M-420iA/M-421iA™

Basic Description

The M-420iA series is FANUCRobotics’ latest-generation, high-performance, high-speed family ofindustrial robots. Based on a simpleand reliable design, the M-420iAand M-421iA provide sophisticatedmotion control and consistentperformance with high productivity.The series is supported by theintelligent robot control system.

The M-420iA is a four-axis, modularconstruction, electric servo-drivenrobot designed for high-speed casepacking and material handlingapplications. The M-421iA is a two-axis variant designed for the high-speed top-loading packing market.

M-420iA/M-421iA, theSolution for:

� High-speed packaging� High-speed palletizing� Machine loading� Mechanical assembly

Benefits

� Features highest motion speeds in its class for maximumperformance and productivity.

� Highest payload in its class helpsachieve maximum throughput byhandling multiple parts.

� Four-axis dexterity enables access to multiple packaging lines with one unit.

� Additional auxiliary amplifiersavailable in the robot controlleroffer ability to control completehigh-speed packaging line with robot controller.

� FANUC’s iRVision™ (IntegratedRobot Vision) Option for VisualLine Tracking provides anintegrated vision based solution for locating randomly-orientedproduct on a moving line for robotic picking and packingoperations.

Features

� M-420iA - 4 axes of motion, 40 kg capacity.

� M-421iA - 2 axes of motion, 50 kgcapacity. Waist and wrist rotationremoved from four-axis unit.

� iPendant™, a color, Internet-ready teach pendant for eveneasier programming and customcell user interface design.

� Large work envelope with 1855mm horizontal reach developedaround packaging applications.

� Repeatability of +/- 0.5 mm at full speed and full payloadwithin entire work envelope.

� Linear motion speeds up to 4200 mm/sec.

� Dedicated pneumatic andelectrical (8 digital inputs/8 digitaloutputs) connections at wrist tosimplify user’s end-of-arm toolingdesign and integration.

� Material handling style teachpendant with large LCD screenand ergonomic design offersintuitive control over automatedprocess.

� Sealed bearings and brushlessAC motor drives provideprotection and improve reliability.

Options

� M-420iA high-speed wrist option,J4 wrist speed increases from350 to 720 degrees/sec. forapplications that require high-speed wrist motions. Maximumpayload decreases from 40 kg to30 kg.

� iPendant is also available with touch screen support.

� Various robot connection cable lengths for flexible cabinetplacement and optional trackrated cables.

� A cleanable unit coated withwhite polyurethane to meetrequirements in typicalsecondary food packagingapplications.

� Monochrome pendant available.� FANUC’s iRVision system

delivers high performance 2-D and 3-D machine visioncapabilities with FANUCreliability. Additional option for Error Proofing can provideintegrated vision basedcapabilities to check for productcompleteness before product ispackaged or further operationsare performed.

M-420iA Dimensions

Isometric Wrist Footprint

Top

Front Side

2-dia. 8 depth 15eq. sp.on dia. 100bolt circle

+0.015 0

6-M8 depth 16eq. sp. on dia.100 bolt circle

40°

J1

J4

J3J2

585190 190

220

272 240

544

240

FRONT

(0,0)

24.0 DIA. THRU &38.0 DIA. C'BORE 4.0 DP.(4) MOUNTING HOLES

600

160°

-160°

R1855.5

0°

R533.9

1148.2 1633.2

223 176

368.6 800

130

180

HEXAHEDRALOPERATIONAREA

700 1000 1461

780

1000

1850

180

(0,0)

650

800

1812.3 TOP SIDEINTERFERENCE

AREA

699.5 REARSIDE

INTERFERENCEAREA

Note: Dimensions are shown in millimeters.Detailed CAD data are available upon request.

M-421iA Dimensions

Isometric Wrist Footprint

Top

Front

2-dia. 8 depth 15eq. sp.on dia. 100bolt circle

+0.015 0

6-M8 depth 16eq. sp. on dia.100 bolt circle

40°

525

295

190 190

240

240

575

FRONT

(0,0)

M24 DIA. THRU &38.0 DIA C'BORE 4.0 DP.

(4) MOUNTING HOLES

1855.5

533

533

223 176.2

368.6 800

1552.3 TOP SIDEINTERFERENCE AREA

1190

390

699.5 REAR SIDEINTERFERENCE AREA

(0,0)

180

780

1000

1850

700 1000 1461

125 HEXADEDRALOPERATIONAREA

Side

Note: Dimensions are shown in millimeters.Detailed CAD data are available upon request.

M-420iA/M-421iA Specifications Fastest cycle times in its class:

50 Cycles/Minute30 kg Payload

80 Cycles/Minute10 kg Payload

500

125

600

400

90

High-Speed Material Handling High-Speed Packaging

High-Speed Mini-Palletizing

Axes 4 2

Payload - Wrist (kg) 40 50

- High-Speed Wrist (kg) 30 -

- J3 Arm (kg) 10 10

Reach (mm) 1855 1855

Repeatability (mm) ±0.5 ±0.5

Interference radius (mm) 543 -

Motion range J1 320 -(degrees) J2 115 115

J3 110 110

J4 540 -

Motion speed J1 180 -(degrees/s) J2 200 200

J3 200 200

J4 350 -

High-Speed J4 720 -

Wrist moment J4 98 (10) 98 (10)N-m (kgf-m)

High-Speed J4 68.6 (7) -

Wrist inertia J4 2.6 2.6(kg-m2)

Mechanical brakes All axes All axes

Mechanical weight (kg) 620 520

Mounting method Floor

Installation environment:

Ambient temperature °C 0 to 45

Humidity Normally: 75% or lessShort term (within a month): 95% or less

No condensation (No dew or frost allowed)

Vibration (m/s2) 4.9 or less

Items M-420iA M-421iA

FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada3900 W. Hamlin Road (704) 596-5121 (905) 812-2300Rochester Hills, MI 48309-3253(248) 377-7000 Chicago, IL Montréal, CanadaFax (248) 377-7362 (847) 898-6000 (450) 492-9001

For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico1-800-iQ-ROBOT • 1-800-47-ROBOT (513) 754-2400 52 (449) 922-8000

Los Angeles, CA Sao Paulo, Brazil(949) 595-2700 (55) (11) 3619-0599

marketing@fanucrobotics.com Toledo, OHfanucrobotics.com (419) 866-0788©2007 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-4/07

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