ADDITIONAL INFORMATION

The correction of FANUC Robot R-2000iB MECHANICAL UNIT OPERATOR’S MANUAL

1.Type of applied technical documents

Name FANUC Robot R-2000iB MECHANICAL UNIT OPERATOR’S MANUAL

Spec.No./Ed. B-82234EN/11

2.Summary of Change

New, Add, Applicable

Group Name/Outline
Correct, Delete Date

Basic

Optional
Function

Unit

Maintenance
Parts

Notice

Correction of supporting measure when releasing motor

brake of R-2000iB/210FS and 220US
Correction of acoustic noise level of R-2000iB/210FS
Correction Correct Immediately
and 220US
Correction of interference are of R-2000iB/210FS and
220US

Another

The correction of FANUC Robot R-2000iB

Title MECHANICAL UNIT OPERATOR’S MANUAL

Draw
No. B-82234EN/11-1

Ed. Date Design Description Sheet 1/7

Date 12.08.06 Desig. Akita Check Apprv.
 We substitute Fig.5.4 (a) to (f) of below for Fig.5.4 (a) to (c) of Section 5.4 of SAFETY PRECAUTIONS.
In case of releasing motor brake Method of supporting robot arm

Eyebolt (M10) 2pcs

2 slings

？ Eyebolt (M10) 1pc

1 leverblock
Eyebolt (M10) 1pc
1 leverblock
Eyebolt (M10) 1pc
1 leverblock
Eyebolt (M12) 1pc
1 leverblock
？
Unpredictable

Fig. 5.4 (a) Releasing J2 motor brake and measures

(R-2000iB/165F,210F,185L,250F,165R,200R,100P,210WE,125L,175L,100H)

In case of releasing motor brake Method of supporting robot arm

Eyebolt (M10) 2pcs

2 slings

Fall down

Fig. 5.4 (b) Releasing J3 motor brake and measures

(R-2000iB/165F,210F,185L,250F,165R,200R,100P,210WE,125L,175L,100H)

The correction of FANUC Robot R-2000iB

Title MECHANICAL UNIT OPERATOR’S MANUAL

Draw
No. B-82234EN/11-1

Ed. Date Design Description Sheet 2/7

Date 12.08.06 Desig. Akita Check Apprv.
 In case of releaseing motor brake Method of supporing Robot Arm

Wind sling around the J5-axis reducer （sling 1pcs）

Remove this plate.

？ Eyebolt (M10) 1pcs

Eyebolt (M10) 2pcs 1 leverblock
2 leverblocks
Eyebolt (M12) 1pcs
1 leverblock
？
Unpredictable

Fig. 5.4 (c) Releasing J2 motor brake and measures (R-2000iB/210FS)

In case of releaseing motor brake Method of supporing Robot Arm

Wind sling around the J5-axis reducer （sling 1pcs）

Fall down

Fig. 5.4 (d) Releasing J3 motor brake and measures (R-2000iB/210FS)

The correction of FANUC Robot R-2000iB

Title MECHANICAL UNIT OPERATOR’S MANUAL

Draw
No. B-82234EN/11-1

Ed. Date Design Description Sheet 3/7

Date 12.08.06 Desig. Akita Check Apprv.
 Fall down

Fall down

Supporting method of arm for Supporting method of arm for

R-2000iB/165CF R-2000iB/150U
R-2000iB/170CF(floor mount) R-2000iB/220U
R-2000iB/170CF(upside-down mount)
Fig. 5.4 (e) Releasing J2 and J3 motor brake and measures (R-2000iB/170CF,150U,220U,165CF)

In case of releaseing motor brake Method of supporing Robot Arm

Wind sling around the J5-axis reducer （sling 1pcs）

Fall down

Fig. 5.4 (f) Releasing J2 and J3 motor brake and measures (R-2000iB/220US)

The correction of FANUC Robot R-2000iB

Title MECHANICAL UNIT OPERATOR’S MANUAL

Draw
No. B-82234EN/11-1

Ed. Date Design Description Sheet 4/7

Date 12.08.06 Desig. Akita Check Apprv.
 We substitute specifications (5/6) . (Correction of acoustic noise level of R-2000iB/210FS,220US)
Specifications (5/6)
Model R-2000iB/220U R-2000iB/210FS R-2000iB/220US
Type Articulated Type
Controlled axis 6-axes (J1,J2,J3,J4,J5,J6)
Installation Upside-down Floor mount Upside-down
Upper limit 180°( 3.14rad) 180°( 3.14rad) 180°( 3.14rad)
J1-axis
Lower limit -180°(-3.14rad) -180°(-3.14rad) -180°(-3.14rad)
Upper limit 76°( 1.33rad) 76°( 1.33rad) 76°( 1.33rad)
J2-axis
Lower limit -60° (-1.05rad) -60° (-1.05rad) -60° (-1.05rad)
Upper limit 230°(4.01rad) 100°( 1.74rad) 100°( 1.74rad)
J3-axis
Lower limit -132°(-2.30rad) -134°(-2.34rad) -134°(-2.34rad)
Motion range
Upper limit 360°( 6.28rad) 210°( 3.66rad) 210°( 3.66rad)
J4-axis
Lower limit -360°(-6.28rad) -210°(-3.66rad) -210°(-3.66rad)
Upper limit 125°( 2.18rad) 125°( 2.18rad) 125°( 2.18rad)
J5-axis
Lower limit -125°(-2.18rad) -125°(-2.18rad) -125°(-2.18rad)
Upper limit 360°( 6.28rad) 210°( 3.66rad) 210°( 3.66rad)
J6-axis
Lower limit -360°(-6.28rad) -210°(-3.66rad) -210°(-3.66rad)
J1-axis 95°/s (1.66rad/s) 110°/s (1.92rad/s) 110°/s (1.92rad/s)
J2-axis 85°/s (1.48rad/s) 90°/s (1.57rad/s) 85°/s (1.48rad/s)
Max. speed J3-axis 95°/s (1.66rad/s) 95°/s (1.66rad/s) 95°/s (1.66rad/s)
(Note 1) J4-axis 120°/s (2.09rad/s) 130°/s (2.27rad/s) 130°/s (2.27rad/s)
J5-axis 120°/s (2.09rad/s) 130°/s (2.27rad/s) 130°/s (2.27rad/s)
J6-axis 190°/s (3.32rad/s) 200°/s (3.49rad/s) 200°/s (3.49rad/s)
At wrist 220kg 210kg 220kg
Max. load
On J3 arm 25kg － －
capacity
On J2 base － 550kg －
J4 1333N･m (136kgf･m) 1333N･m (136kgf･m) 1333N･m (136kgf･m)
Allowable load
moment at wrist J5 1333N･m (136kgf･m) 1333N･m (136kgf･m) 1333N･m (136kgf･m)
J6 706N･m (72kgf･m) 706N･m (72kgf･m) 706N･m (72kgf･m)
2 2 2
141.1kg･m 141.1kg･m 141.1kg･m
J4 2 2 2
(1440kgf･cm･s ) (1440kgf･cm･s ) (1440kgf･cm･s )
2 2 2
Allowable load 141.1kg･m 141.1kg･m 141.1kg･m
inertia at wrist J5 2 2 2
(1440kgf･cm･s ) (1440kgf･cm･s ) (1440kgf･cm･s )
2 2 2
78.4kg･m 78.4kg･m 78.4kg･m
J6 2 2 2
(800kgf･cm･s ) (800kgf･cm･s ) (800kgf･cm･s )
Drive method Electric servo drive by AC servo motor
Repeatability ±0.3mm
Weight of machine unit 1150kg 1250kg 1160kg
71.3dB 73.5dB
NOTE)
This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201
Acoustic noise level (EN31201). This value is measured with the following conditions.
- Maximum load and speed
- Operating mode is AUTO

Ambient temperature: 0 - 45°C (Note 2)

Ambient humidity: Normally 75%RH or less. No dew, nor frost allowed.
Short time (within one month) Max 95%RH
Installation environment Height: Up to 1,000 meters above the sea level required,
no particular provision for attitude.
Vibration: 0.5G or less
Free of corrosive gases (Note 3)
Note 1) It does not arrive at each axial maximum speed at the short movement distance.
Note 2) When robot is used in low temperature environment that is near to 0ºC,or robot is not operated for a long time in the environment that is
less than 0ºC in a holiday or the night, because viscous resistance of the drive train is so big that may cause occurrence of collision detect
alarm (SRVO–050) etc. In this case, we recommend performing the warm up operation for several minutes.
Note 3) Contact the service representative, if the robot is to be used in an environment or a place subjected to severe vibrations, heavy dust,
cutting oil splash and or other foreign substances.

The correction of FANUC Robot R-2000iB

Title MECHANICAL UNIT OPERATOR’S MANUAL

Draw
No. B-82234EN/11-1

Ed. Date Design Description Sheet 5/7

Date 12.08.06 Desig. Akita Check Apprv.
 We substitute Fig.3.2 (o) and Fig.3.2 (p) to below.

R
62
0

432
+180DEG. 0DEG.
-180DEG.

R 260
5

(+312, +2995)
(-497, +2850)

(-619, +2458)

(-1054, +2380)
1230 235

10 0 D
E G.

225
937
J5-axis
J3-axis rear side rotation center
interference area

-10.4D
312

1075

EG.
(+2568, +1233)
G.
.4DE
-2 0 .
D EG
-60 (+617, +1020)
(+2605, +930)

76
DE
G.
G .
(+758, +541) DE
3.9
-13

670
(+665, +298) Motion range
of J5-axis
rotation center

(0, 0) (+665, -113)

(+1355, -320)

Fig. 3.2 (o) Interference area (R-2000iB/210FS)

The correction of FANUC Robot R-2000iB

Title MECHANICAL UNIT OPERATOR’S MANUAL

Draw
No. B-82234EN/11-1

Ed. Date Design Description Sheet 6/7

Date 12.08.06 Desig. Akita Check Apprv.
 (+1355, -320)

(+665, -113) (0, 0)

Motion range
of J5-axis rotation
(+2379, +212) center
(+665, +298)

670
EG. (+758, +541)
3.9D
-13

EG.
.4D

76
DE
-45

G.
.
DEG
-60
(+617, +1020) .4D EG.
-20
312
14.1DEG.

(+2443, +1383)

1075
937
(+2428, +1634)
J3-axis rear side
interference area

225
.
EG
0D
10

235 1230

(-619, +2458) (-1054, +2380)

J5-axis rotation center

(-497, +2850)
(+312, +2995)

R
55
9

0DEG. -180DEG.

+180DEG.

3
R 244
R
53
4

Fig. 3.2 (p) Interference area (R-2000iB/220US)

The correction of FANUC Robot R-2000iB

Title MECHANICAL UNIT OPERATOR’S MANUAL

Draw
No. B-82234EN/11-1

Ed. Date Design Description Sheet 7/7

Date 12.08.06 Desig. Akita Check Apprv.