of the packaging line• Up to 30 different products and ten product changes per day per line• In the packing area MS Selfoss needed to increase output, overcome

high staff turnover and avoid repetitive strain injury risks• Three FANUC Robotics LR Mate 100iB robots

installed to meet production demands• Savings of 1½ operators per line• Enjoying growth in sales and planning further investment in

end of line robots for packing and palletising operations

The robot cells were engineered by Samey, an Icelandic based

FANUC Robotics systems integrator. Samey engineered each system

including control and conveyor, provided training on-site and support

when needed.

Thorkell Jonsson, Managing Director, Samey, comments, “These

robots were installed over a three year period as required by

production demand at MS and they have proved to be totally reliable.

Like any dairy environment there’s plenty of water used in the area

for washdown purposes. This hasn’t been a problem at all as the

robots are positioned within clear enclosures and are regularly wiped

down with detergent.”

“Before the robots were installed the workers on each

line, four of them at that time, would take it in turns to

transfer the cartons from conveyor to tray. This was a very

repetitive task and couldn’t be undertaken for too long

without missing cartons or becoming tired. The labour

savings that have been made by implementing the robot

systems are 1½ operators per line”

Guðjón Einarsson, Technical Manager, MS Selfoss

The future for MS Selfoss is looking very positive with the quality

and increasing popularity of its Skyr product refl ected in year on

year growth. Guðjón explains that the company is expanding and

will continue to automate the plant. Palletising and further packing

systems are proposed to maximise effi ciency wherever possible.

And fi nally for anyone wondering where the cattle are – they’re kept

happily indoors for 8 to 9 months of the year and enjoy the Summer

sunshine and grazing from June to August.

19

Robots boost cheese productivity

20

KH de Jong, part of Friesland Foods Cheese, and one of four Friesland packaging facilities

in Holland, use FANUC Robotics robots on three packaging lines. Over 350 tons of Edam,

a traditional ball shape cheese produced in three sizes of 1.9 Kg, 1.7 KG or 0.9 KG, is

packaged per week. Delivered to the facility on trays carried in transportation racks,

the cheeses are allowed to mature before the packaging process begins. Each tray has

capacity for 35 cheeses and ten trays are carried in each rack.

When cheeses have reached the specifi ed maturing stage the rack is delivered to a buffer

area at the start of the packaging line. The buffer area has capacity for fi ve full and fi ve

empty racks and automatically shuttles them into the de-palletising area. A FANUC

Robotics R-2000iB takes one full tray from the rack and places it onto a fi xture where

it then uses seven vacuum cups to locate a complete line of cheeses. The cheeses are

then accurately placed onto a conveyor with individual locations for each cheese. Empty

trays are then returned to the rack and the process begins again.

21

FANUC R-2000iB de-palletising cheeses from tray

Speeding up production is not something commonly associated with cheese

manufacture – its very nature is that it should take time to mature for

ultimate fl avour. However, when production output is 350,000 tons per

year, maximising the effi ciency of packaging becomes a core issue. This is

the case for Friesland Foods Cheese, one of Holland’s longest established

producers of cheese.

22

FANUC M-710iC packing

Christiaan Hallers, Project Manager, KH de Jong, explains. “Dero, FANUC Robotic’s

system partner based in Nieuw-Vennep, south of Amsterdam, was responsible for

engineering the system and ensuring the racks are always positioned correctly for de-

palletising prior to being coated in the paraffi n wax machine. This stage of the process

relies on several intelligent features of the FANUC Robotics controller to ensure effective

operation. Collision detection is very important when removing the tray from the rack.

As the racks are used to transport the cheeses from factory to factory they can get

damaged and we need to detect any indication of a stuck tray. Bernard Bakker, head of

the Technical Department explains: “The torque of the robot’s motors are continually

monitored and any increase above expected torque within a programme is sensed and

the robot stops instantly.”

Christiaan Hallers, Project Manager, K.H. de Jong

23

“There are many positives about the systems we have

installed but what we like about the robots is that we

seem to keep learning about different functions and

ways they can be used effectively. We were especially

impressed by the speed of one robot, where other

suppliers offered us two robots for the same amount of

work. When we were looking to invest in robots we were

shown a demonstration of the FANUC robot at Dero’s

premises. We were impressed by the speed and this

helped to convince us that robots were the way ahead.”

Other features include being able to sense that all cheeses have been picked up with the

vacuum grippers – if a cheese is left on the tray the robot is aware and returns the tray

to the rack slowly to avoid dropping the cheese. Also as the cheeses are not a uniform

‘ball shape’ the robot is able to perform a ‘human like’ wrist roll motion over the cheese

to ensure a good contact is made with the vacuum gripper. This roll motion also ensures

cheeses do not stick to the tray. ”

Sensors on the conveyor provide a count to the robot to indicate the next available position

to deposit the seven cheeses – this ensures the conveyor is kept full. The conveyor

transfers the cheese to a paraffi n wax coating machine that produces the familiar Edam

coloured protective coat.

After coating and in most cases wrapping in cellophane and labelling, the conveyor

delivers the cheese to a FANUC Robotics M-710iC robot which has a specially engineered

gripper with six individual pneumatically operated ‘fi nger type’ grippers. Picking up

three cheeses and rotating 180º to pick up another three the robot then places the six

cheeses into a freshly erected box. Rotating through 180º ensures that the labels are

always positioned towards the outside of the box to avoid damage from contacting the

top edge of the cartons internal separator. Full boxes are released from the loading area

and proceed to a FANUC Robotics M-410i palletising robot at the end of the line.

Christiaan, continues, “Using the M-710iC robot for the process of placing the cheeses

in the box has helped greatly – in particular the robot is able to change its own gripper

which weighs 40Kgs. This was previously a two person job and took a lot more time.”

25

AT A GLANCE• KH de Jong packages over 350 tons of Edam cheese per week • FANUC Robotics robots used on packaging lines to handle cheese• Handling requires intelligence to overcome inconsistency of

product shape and also occasional sticking tray problems• FANUC Robotics intelligent controller used to control system

and ensure inconsistencies are detected and overcome• Quality of product has improved and hygiene is

maintained as cheese is no longer handled manually • Employee involvement at all stages of robot implementation

has maintained their interest and support• Labour cost savings equate to 500 hours per week

and productivity has increased by 10%• Robots have provided a maximum capacity of

3,600 cheeses per hour per line

The line has made a signifi cant impact on productivity at KH de Jong and labour cost has

been driven down. Christiaan explains, “We operate two shifts and labour cost savings

equate to 500 hours per week, in addition productivity has increased by at least 10%. The

system has provided us with a maximum capacity of of 3,600 cheeses per hour per line.

Handling the trays was a potential injury risk area as the metal trays can get damaged

and arrive with sharp edges. Also quality has improved and, as the cheese is no longer

handled manually, hygiene is maintained.“

The implementation of robots into the KH de Jong facility has been well received by the

workforce. Management ensured that employees were involved and kept aware of the

importance of remaining competitive by improving quality, productivity and reducing

costs. Overall the robots are well liked by employees who no longer have to carry out

what they thought was an annoying packaging task.

Christiaan concludes, “There are many positives about the systems we have installed but

what we like about the robots is that we seem to keep learning about different functions

and ways they can be used effectively. We were especially impressed by the speed of

one robot, where other suppliers offered us two robots for the same amount of work.

When we were looking to invest in robots we were shown a demonstration of the FANUC

robot at Dero’s premises. We were impressed by the speed and this helped to convince

us that robots were the way ahead.”


FOODLINE

THE FANUC FOODLINE

M-430iA · LR Mate 200iC · M-6iB · M-16iB · M-420iA

M-710iC · M-410iB · R-2000iB · M-900iA · Controller

FANUC Robotics Benelux

Tel.: +32-15-207-157

www.fanucrobotics.be

FANUC Robotics Czech s.r.o.

Tel.: +420-234-072-900

www.fanucrobotics.cz

FANUC Robotics Deutschland GmbH

Tel.: +49-7158-9873-0

www.fanucrobotics.de

FANUC Robotics France

Tel.: +33-1-69-89-7000

www.fanucrobotics.fr

FANUC Robotics Ibérica S. L.

Tel.: +34-93-664-1335

www.fanucrobotics.es

FANUC Robotics Italia S. r. l.

Tel.: +39-02-9345-601

www.fanucrobotics.it

FANUC Robotics (UK) Ltd.

Tel.: +44-2476-63-96-69

www.fanucrobotics.co.uk

FANUC Robotics Schweiz

Tel.: +41-56-641-03-70

www.fanucrobotics.eu

FANUC Robotics Polska

Tel.: +48-22-54-80-131

www.fanucrobotics.pl

FANUC Robotics Magyarország Kft.

Tel.: +36-6-23-507-400

www.fanucrobotics.eu

03

FANUC Robotics offers the most fl exible solution to any picking, packing or palletising problem straight out of the box; and because all FANUC Robotics products are developed around proven technology they are renowned for their high levels of reliability. With a range capable of handling from 3kgs to 700kgs, and best in class picking rates, there’s a FANUC robot for every application. It’s the widest range of robots available on the market together with application specifi c software to make programming straight-forward. There’s over 160,000 FANUC robots installed around the world and keeping them supported is a priority – FANUC Robotics world-wide network is never far away from any user to provide advice and support.

This section is designed to provide an insight into the features and benefi ts of specifi c products suitable for picking, packing and palletising in the food sector. Of course we’re limited here as to the amount of information that can be provided so if you need further information on any product or service contact your FANUC Robotics country offi ce – see addresses below or visit www.fanucrobotics.lu

04

THE M-430iA/2F IS A 5-AXES HANDLING ROBOT WITH 2KG PAYLOAD,

SPECIALLY DEVELOPED FOR FOOD APPLICATIONS. IT OFFERS HIGH

RATES OF CONTINUOUS HANDLING OF OBJECTS, A CLEAN, WASHABLE

MECHANICAL UNIT, AND A CHEMICAL-RESISTANT SURFACE.

Reach

900 mm

2 Kg

430iA/2F

Weight

PICKING

05 M-430iA/2F

VERY HIGH SPEED PICKER

Dual drive torque tandem control is applied for

J1, J2 and J3.

The M-430iA/2F can handle

• Up to 120 cycles / minute in continuous motion

• Up to 200 cycles / minute in dual arm confi guration

ROBOT ARM DESIGNED FOR FOOD INDUSTRY

CLEANING REQUIREMENTS

• Special coating and sealing which protect against hot water,

acid and alkaline cleaners

• Perfectly smooth surface of the whole unit for easy cleaning,

thus avoiding the contamination by germs

• IP67

FLOOR AND CEILING MOUNT, LARGE WORK ENVELOPE

• The M-430iA/2F offers a very large work envelope compared to

other types of robots, thus providing high fl exibility for cell design.

• The M-430iA/2F can be fl oor or ceiling mounted.

FOOD GRADE GREASE M-430iA/2F

• Special food grease to avoid any risk of damaging food

with grease or oil

NO GREASE IN WRIST AXIS UNIT

• No risk of contamination of grease on food,

even in case of heavy collision of wrist axis

HOLLOW ARM STRUCTURE

• No outer cables

• Same life for cables and other internal components

• No risk of damaging cables

• Less spare parts necessary

• Cost saving on maintenance

MOTORS DIRECTLY COUPLED TO THE REDUCER

• Simplifi ed mechanical unit

• Reduced breakdown risk

• Compact and reliable solution

• High accuracy and minimum backlash

HOLLOW JOINT CONSTRUCTION FOR REDUCERS

• Reduced wear of cable routing as most reducers

have hollow construction

Robot model ControllerControlled

axes

Max. load

capacity at

wrist [kg]

Repeatability

[mm]

Mechanical

weight [kg]Reach [mm]

Motion range [˚] Maximum speed [˚/sec] J4 Moment

[Nm]/

Inertia [kgm2]

J5 Moment

[Nm]/

Inertia [kgm2]

J6 Moment

[Nm]/

Inertia [kgm2]

IP Rating

J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

M-430iA M-430iA/2F R-30iA 5 2 ± 0.5 55 900 360 230 383 300 540 — 300 320 320 360 1200 — 3.5/0.032 1.5/0.0065 — IP67

F E A T U R E S A N D B E N E F I T S

06

THE LR MATE LS WITHIN THE ROBOT SERIES OFFERS THE SMALLEST MODE

FANUC ROBOT RANGE, FROM 2 TO 5KG PAYLOAD. THEY ARE IDEAL FORFANUC ROBOT RANGE FROM 2 TO 5KG PAYLOAD THEY A

FAST AND PRECISE APPLICATIONS IN ALL ENVIRONMENTS. THEY RUN

ON THE R-J3iB MATE OR R-30iA MATE COMPACT CONTROLLERS, WHICH

REQUIRE MINIMUM SPACE.

620 mm

704 mm

856 m

m

5 Kg

3 Kg

3 K

g

5 Kg

5 Kg

200iB/5C

200iB/5

P/5W

P

200iB

/3L

200iC

100iB

Reach

Weight

PICKING

VERY HIGH THROUGHPUT

• Calculated TCP speed of more than 4 meters / sec

• Cycle time of 120 cycles / mn

This makes it the fastest robot in its class

COMPLETELY IP67 WITH “SEVERE DUST

LIQUID PROTECTION (SDLP)” OPTION

• Dustproof

• Can be immersed in water

COMPACT ROBOT DESIGN

• Easy to integrate into a work cell

• Less interference area

• Takes up less fl oor space

• Reduced investment

07 LR MATE SERIES


axes

Max. load

capacity at

wrist [kg]

Repeatability

[mm]

Mechanical



[Nm]/

Inertia [kgm2]

J5 Moment

[Nm]/

Inertia [kgm2]

J6 Moment

[Nm]/

Inertia [kgm2]

IP Rating

J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

LR Mate

Arc Mate

100iB

R-J

3iB

Mat

e

5 5 ± 0.04 38 620 320 185 365 240 400 — 240 270 270 330 480 - 7.25/0.138 5.21/0.071 —

IP65

50iB 6 5 ± 0.04 45 700 320 185 315 380 240 720 180 180 225 400 330 480 7.25/0.138 7.25/0.138 5.21/0.071

200iB/3La)

50iB/3L6 3 ± 0.04 47 856 320 185 290 380 240 720 140 150 160 400 330 480 7.25/0.138 7.25/0.138 5.21/0.071

200iB/5P

200iB/5WP6 5 ± 0.04 45 700 320 185 315 380 240 720 180 180 225 400 330 480 7.25/0.138 7.25/0.138 5.21/0.071

200iB/5C 6 5 ± 0.04 45 700 320 185 315 380 240 720 180 180 225 400 330 480 7.25/0.138 7.25/0.138 5.21/0.071

200iC R-30iA Mate 6 5 ± 0.02 27 704 340/360 200 388 380 240 720 350 350 400 450 450 720 11.9/0.3 11.9/0.3 6.7/0.1


08

THE M-6iB ROBOT SERIES OFFERS A HIGH FLEXIBILITY FOR APPLICATIONS

FROM 2 TO 10KG PAYLOAD. THEY OFFER A HIGH SPEED WHICH MAKES THEM

IDEAL FOR PICK & PLACE AND MACHINE TENDING OPERATIONS.

THE M-16iB ROBOT SERIES OFFERS A HIGH FLEXIBILITY FOR APPLICATIONS

FROM 10 TO 20KG PAYLOAD. THIS SERIES OFFERS INCREASED REACH

WHICH MAKES THEM IDEAL FOR HANDLING OPERATIONS.

Weight

1667 mm

1885

mm

10 K

g

20 Kg

20 10L

1373 mm

951 mm

951

mm

1373 mm

2 K

g

6 Kg

6 Kg

6 Kg

Reach

Weight

6iB

6iB/6S

6iB

/2H

S

6iB/6C

PICKINGPICKING

FLOOR, CEILING (ANGLE AND WALL) MOUNTING METHOD

• Ceiling and angle mounted robots provide :

· Easier access to the machine being serviced

· Easier access to the parts load / unload area

• Allows maximised use of the robot work envelope

BEST INERTIA IN ITS CLASS

• High wrist inertia provides the ability to

handle tools at high speed

WRIST AND J4 ARM IP67

• Waterproof wrist can be immersed into water

• Improved reliability in dusty environments

09 M-6iB | M-16iB SERIES


axes

Max. load

capacity at

wrist [kg]

Repeatability

[mm]

Mechanical



[Nm]/

Inertia [kgm2]

J5 Moment

[Nm]/

Inertia [kgm2]

J6 Moment

[Nm]/

Inertia [kgm2]

IP Rating

J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

M-6iB

Arc Mate

6iB

100iB

R-3

0iA

6 6 ± 0.08 138 1373 340/360 250 340 380 280 720 150 160 170 400 400 520 15.7/0.63 9.8/0.22 5.9/0.06

Bod

y IP

54 s

td.

(IP55

opt

iona

l) w

rist

& J

3

arm

IP67

6iB/6S

100iB/6S6 6/10 * ± 0.08 135 951 340/360 250 310 380 280 720 200 200 260/200 400 400 720/520 15.7/0.63 9.8/0.22/** 5.9/0.06/**

6iB/2HS 6 2 ± 0.08 135 951 340 250 310 380 280 720 200 200 260 400 400 1200 15.7/0.63 9.8/0.22 2.0/0.035

6iB/6C 6 6 ± 0.08 146 1373 340 250 315 380 280 720 150 160 170 400 400 520 15.7/0.63 9.8/0.22 5.9/0.06

M-16iB

Arc Mate

20 b)

120iB

R-3

0iA 6 20 ± 0.08 220 1667 340/360 250 460 400 280 900 165 165 175 350 340 520 39.2/0.88 39.2/0.88 19.6/0.25

Body IP54 std.

(IP55 optional)

wrist & J3 arm

IP67 10L

120iB/10L6 10 ± 0.1 220 1885 340/360 250 455 400 280 900 165 165 175 350 340 520 22/0.63 22/0.63 9.8/0.15


10

THE M-420iA ROBOTS ARE DESIGNED SPECIFICALLY FOR HIGH SPEED

HANDLING AND PACKAGING APPLICATIONS. ALL M-420iA ARE FLOOR

MOUNTED.

Weight

1855 mm

40 Kg

420iA

PACKINGPACKING

SPECIAL PURPOSE MECHANICAL DESIGN

Designed specifi cally for high speed handling and packaging

applications

• Minimum fl oor space needed

• Very high speed operation with heavy payloads

• Large work envelope for pick & place applications

ROBOT ARM DESIGNED FOR FOOD INDUSTRY CLEANING

REQUIREMENTS

• Special coating and sealing which protect against hot water, acid

and alkaline cleaners

• Perfectly smooth surface of the whole unit for easy cleaning,

thus avoiding the contamination by germs

• IP 67

FOOD GRADE GREASE

• Special food grease to avoid any risk of contaminating food with

grease or oil

11 M-420iA SECONDARY FOOD


axes

Max. load

capacity at

wrist [kg]

Repeatability

[mm]

Mechanical



[Nm]/

Inertia [kgm2]

J5 Moment

[Nm]/

Inertia [kgm2]

J6 Moment

[Nm]/

Inertia [kgm2]

IP Rating

J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

M-420iAM-420iA

R-3

0iA 4 40 ± 0.5 620 1855 320 115 100 540 — — 180 200 200 350 — — 98/2.5 — —

IP54

M-421iA 2 50 ± 0.5 520 1855 115 100 — — — — 200 200 — — — — 98/2.5 (d) — —


12

THE INNOVATIVE M-710iC ANDLESERIES OF ROBOTS IS DESIGNED TO HA

M ANDMEDIUM PAYLOADS (20 TO 70KG) WITH A SLIM WRIST, RIGID ARM

SMALL FOOTPRINT, SUITABLE FOR A WIDE RANGE OF APPLICATION.

Reach

Weight

2050 mm3110 m

m

20 Kg

50 Kg

50S

70

2050

mm

1360 mm

50 Kg

70 K

g

20L

50

PACKING

FLOOR AND CEILING MOUNTING (ANGLE AND WALL) WITH

RESTRICTIONS

• Easier access to the machines being serviced

• Maximised use of the robot work envelope

COMPACT WRIST : NO MOTORS AND IP 67

• No electrical elements at wrist : all motors for wrist motion are

mounted on the robot’s shoulder at J3.

· Reduced risk of damaging the wrist motors because of high

heat or harsh environment

· Compact design to access narrow spaces

· High loads and high duty cycles possible thanks to good air

cooling of the wrist motors

• Wrist unit sealed against dust and water according to IP 67

HIGHEST AXES SPEED

Makes it the fastest robot in its class

Allows handling larger or heavier work pieces

Allows servicing larger and higher pallets

13 M-710iC SERIES


axes

Max. load

capacity at

wrist [kg]

Repeatability

[mm]

Mechanical



[Nm]/

Inertia [kgm2]

J5 Moment

[Nm]/

Inertia [kgm2]

J6 Moment

[Nm]/

Inertia [kgm2]

IP Rating

J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

M-710iC

50

R-3

0iA

6 50 ± 0.07 560 2050 360 225 440 720 250 720 175 175 175 250 250 355 206/28 206/28 127/11

Bod

y IP

54 s

td.

(IP55

opt

iona

l) w

rist

and

join

t 3

arm

IP6750S 6 50 ± 0.07 545 1360 360 169 376 720 250 720 175 175 175 250 250 355 206/28 206/28 127/11

70 6 70 ± 0.07 560 2050 360 225 440 720 250 720 160 120 120 225 225 225 294/28 294/28 147/11

20L 6 20 ± 0.15 540 3110 360 225 432 400 280 900 175 175 180 350 360 600 39.2/0.88 39.2/0.88 19.6/0.25


14

THE M-410iBB SERIES OFFERS 4-AXES ROBOTS DEDICATED TO PALLETISINGSERIES OFFERS 4 AXES ROBOTS DEDICATED TO PALLETISING

APPLICATIONS WITH PAYLOADS RANGING FROM 160 TO 450KG. FANUC

WAS ONE OF THE FIRST ROBOT SUPPLIERS TO DEVELOP A ROBOT SERIES

SPECIFICALLY FOR PALLETISING NEEDS AND CAN NOW RELY ON YEARS OF

EXPERIENCE IN AUTOMATING THE END OF PRODUCTION LINE.

Reach

Weight

1940 mm

160 Kg

300

450

2430

mm

1940 mm

300 Kg

450

Kg

160

PALLETISING

INTEGRATED BASE AND CONTROLLER

Pedestal and controller are provided with the robot as standard

• Reduced fl oor space requirements in factory

• Easier robot transportation

• Reduced installation time enabling quicker production start up

OPTIMISED DESIGN FOR PALLETISING

The dedicated design increases throughput for palletising

and load / unload applications

• Multiple palletising positions

• Access to the work piece from the upper side, no interference

between robot arm and palletised work pieces

• 360° rotation on J1 axis for a large work envelope

HIGH ALLOWABLE WRIST MOMENT AND INERTIA

• Ability to handle large gripper and heavy payload at high speed,

thus providing higher throuhput

• Flexibility on gripper design and material used

15 M-410iB SERIES


axes

Max. load

capacity at

wrist [kg]

Repeatability

[mm]

Mechanical



[Nm]/

Inertia [kgm2]

J5 Moment

[Nm]/

Inertia [kgm2]

J6 Moment

[Nm]/

Inertia [kgm2]

IP Rating

J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

M-410iB

160

R-3

0iA

4 160 ± 0.5 1940 3143 360 144 136 540 — — 130 130 135 300 — — —/78.48 — —

IP54300 4 300 ± 0.5 1940 3143 360 144 136 540 — — 85 90 100 190 — — —/137.34 — —

450 4 450 ± 0.5 2430 3130 360 145 135 540 — — 70 70 70 180 — — —/196/294i) — —


3005 mm

2655 mm

3095 mm

2655

mm

3500 mm

2650 mm

1520 mm

150 Kg

170 Kg100 K

g

165 Kg

165 Kg

125 Kg

150 U170 CF

100 P

210

F200 R

165 R

165 F

125 L

17

5 L

2655 mm

100 Kg

100 H

16

THE R-2000iB SERIES IS FANUC ROBOTICS LATEST GENERATION OF THE MOST

SUCCESSFUL FANUC ROBOT IN THE WORLD. ITS LARGE RANGE OF PAYLOADSUCCESSFUL FANUC ROBOT IN THE WORLD ITS LARGE RANGE OF PAYLOAD

FROM 100 TO 210KG AND ITS HIGH PERFORMANCE CAPABILITIES MAKES IT

THE PERFECT SOLUTION FOR MULTIPLE APPLICATIONS. ALL R-2000iB ARE

FLOOR-MOUNTED.

5 mmm5 mm

265555 m

655655

95 mm

655

mm

3500

mmmmmmm

mmmm

5 m5

265

95

mm

500

mmmm

2655

mmm

m

mmm

55m

mm

mm

mm

mm

m

265

265

265

265

50 m650505

m00 m0

mm

mm

mm

mmm

m

m020 m0

656565

m

2

26

0 CF

100 P

210

F

0 R

165 R

165 F

125 L

17

5 L

170

2102

00

L

170 mmmm0 m20 mm0

0 Kg

100

165

Kg25 KKg

mmmmmmmmmm0 m0 mm052015151

00 K0 Kg

0 K125

0 Kg0 0

100520

U

100 0

0 H 150 U170170

1429 mm3005 mm

2655 mm

3095 mm 3

095 m

m

3095

mm

3500 mm

2650 mm

2650 mm

200 Kg

165 Kg

210

Kg

100 Kg

200 K

g

165 Kg

165 Kg

125 Kg

165 Kg

200 EW165 EW

100 P

210

F200 R

165 R

165 F

125 L165 CF

httttWeiWeWeiWWeiWeWWWeWeiWeiWeiWeieiWeieiWeiWWeieieiieieWeiWWeiW gggggghhhththhhhhttghghhghhhhtghg tthtgg tghg tg ththgg

28

52

mm

17

5 K

g

17

5 L

PALLETISING

COMPACT WRIST : NO MOTORS AND IP 67

• No electrical elements at wrist : all motors for

wrist motion are mounted on the robot shoulder at J3.

· Reduced risk of damaging the wrist motors

through of high heat or harsh environment

· Compact design to access narrow spaces

· High loads and high duty cycles possible thanks

to good air cooling of the wrist motors

• Wrist unit sealed against dust and water according to IP 67


• Ability to handle large gripper and heavy payload at

high speed, thus providing higher throughput

• Flexibility on gripper design and material used

OPTION : SEVERE DUST LIQUID PROTECTION

• Main body protected from dust and water jets – IP 56

• Wrist part dustproof and can be immersed in water – IP 67

• Drivetrain (motors, reducers, gear drive shaft) – IP 66

• Anti-corrosive bolts

17 R-2000iB SERIES


axes

Max. load

capacity at

wrist [kg]

Repeatability

[mm]

Mechanical



[Nm]/

Inertia [kgm2]

J5 Moment

[Nm]/

Inertia [kgm2]

J6 Moment

[Nm]/

Inertia [kgm2]

IP Rating

J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

R-2000iB

125L

R-3

0iA

6 125 ± 0.2 1190 3005 360 136 352 720 250 720 110 110 110 170 170 260 588/58.8 588/58.8 343/22.5

Wri

st &

J3

arm

IP67

. res

t IP

54. I

P66

sta

ndar

d fo

r m

ovab

le c

ompo

nent

s

165CF 6 165 ± 0.15 1050 1429 360 165 250 720 250 720 110 90 100 130 130 210 911.4/88.2 911.4/88.2 450.8/44.1

165F 6 165 ± 0.2 1170 2655 360 136 362 720 250 720 110 110 110 150 150 220 921/78.4 921/78.4 461/40.2

165R 6 165 ± 0.3 1480 3095 360 185 365 720 250 720 110 100 110 150 150 220 921/78.4 921/78.4 461/40.2

175L 6 175 ± 0.3 1260 2852 360 136 356 720 250 720 95 90 95 120 120 190 2300/125 2300/125 2000/72

200R 6 200 ± 0.3 1540 3095 360 185 365 720 250 720 90 85 95 120 120 190 1333/141.1 1333/141.1 706/78.4

210F 6 210 ± 0.3 1240 2650 360 136 362 720 250 720 95 90 95 120 120 190 1333/141.1/225i) 1333/141.1/225i) 706/78.4/196i)

100P 6 100 ± 0.3 1570 3500 360 185 365 720 250 720 110 90 110 120 120 190 980/225.4 980/225.4 706/196

165EW 6 165 ± 0.3 1400 2650 360 135 208 720 250 440 105 90 105 130 130 210 1075/97.8 1075/97.8 461/40.2

200EW 6 200 ± 0.3 1510 2650 360 135 208 720 250 440 90 85 90 110 110 155 1411/136.8 1411/136.8 686/58.8


18

THE M-900iA 6-AXES ROBOT SERIES HAS ONE OF THE HIGHEST PAYLOADS

AVAILABLE IN THE MARKET TODAY, DESIGNED TO HANDLE VERY HEAVY

OR MULTIPLE PARTS (260 TO 700KG PAYLOAD).

Reach

Weight

3100 mm

260 Kg

350

600

2830

mm

2650 mm

350 Kg

600

Kg

260L

PALLETISING

FLOOR AND CEILING MOUNTING M-900iA/260L AND

M-900iA/350 (ANGLE AND WALL ALSO POSSIBLE)

• Easier access to the machine being serviced

• Maximised use of the robot work envelope

Note : the M-900iA/600 is fl oor mounted

SEVERE DUST LIQUID PROTECTION (SDLP) OPTION

Main body protection from dust and water jets – IP56

Wrist part dustproof and can be immersed in water – IP67

Drivetrain (motors, reducers, gear, drive shaft) – IP 66

Anti-corrosive bolts


Ability to handle large gripper and heavy payload at highspeed

Improved carrying capability providing higher throughputs

19 M-900iA SERIES


axes

Max. load

capacity at

wrist [kg]

Repeatability

[mm]

Mechanical



[Nm]/

Inertia [kgm2]

J5 Moment

[Nm]/

Inertia [kgm2]

J6 Moment

[Nm]/

Inertia [kgm2]

IP Rating

J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

M-900iA

260L

R-3

0iA

6 260 ± 0.3 1800 3100 360 150 211 720 250 720 100 105 95 120 120 200 1666/188/313i) 1666/188/313i) 715/118/225i)

Wri

st &

J3

arm

IP67

.

rest

IP54

. IP

66 s

tand

ard

for

mov

able

com

pone

nts

350 6 350 ± 0.3 1720 2650 360 150 223 720 250 720 100 95 95 105 105 170 1960/235/392i) 1960/235/392i) 891.8/157/352i)

600 6 600/700**** ± 0.3 2800 2830 360 154 160 720 244 720 80 80 80 100 100 160 3381/510 3381/510 1725/320


20

FANUC ROBOTICS SYSTEM R-30iA CONTROLLER D TECHNOLOGYUSES ADVANCE

GN. PROCESS PACKAGED IN A PROVEN, RELIABLE AND EFFICIENT DESI

CAPABILITY AND OPEN ARCHITECTURE FEATURES PROVIDE INTELLIGENCECAPABILITY AND OPEN ARCHITECTURE FEATURES PROVIDE

TO IMPROVE APPLICATION AND MOTION PERFORMANCE WHILE SIMPLIFYING

SYSTEM INTEGRATION. THE R-30iA CONTROLLER INCORPORATES FANUC

ROBOTICS UNIQUE “PLUG-IN OPTIONS” CONCEPT, WHICH GIVES FLEXIBILITY

FOR APPLICATION SPECIFIC CONFIGURATIONS WHILE MAINTAINING A

COMMONALITY FOR ALL USERS OF THE SYSTEM.

FAST START-UP

R-30iA controller needs less than 1 minute to start (and even less

with the basic software only).

In case of power failure:

• Robot program restarts much quicker than with any PC-based

program (non-Windows operating system).

• The resume hotstart function allows to restart safely and

continue production after power failure: no need to re-do the

whole movement.

• Unique resume tolerance check: in case of any program

interruption, the robot automatically memorises its position

before failure. When the program continues, it checks wether the

robot has been moved outside of a preset tolerance. This avoids

unexpected movements and collisions.

• Increased up-time (robot availability)

iPENDANT AS STANDARD

The FANUC i-Pendant is an intelligent teach pendant and is

available as standard (except for PaintTool). Touch screen is

available as option.

• Access via Ethernet to web sites

• Pendant view status of peripheral equipment and other robots‘

html web server pages (when available)

• Coloured, multi-windows display

• Customizable screen

Easier work with the robot, enhanced productivity.

EXTENDED AXES CONTROL R-30iA

The controller can manage up to 40 axes 1) that are using FANUC

motors (divided in upt to 5 groups; one group can control up to 9

axes), such as:

• 4 robot arms +

• 4 auxiliary axes groups (arc welding positioners, robot rails,

servo hands, grippers... )

There are three types of motion control available:

• Extended auxiliary axes: for robot rails and simple tools

(grippers)

• Nobot: for servo driven tools and other intelligent peripherals

• Positioner: for arc welding positioners, with coordinated motion

between robot and positioner.

Following options are available as extensions of this feature:

• Aux Axis servo off: for safety design of manual in/out-feed

stations

• Torque limit: in order to control the gripping force of servo

grippers

• Servo hand change function: which allows the changing and

disconnecting of servo hands and tools

• Continuous turn: for tools and positioners needing endless

rotation

• Multi-motion for multiple groups

• Multi-robot control (dual / multiple arm) for more than one

robot)

21 R-30iA CONTROLLER


POWERFUL PROGRAMMING FUNCTIONS

The controller runs with FANUC operating system, which brings

strong advantages :

• Virus-free (not PC based)

• High data security in case of power loss

• Quick start-up of basic software

• Easy to use

The controller offers various programming possibilities :

• TPE (Teach pendant editor) which is the standard way of

programming

• Advanced offl ine programming options such as ROBOGUIDE

• Integrated PMC (optional)

• Karel (optional)

TPE is a block style interpreter language : allows fast

and cost-effi cient programming

• Possibility to record up to 11 000 positions with basic memory

confi guration

• One key stroke on the teach pendant records one complete

operation of the robot

• Standard operations (e.g motion, arc start, arcend, logic,…) can be

selected and adapted to the applications very easily

• TPE motion includes :

· Joint, linear and circular motions

· Remote TCP, coordinated motion and other functions in option

22

iiRVISIONRVISION IS ENTIRELY INTEGRATED WITHIN THE FANUC R-30 IS ENTIRELY INTEGRATED WITHIN THE FANUC R 30iiA CONTROLLERA CONTROOLLLLLEERRR..

iRVISION 2D

FOUR PROCESSES POSSIBLE

• Normal 2D Vision process

• Depalletising 2½D Vision process

• 2D Multiview Vision process

• Visual Line Tracking 2D Vision process

EASE OF USE

• Fast and easy set-up

• Easy application building

• Integrated instruction set

• Fully integrated in Robot Controller (no PC/WINDOWS needed)

AUTO EXPOSURE MODE

Light fl uctuation compensation

CALIPER FUNCTION

iRVision can check distance between two lines

HISTOGRAM TOOL

The Histogram Tool visualises possible grey scales around the

piece. The goal is to recognise if there is enough free space around

the piece for the gripper. This avoids parts to be broken and

reduces costs.

DEPALLETISING 2½D VISION PROCESS

This Vision Process Type supports a calculation of a Z-height and

some special depalletising functions. The new functions are also

supported.

2D MULTIVIEW VISION PROCESS

This Vision process type supports the very accurate detection of

huge parts. The vision information of two cameras is used to fi nd

the correct position. The setup and usage is very easy and fast.

The new functions are also supported.

VISUAL LINE TRACKING

This vision process supports the Visual Line Tracking Function

with special support for the fast and easy setup of Line Tracking

schedule and camera calibration.

ENHANCED PROCESS SOLUTION

Visual Line Tracking provides robotic process solutions for:

• Sorting non-fi xtured parts on moving conveyors

• Picking up non-fi xtured parts on moving conveyors

• Placing parts onto fi xtures located on moving conveyors

3DL VISION

3DL Vision is used for reliable part location and orientation,

regardless of variations in part size and occlusions. It allows Bin

Picking and Panel Picking.

• Recognition of parts position ( X,Y,Z ) and orientation ( W,P,R )

• 100% FANUC Product ( Hard- and Software )

23 iRVISION


innovation drives fresh approach page 6 flexible … · 2019. 11. 22. · times – essential for...

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