s-420i - lagerwerk ™ basic description fanuc robotics’ s-420i line of robots is engineered for...
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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
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370
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60
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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
ler
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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485
Operation box
S-420i Product LineFamily of S-420i Robots
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370
300
60
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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"
)
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"
)
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
77kgf • cm • sec2
±0.4mm (±0.016") UprightAll axes 1500 kg (3300 lbs)
2.85m120kg (265 lbs)360˚90˚/sec142°100°/sec 135˚ 90˚/sec600°210˚/sec260°150°/sec720°210°/sec60kgf • m60kgf • m30kgf • m306kgf • cm • sec2
306kgf • cm • sec2
77kgf • cm • sec2
±0.4mm (±0.016") UprightAll axes 1600 kg (3520 lbs)
3.00m75kg (165 lbs)360˚100˚/sec142°110°/sec 135˚ 100˚/sec600°210˚/sec260°150°/sec720°210°/sec53kgf • m53kgf • m27kgf • m387kgf • cm • sec2
387kgf • cm • sec2
104kgf • cm • sec2
±0.4mm (±0.016") UprightAll axes 1600 kg (3520 lbs)
2.25m80kg (176 lbs)360˚70˚/sec142°110°/sec 135˚ 100˚/sec480°210˚/sec260°150°/sec720°210°/sec54kgf • m54kgf • m28kgf • m376kgf • cm • sec2
376kgf • cm • sec2
100kgf • cm • sec2
±0.4mm (±0.016") UprightAll axes 1500 kg (3300 lbs)
2.40m155kg (342 lbs)360˚90˚/sec142°100°/sec 135˚ 75˚/sec600°140˚/sec260°110°/sec720°140°/sec86kgf • m86kgf • m50kgf • m486kgf • cm • sec2
486kgf • cm • sec2
164kgf • cm • sec2
±0.4mm (±0.016") UprightAll axes 1500 kg (3300 lbs)
Items S-420i F S-420i F
3.0m120kg (265 lbs)360˚90˚/sec142°110°/sec 135˚ 75˚/sec600°210˚/sec260°150°/sec720°210°/sec60kgf • m60kgf • m30kgf • m306kgf • cm • sec2
306kgf • cm • sec2
77kgf • cm • sec2
±0.4mm (±0.016") UprightAll axes 1600 kg (3520 lbs)
S-420i F S-420i L S-420i S S-420i W
2.85m155kg (342 lbs)360˚90˚/sec142°100°/sec 135˚ 75˚/sec600°140˚/sec260°110°/sec720°140°/sec86kgf • m86kgf • m50kgf • m486kgf • cm • sec2
486kgf • cm • sec2
164kgf • cm • sec2
±0.4mm (±0.016") UprightAll axes 1600 kg (3520 lbs)
S-420i W
2.40m175kg (386 lbs)360˚90˚/sec142°100°/sec 135˚ 75˚/sec600°140˚/sec260°110°/sec720°140°/sec90kgf • m90kgf • m52kgf • m472kgf • cm • sec2
472kgf • cm • sec2
158kgf • cm • sec2
±0.4mm (±0.016") UprightAll axes 1500 kg (3300 lbs)
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
3.11m100kg (220 lbs)360˚100˚/sec123°100°/sec 106˚ 100˚/sec600°210˚/sec260°150°/sec720°210°/sec57kgf • m57kgf • m29kgf • m337kgf • cm • sec2
337kgf • cm • sec2
86kgf • cm • sec2
±0.4mm (±0.016") RackAll axes 1700 kg (3740 lbs)
3.11m120kg (265 lbs)360˚90˚/sec123°90°/sec 106˚ 90˚/sec600°210˚/sec260°150°/sec720°210°/sec60kgf • m60kgf • m30kgf • m306kgf • cm • sec2
306kgf • cm • sec2
77kgf • cm • sec2
±0.4mm (±0.016") RackAll axes 1700 kg (3740 lbs)
3.11m155kg (342 lbs)360˚90˚/sec123°100°/sec 106˚ 75˚/sec600°140˚/sec260°110°/sec720°140°/sec86kgf • m86kgf • m50kgf • m486kgf • cm • sec2
486kgf • cm • sec2
164kgf • cm • sec2
±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