R-2000iA Series
Basic Description
The R-2000iA series is FANUC
Robotics latest-generation, six-
axis, heavy-payload, high-
performance family of industrial
robots, supported by our extensive
service and parts network.
The R-2000iA provides higher
value through improved
performance, reliability and
maintainability. It features the
SYSTEM R-J3iB intelligent robot
control system.
R-2000iA, the Solution for:
n Automotive spot welding and
general assembly
n General industrial applications
n Parts transfer Software: n Fewer mechanical
Material removal components reduce down
n n Specific tool packages for
time, increase mean time
n Dispensing various applications
between failure and minimize
n Machine loading spare part requirements.
Benefits n High-performance motion
Features yields fast cycle times and
n Slim arm and wrist assem- high throughput.
Mechanical: blies minimize interference
n Wrist flange and base
with system peripherals
n Large work envelope with mounting are identical to the
and allow operation in
ability to reach overhead S-430i, allowing for seamless
confined spaces.
and behind backward compatibility.
n Large allowable wrist
n 6 axes of motion n R-2000iA/165F can reach
moments and inertias
all areas of S-430iW/165
n Slim profile design meet a variety of heavy
work envelope, making
handling challenges.
n RV reducers for all axes replacement easy.
n Many process attach-
n Elimination of counterweight
ment points make
increases available workspace Options
integration easier.
n Process/application cables
n Stationary outer arm n Three faceplate types
routed through the arm
simplifies hose and
No motors at wrist n Electrically insulated faceplate
n cable dressout, prolonging
service life. n Internal I/O cables
Control: n Proven, reliable FANUC n Harsh environment protection
n B-size cabinet servo drives provide highest n Adjustable hard stops for
uptime and productivity. J1-J2-J3
n Quick change amplifier
(< 5 min) n Longer maintenance
intervals equate to
n Fast boot-up time
lower operating costs.
n Easy connections to a variety of
I/O, including distributed
I/O networks
R-2000iA/165F, 210F ISO Flange Wrist 165F, 165R, 125L
R583 (R622, 210F) 138
Top
9 115
+180 0
253
180
R2650 A B
215 M10x16.0 DP.
1280 TYP.(6) EQUALLY SPACED
R161 ON 125.0 DIA. B.C.
215 (235, 210F)
A. 80
225 B. 160
814 J5-AXIS
REAR SIDE +0.015
ROTATION 0.000
INTERFERENCE CENTER
AREA 10.000 DIA. DWL. X 12.0 DP.
312 710 TYP. (2) EQUALLY SPACED
1075
ON 125.0 DIA. B.C.
670
434 348
Back Side Front ISO Flange Wrist 200F, 200R
170
9 130
R-2000iA/200F
A B
R583
Top
260
+180 0
300 M10x20.0 DO.
180
R189.3 TYP.(10) AS SHOWN
ON 125.0 DIA. B.C.
R2483 A. 80
B. 160
1110
+0.015
260 0.000
10.000 DIA. DWL. X 20.0 DP.
225 TYP.(2) EQUALLY SPACED
ON 125.0 DIA. B.C.
814 J5-AXIS
ROTATION
CENTER
REAR SIDE 312 710
INTERFERENCE 1075
AREA
ISO Flange Wrist 165CF
670 145
9 115
Back Side Front
A B
240 M10X20.0 DP.
R167.7
TYP.(6) EQUALLY SPACED
ON 125.0 DIA. B.C.
R-2000iA/125L A. 80
B. 160
R583
+0.015
Top 0.000
10.000 DIA. DWL. X 20.0 DP.
TYP. (2) EQUALLY SPACED
+180 0 ON 125.0 DIA. B.C.
253
180
R3001
ISO Flange Wrist 210F
154.5
129.5
1635 10.0
215
225
REAR SIDE 814 J5-AXIS A B
INTERFERENCE ROTATION
AREA CENTER
312 1075 710
235
M10x16.0 DP.
TYP.(10) AS SHN.
R197.3
A. 80 ON 125.0 DIA. B.C.
B. 160
670
+0.015
0.000
10.000 DIA. DWL. x 12.0 DP.
TYP.(2) EQUALLY SPACED
ON 125.0 DIA. B.C.
Back Side Front
R-2000iA/165R R-2000iA/130U
R
R721 58
Top 3
Top
100kg
J2=0
+180 0
180
180
R 2650
R3095
REAR SIDE
INTERFERENCE
AREA
1100 260
720 1075 225
647 J5-AXIS
1885
ROTATION CENTER
1075
600
MOTION RANGE
1280
Side
670
215
J5-AXIS
ROTATION
CENTER 434 348
Back Front
Side
R-2000iA/200R Isometric 165F
R721
Top
+180 0
180
R2928
REAR SIDE
INTERFERENCE
AREA
720 1075 225
1885
600
1110
Side
260
J5-AXIS
ROTATION
CENTER
Back Front
R-2000iA/165CF Footprint (165F/200F/125L/165R
/200R/165CF/210F)
Top
R1429 540
460
+180 0
180 230
270
R355
210 620 240
463
230 270
250 460 540 610
REAR SIDE
INTERFERENCE J5-AXIS
AREA ROTATION
550 CENTER
423 348
600
Front
24.0 DIA. THRU &
38.0 DIA. C'BORE 5.0 DP.
TYP.(8) MOUNTING HOLES
Back Side Front Note: Dimensions shown in millimeters.
R-2000iA Series Specifications
Items /165F /200F /125L /165R /200R /165CF /210F /130U
Axes 6 6 6 6 6 6 6 6
Payload - Wrist (kg) 165 200 125 165 200 165 210 130
- J3 Arm (kg) 25 25 20 25 0 25 25 25
- J2 Base (kg) 550 550 550 550 550 550 550 550
Reach (mm) 2650 2483 3001 3095 2928 1429 2650 2650
Repeatability (mm) 0.2 0.2 0.2 0.3 0.3 0.15 0.3 0.3
Motion range J1 360 360 360 360 360 360 360 360
() 135
J2 135 135 135 185 185 165 135
J3 362 367 352 365 365 250 362 367.5
J4 720 720 720 720 720 720 720 720
J5 250 250 250 250 250 250 250 250
J6 720 720 720 720 720 720 720 720
J1 105 90 105 105 90 110 95 90
Motion speed J2 105 85 105 90 85 90 90 85
(/s)
J3 105 90 105 105 90 100 95 90
J4 130 110 170 130 110 130 120 110
J5 130 110 170 130 110 130 120 110
J6 210 155 260 210 155 210 190 155
Wrist moment J4 921.2 1274 588 921.2 1274 911.4 1332.8 686
(Nm)
J5 921.2 1274 588 921.2 1274 911.4 1332.8 686
J6 460.6 686 343 460.6 686 450.8 706 343
J4 78.4 117.6 58.8 78.4 117.6 88.2 141.1/215.6* 40.9
Wrist inertia(1) J5 78.4 117.6 58.8 78.4 117.6 88.2 141.1/215.6* 40.9
(kgm2)
J6 40.18 58.8 22.5 40.18 58.8 44.1 78.4/196* 10.2
Mechanical brakes All axes All axes All axes All axes All axes All axes All axes Alle axes
Mechanical weight (kg) 1210 1240 1230 1540 1570 1050 1270 1210
Mounting method Floor Floor Floor Shelf Shelf Floor Floor Upside-down
Installation environment
Ambient temperature (C) 0 to 45
Humidity Normally: 75% or less
Short term (within a month): 95% or less
No condensation (No dew or frost allowed)
Vibration (m/s2) 4.9 or less (0.5G or less)
IP Rating Wrist & J3 arm IP67, rest IP54 (IP55 optional)
Comment Floor Heavy duty Long arm Shelf Heavy duty Compact Floor
mount floor mount floor mount mount shelf mount floor mount mount
Notes:
(1) Allowable load inertia at wrist can be switched by software parameters.
(*) High inertia mode.
Note: Dimensions are shown in millimeters.
FANUC Robotics (UK) Ltd. FANUC Robotics United Kingdom
Seven Stars Industrial Estate +44-2476-63-96-69
Quinn Close, Whitley
Coventry CV3 4LB FANUC Robotics Spain
+34-93-664-1335
Tel +44 24 76 63 96 69
FANUC Robotics Italy
Fax +44 24 76 30 43 33
+39-02-9345-601
FANUC Robotics Benelux
+32-3-844-71-30
FANUC Robotics France
www.fanucrobotics.co.uk +33-1-69-89-7000
