M-20i A ™ Series Basic Description The evolutionary design of the M-20iA solves two of the oldest problems for industrial robots. The first issue is the time it takes to engineer the robot dressout and the second is the down-time caused when the dressout is disrupted by contact with plant equipment. The innovative M-20iA solves these issues with a hollow upper arm and wrist. This unique design permits the utilities to be neatly contained within the arm, eliminating dress out issues like snagging, tearing and rubbing. A shelf with ample space on the back of the upper arm completes the package by allowing peripheral equipment to be easily mounted. The hollow arm and wrist together with the shelf greatly simplifies the integration engineers job. To complement the built-in vision, the M-20iA has an integrated vision cable from the J1 base to J3 interface panel. This makes the addition of vision to the robot application much easier. This design is also a great benefit for offline simulations because the dress out and control boxes can all be designed to fit with in the confined space of the robot arm and eliminates the guess work of dress out interference. This exceptional design comes with out sacrificing any of the robot’s performance specifications. In fact this robot is an industry leader in payload, reach and axes speed. Add this to the industry leader in reliability and this robot is the perfect solution for your robotic application. M-20iA Series, the Solution for: n Assembly n Dispensing n Material handling n Machine load/unload n Material removal n Waterjet cutting n Laser cutting n Machine tending n Picking and packing n Testing and sampling Features and Benefits n 6 degrees of freedom n ±0.10 mm repeatability n 20 kg payload at wrist n Large wrist moments and inertias for real-world EOATs and workpieces n Supplementary payload mount on J3 casting n Pneumatic and electrical (8 DI/8 DO) connections for EOAT on J3 n 2D vision cables from J1 to J3 as a standard option n Compact size, slim wrist, and small footprint permit operation in tight work spaces n Robot can be floor, angle, wall or ceiling mounted n High joint speeds maximize throughput n Absolute encoder positioning eliminates homing at power-up n Intelligent color graphic teach pendant is network ready n Built-in Solution Arm, 50 mm hollow wrist and upper arm Reliability n RV reducer and gear drivetrains provide rigidity and performance in a compact package n Sealed bearings and brushless, maintenance-free AC motors provide protection and improve reliability Note: iRvision ® is a registered trademark of FANUC LTD.
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M-20iA™ SeriesBasic Description
The evolutionary design of theM-20iA solves two of the oldestproblems for industrial robots. Thefirst issue is the time it takes toengineer the robot dressout and thesecond is the down-time causedwhen the dressout is disrupted bycontact with plant equipment. Theinnovative M-20iA solves theseissues with a hollow upper arm andwrist. This unique design permitsthe utilities to be neatly containedwithin the arm, eliminating dressout issues like snagging, tearingand rubbing. A shelf with amplespace on the back of the upper armcompletes the package by allowingperipheral equipment to be easilymounted. The hollow arm and wristtogether with the shelf greatlysimplifies the integration engineersjob.
To complement the built-in vision,the M-20iA has an integratedvision cable from the J1 base toJ3 interface panel. This makesthe addition of vision to the robotapplication much easier.
This design is also a great benefitfor offline simulations because thedress out and control boxes canall be designed to fit with in theconfined space of the robot armand eliminates the guess work ofdress out interference.
This exceptional design comes without sacrificing any of the robot’sperformance specifications. In factthis robot is an industry leader inpayload, reach and axes speed.Add this to the industry leaderin reliability and this robot is theperfect solution for your roboticapplication.
M-20iA Series, the Solution for:
n Assemblyn Dispensingn Material handlingn Machine load/unloadn Material removal n Waterjet cuttingn Laser cuttingn Machine tendingn Picking and packingn Testing and sampling
Features and Benefits
n6 degrees of freedomn±0.10 mm repeatabilityn20 kg payload at wristnLarge wrist moments and inertias for real-world EOATs and workpieces nSupplementary payload mount on J3 casting nPneumatic and electrical (8 DI/8 DO) connections for EOAT on J3n2D vision cables from J1 to J3 as a standard option
nCompact size, slim wrist, and small footprint permit operation in tight work spacesnRobot can be floor, angle, wall or ceiling mountednHigh joint speeds maximize throughputnAbsolute encoder positioning eliminates homing at power-upnIntelligent color graphic teach pendant is network readynBuilt-in Solution Arm, 50 mm hollow wrist and upper arm
Reliability
nRV reducer and gear drivetrains provide rigidity and performance in a compact packagenSealed bearings and brushless, maintenance-free AC motors provide protection and improve reliability
Note: iRvision® is a registeredtrademark of FANUC LTD.
In te l l igent Robot Solut ionsFANUC Robotics America, Inc. Charlotte, NC Toronto, Canada3900 W. Hamlin Road (704) 596-5121 (905) 812-2300Rochester Hills, MI 48309-3253 Chicago, IL Montréal, Canada (847) 898-6000 (450) 492-9001
For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico1-800-iQ-ROBOT (513) 754-2400 52 (449) 922-8000
Los Angeles, CA Sao Paulo, Brazil (949) 595-2700 (55) (11) 3619-0599
[email protected] Toledo, OHfanucrobotics.com (419) 866-0788©2009 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-3/09
Notes: (1) Payload on J3 casting is in addition to wrist payload capacity (2) Repeatability per JIS8432 (3) Combined J2 & J3 (4) J1 and J2 motion range de-rated when M-20iA & M-20iA/10L are angle
or wall mounted (5) Organic solvents, acids, alkalis and chlorine/gasoline coolants or any
chemicals which may harm NBR (nitrile rubber) must not be used
Side
Items M-20iA M-20iA/10LAxes 6 6Payload (kg)(1) 20 10Payload (kg) on J3 casting 12 12Reach (mm) 1811 2009Repeatability(2) (mm) ±0.08 ±0.10Interference radius (mm) 321 321
Motion range(degrees)
J1 340/370 340/370J2 260 260J3 458(3) 460(3)
J4 400 400J5 360 360
J6 900 900
Motion speed(degrees/s)
J1 195 195J2 175 175J3 180 180J4 360 400J5 360 400J6 550 600
Wristmoments N-m (kgf-m)
J4 44 (4.48) 15.7 (1.60)J5 44 (4.48) 9.8 (1.00)J6 22 (2.24) 5.9 (0.60)
Wrist loadinertia(kg-m2)
J4 1.04 0.63J5 1.04 0.22J6 0.28 0.06
Mechanical brakes All axesMechanical weight (kg) 250 250
Mounting method(4) Floor, Ceiling, Angle, and WallInstallation environment
0 to 45 Temperature (°C) Humidity Normally: 75% or less
Short term (within a month): 95% or less. No condensation
Vibration (m/s2) 4.9 or less (0.5 G or less)
IP rating(s)(5) IP54 Std.(IP55optional) Wrist and Joint 3 arm IP67
M-20iA Specifications
Note: Dimensions are shown in millimeters.Detailed CAD data are available upon request.
Top
BackFront
Isometric
Footprint
Options
nM-20iA/10L variant available for applications that require greater reach nUp to 40 axes (robot + auxiliary) on same controller nExtended communications capabilities: FTP, DeviceNet, Profibus, Genius, FANUC Model A I/O rack, CC-Link, etc. n14 m or 21 m controller-to-robot cables nMany unique robot and application-driven software options available niRVision® (Integrated Robot Vision) system delivers high performance 2-D and 3-D machine vision capabilities with FANUC reliability
J6
J4(400°)
(540°)
J1(370°)
J2(260°)
J3(458°)
J5(280°)
150300
150300
4X Ø18.0 THRUØ26.0 FACING DEPTH 5.0(FOR ROBOT MOUNTING BOLT)
343
343
Wrist M-20iA
100.0
Ø62.000 h7
13.5
ON 56.0 DIA. B.C.Ø4.000 H7 DWL. x 6.0 DP.
-0.000+0.012
-0.080+0.000
ON 56.0 DIA. B.C.TYP.(15) AS SHOWNM4x6.0 DP.
22.5°
Ø50.0 HOLLOW
62.5
62.5
56.5119.0
R120.0
75.0
75.0
100.0
Ø62.000 h7
8.5
ON 56.0 DIA. B.C.Ø4.000 H7 DWL. x 6.0 DP.
-0.000+0.012
-0.080+0.000
50.0
50.0
45.5
45.5
45.5108.0
R110.0
ON 56.0 DIA. B.C.TYP.(8) AS SHOWNM4x6.0 DP.
22.5°
Ø50.0 HOLLOW
Wrist M-20iA/10L
-185°
+185°0°
835150
ROTATION CENTER (M-20iA)OF J5 AXISMOTION RANGE
ROTATIONJ5 AXIS
CENTER
250
790
R1811.0
R317.0
170 173
103
ROTATION CENTER (M-20iA/10L)OF J5 AXISMOTION RANGE
1040
525.0
276.7
15.0
R2009.0M-20iA/10L
M-20iA
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