Versatile Intelligent Mini Robot

FANUC Robot LR Mate 200iD

Features
The LR Mate 200iD is a compact six-axis mini robot
with the approximate size and reach of a human arm.

• Slim arm minimizes interference to peripheral

devices and allows operation in narrow spaces.

• Standard arm (717mm reach), short arm (550mm

reach), long arm (911mm reach), food/clean-
room, wash-proof and 5-axes high speed models
are available.

• Lightest mechanical unit in its class enables easy

system integration and installation flexibility with
multiple mounting methods.

• The most advanced servo technology and highly

rigid arm enable smooth motion without vibration in
high-speed operations.

• Enhanced wrist load capacity allows for

greater efficiency and the ability to handle multiple
workpieces.

• Vision and force sensor cables (option), auxiliary

Application system axis cable (option – limited model types), solenoid
valve, air tube and I/O cable for device control are
integrated into the arm for easy cable handling.

• IP69K (robot option - limited model types) provides

enhanced dust and water protection in harsh
environments. Available bottom cable exit (option)
also protects cable from harsh environments.

• High performance R-30iB Mate controller has two

types – standard enclosed controller that enables
reliable operation under a factory environment
with dust and oil mist, and compact controller
for clean environment.

• Various intelligent features are available as an

option, such as iRVision (integrated vision)
Machine Load/Unload and force sensing.
Operating space
LR Mate200+D, /7C, /7WP, /7H LR Mate200+D/7L, /7LC LR Mate200+D/4S, /4SC, /4SH

-170 deg

46.5
±180 deg
46.5
-170 deg 0 deg

46
(option) -170 deg

53.5
±180 deg ±180 deg
0 deg
236 +170 deg 0 deg
(option)
(option) R

50
53.5

00 1 +170 deg

49
+170 deg 91

R1
2 50 R

06
2
R
17

2
R7 50

1
R1

R1
R5

R
235
227 80＊ 420 50
235 0
R7

35
227 80＊ 335 50
R 70 3

35
R7 190 R6 70＊ 290 75
5 R

1191

20
R7 J5-axis

440
5
rotation
997

J5-axis 330

880

260
rotation center J5-axis
center rotation
center

330

330
330

90
190 95 95 160 80
277

190 190 190 160

452
145 617
Operating 550
space of 550 122
Operating 200 Operating J5-axis
＊78 for /4SH
＊92 for /7C space of
space of 717 145 811
rotation center
80 for /4SC
J5-axis J5-axis 911 236
＊92 for /7LC
rotation center rotation center

Specifications
LR Mate 200iD LR Mate 200iD/7L LR Mate 200iD/4S
Model LR Mate 200iD/7C LR Mate 200iD/7H LR Mate 200iD/7LC LR Mate 200iD/4SC
LR Mate 200iD/4SH
LR Mate 200iD/7WP
Controlled axes 6 axes 5 axes 6 axes 6 axes 5 axes
Reach 717 mm 911 mm 550 mm
Installation (Note 2) Floor, Upside-down, Angle mount
340°/360°(option) (450°/s) 340°/360°(option) (370°/s) 340°/360°(option) (460°/s)
J1 axis 5.93 rad/6.28 rad (option) (7.85 rad/s) 5.93 rad/6.28 rad (option) (6.46 rad/s) 5.93 rad/6.28 rad (option) (8.03 rad/s)
245°(380°/s) 245°(310°/s) 230°(460°/s)
J2 axis 4.28 rad (6.63 rad/s) 4.28 rad (5.41 rad/s) 4.01 rad (8.03 rad/s)
420°(520°/s) 430°(410°/s) 402°(520°/s)
Motion range J3 axis 7.33 rad (9.08 rad/s) 7.50 rad (7.16 rad/s) 7.02 rad (9.08 rad/s)
(Maximum 380°(550°/s) 250°(545°/s) 380°(550°/s) 380°(560°/s) 240°(560°/s)
speed) J4 axis 6.63 rad (9.60 rad/s) 4.36 rad (9.51 rad/s) 6.63 rad (9.60 rad/s) 6.63 rad (9.77 rad/s) 4.19 rad (9.77 rad/s)
250°(545°/s) 720°(1500°/s) 250°(545°/s) (注6) 240°(560°/s) 720°(1500°/s)
J5 axis 4.36 rad (9.51 rad/s) 12.57 rad (26.18 rad/s) 4.36 rad (9.51 rad/s) 4.19 rad (9.77 rad/s) 12.57 rad (26.18 rad/s)
720°(1000°/s) 720°(1000°/s) 720°(900°/s)
J6 axis 12.57 rad (17.45 rad/s) 12.57 rad (17.45 rad/s) 12.57 rad (15.71 rad/s)
Max. load capacity at wrist 7 kg 4 kg
J4 axis 16.6 N・m 8.86 N·m
Allowable load 4.0 N·m 4.0 N·m
moment at wrist J5 axis 16.6 N·m 5.5 N·m (option) 16.6 N·m 8.86 N·m
5.5 N·m (option)
J6 axis 9.4 N·m 9.4 N·m 4.90 N·m
J4 axis 0.47 kg·m 2 0.20 kg·m 2
Allowable load 0.046 kg·m 2 0.046 kg·m 2
inertia at wrist J5 axis 0.47 kg·m 2 0.47 kg·m 2 0.20 kg·m 2
0.15 kg·m 2 (option) 0.083 kg·m 2 (option)
J6 axis 0.15 kg·m 2
0.15 kg·m 2 0.067 kg·m 2
Repeatability (Note 3) ± 0.01 mm
Mass (Note 4) 25 kg 24 kg 27 kg 20 kg 19 kg
Ambient temperature : 0 to 45℃
Installation Ambient humidity (Note 8) : Normally 75%RH or less (No dew nor frost allowed)
environment Short term 95%RH or less (within one month)
Vibration acceleration : 4.9m/s2 (0.5G) or less
Note 1) During short distance motions, the axis speed may not reach the maximum value stated.
Note 2) Angle mounting needs J1 and J2 axis motion range restriction according with the payload, except for LR Mate 200iD/4S, /4SC and /4SH.
Note 3）Compliant with ISO9283.
Note 4) Without controller.
Note 5) The liquids that deteriorate the sealing members, such as organic solvents, acids, alkalis, and chloric coolants, must not be used.
Note 6) Cleanliness of the clean type (/7C, /7LC, /4SC) is class 10 (ISO class 4) with white paint, antirust surface and food grade grease.
Note 7) In case of /4SC, J5 motion range is restricted to 236° (4.11rad).
Note 8) Except for LR Mate 200iD/7WP.

Headquarters Oshino-mura, Yamanashi 401-0597, Japan

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© 2018 FANUC America Corporation. All Rights Reserved. FANUC LITHO IN U.S.A. FAC - 11/2018
●All specifications are subject to change without notice.
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