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ARC Mate®100iBe &120iBe
Basic Description
These value-oriented robots have been designed to deliver peak productivity for arc weldingapplications. An exceptionalreach/stroke ratio and high-axisspeeds are at the core of thisdesign. The controller has beenintegrated into the base of the robot to simplify installation andconserve production floor space.All basic arc welding softwarefeatures are supported to providesuperior performance for simpleand complex arc weldingapplications. Many advanced, high productivity options such as Torch Guard™, Password and Touch Sensing are supportedto further expand the high value of these robots.
Benefits
■ Excellent reach versus stroke ratio.
■ Compact design simplifiesinstallation and transportation of system.
■ Fast wrist axes reduces aircut times, thus improvingthroughput.
■ Slim wrist design allows foroperation in tight workspaces.
Features
■ Provides ArcLink™ interface to Lincoln Electric PowerWave™ or STT™ (SurfaceTension Transfer) powersources for true integrated“Plug and Play” performance.
■ TurboMove™ advanced servocontrol features allow quick and smooth point-to-pointmotion, which increases arc on-time and throughput.
■ Wire feed motor mounteddirectly to robot’s upper armshortens welding lead length,which improves wire feedreliability and arc startcapability.
■ Arc welding teach pendant with application-specific hardkeys offers intuitive control over your process.
■ ARC Mate 100iBe has 1,373mm reach and 985 mm stroke.
■ ARC Mate 120iBe has 1,667mm reach and 1,282 mmstroke.
■ Serial link constructioneliminates the link arm and provides greater flexibilityand fewer moving parts.
■ RV reducer drivetrain withintegral bearings providesrigidity and performance in a compact package.
■ Proven FANUC AC servo motor with absolute encoderpositioning.
Options
■ J1 axis stroke modification kit.■ Remote connection kit with 4,
7 and 14 meter cable lengths.
R-J3iB Mate ControllerFeatures
■ Provides easy installation,startup, troubleshooting andmaintenance.
■ Integrated 24VDC I/O.■ α-i Series 6-channel amplifier
with FSSB.■ FANUC I/O Link (master or
slave).
System Software
■ LR ArcTool provides fullfunctionality for standardindustrial arc weldingapplications. This includesArcLink™ for the LincolnElectric Power Wave seriesand productivity functions suchas FAStart™ .
Rob
otic
s
J1(340°)
J3(340°)
J2(250°)
J6(720°)
J5(280°)
J4(380°)
R1373
0°
170°
170°
R273
ROBOT REACHTO THE REARRESTRICTED WITHCABINET ATTACHED
150615100
95
100
600
450
765
AXIS 5ROTATION
CENTER
510
140 186
186
178
172
150 153300351
J4 COVER (OPTION)
J2 COVER (OPTION)
Isometric Top
Footprint
SideFront
ARC Mate 100iBe Dimensions
4-M6 Depth 10Equally spaced oncircumference ø40
ø 6H7 Depth 10Circumference ø40
45°
7485
ø25H7
53
6
100
53
ø50h7
Wrist
Axes 6 6
Payload (kg) 6 20
Reach (mm) 1373 1667
Repeatability (mm) ±0.08 ±0.08
Interference radius (mm) 273 310
Motion range J1 340 340(degrees) J2 250 250
J3 340 460
J4 380 400
J5 280 280
J6 720 900
Motion speed J1 150 165(degrees/sec.) J2 160 165
J3 170 175
J4 400 350
J5 400 340
J6 520 520
Wrist moment J4 1.6 4.0(kgf•m) J5 1.0 4.0
J6 0.6 2.0
Wrist inertia J4 6.4 9.0(kgf•cm•s2) J5 1.7 9.0
J6 0.62 2.5
Mechanical brakes All axes All axes
Mechanical weight (kg) 135 230
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
Payload at axis 3 (kg) 12 12
Items AM100iBe AM120iBe
ARC Mate 100iBe & 120iBeSpecifications
MOUNTING FACE
981
693
341
371320
160
365
185±.10
320
160
MOUNTING FACE
MOUNTING FACE
J1 AXISROTATION CENTER
4–ø18 THRUø26 C' BORE DP5
185±.10
20
FRONT
J4(400°)
J5(280°)
J6(900°)
J2(250°)
J1(340°)
J3(460°)
R1667
R310
170°
170°
ROBOT REACHTO THE REARRESTRICTED WITHCABINET ATTACHED
100 740 150
100
770
510
796
234198
180 185351 300
170 234
AXIS 5ROTATION
CENTER
0°
525
Isometric Top
Footprint
SideFront
ARC Mate 120iBe Dimensions
45°
50
50
60
60
89.5 76.3
50h7ø
25H7ø
6
6H7 DEPTH 10ON 40 B.C.
4-M6 DEPTH 10EQ.SP. on 40 B.C.
100
Wrist
ArcLink I/OAutomatic BackupBurnbackController Backup/RestoreDry Run ModeFAStart Frame OffsetI/O InterconnectMACRO FunctionsMirror Image UtilityMulti-tasking UtilityOn-the-fly weld adjustmentOriginal Path ResumeOverride SelectPath JoggingPlug and Play CapabilityPosition RegistersPower Fail RecoveryProcess TrackingProgram Shift UtilityReference Position UtilityRegistersRuninScratch StartTest Cycle FunctionsTool OffsetUNDOUser FrameWeave InstructionsWeld from Teach PendantWeld Process Selection
Condition MonitorData MonitorError RecoveryPassword ProtectionSpace CheckTorch GuardTouch Sensing
LR ArcTool Feature ListStandard Features
Optional Features
ARC Mate R-J3iBe Controller SpecificationsItemsIntegrated “a” size cabinetI/O sub-system Built-in digital I/O (20 input / 20 output)
Built-in FANUC I/O LinkOptional Process I/O, Model A, and Model B modules
Digital communications PC104 interface board accepts up to 4 daughter cards for communication options
Memory card slot Built-in PCMCIA type 2 interface to ATA flash disc cards
Input power source 3.5KVA: 440, 460, 480, 500, 550, 575VAC input
Operator Panel E-stop, breaker, cycle start button, 2-position (auto, T1) switchRS-232 connector
Weight Approx. 100 kg
Installation environment Ambient temperature: 0-45˚C
Ambient humidityNormal 75% RH or less (No dew or frost allowed)Short term Max 95% RH (within one month)
Vibration 0.5G or lessNo corrosive gas allowed
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) 276-4133 (847) 898-6000 (450) 492-9001
For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico1-800-47-ROBOT (513) 754-2400 52 (449) 910-8000
Los Angeles, CA Sao Paulo, Brazil(949) 595-2700 (55) (11) 3619-0599
[email protected] Toledo, OHwww.fanucrobotics.com (419) 866-0788©2004 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-5/04
Note: Dimensions shown in millimeters.
System Options
■ Torch Guard protects not onlyend-of-arm-tooling, but alsoprotects part tooling and the entire robot arm. It does this byinstantly stopping robot motionwhen a collision is detected,reducing downtime associated with collisions. Torch Guard works in conjunction withTorchMate to automatically adjustfor changes in the tool centerpoint, improving weld quality.
■ Touch Sensing quickly locateseach part, stores positioninformation and offsets the robot path. The ability to search for part movement in 1, 2, or 3dimensions allows compensationfor part variation and reduces the need for trimmed parts orexpensive fixtures.
■ Data Monitor tracks and recordswelding feedback for any user-defined weld. The monitoringfunction can be used to flag any weld where the feedbackparameters do not stay inside apredefined window. Data files canbe saved to a memory card forviewing on a personal computer.
■ Error Recovery offers the userseveral options for arc faultrecovery. Automatically-executed,user-defined programs enable the robot to move to a repairposition, then return and resumewelding after repairs have beenmade. This function reducessystem downtime and scrap,keeping the pendant out of theoperator’s hands.
■ Password Protection restrictsuser access beyond designatedscreens, preventing unauthorizedmodifying of critical data. Pass-word protection offers four levels of protection with up to 100 usersand text strings for each username. Event Logging recordsoperational changes made toteach pendant programs andsystem data.
1005
1053
510
470693
604
OP Box (Full Panel Shown)
ControllerNote: optional 4, 7, 14meter remote kitavailable.