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Intelligent Robots withFANUC Force Sensors

Basic Description

Until now, robotic assembly hasbeen dominated by 2-D appli-cations using SCARA robots.FANUC Robotics’ IntelligentRobots with integrated FANUCForce Sensors provide 3-Dassembly with six degrees offreedom. The seamless integrationof a six-degrees-of-freedom forcesensor results in an intelligentrobot that can “feel,” enabling the

most demanding mechanicalassembly and material removaloperations.

The Intelligent Robots includea standard FANUC robot(LR Mate ®  200iC, M-10iA™,M-16iB™, M-710iC/50™), a FANUCForce Sensor (FS-30 and FS-60) andadvanced force control software.

Standard sensor setup schedulesand process specific force control

instructions make the IntelligentRobots easy to program andoperate via the FANUC iPendant™.

Intelligent Robots provideprocess solutions for:

I Material removal applicationsincluding polishing, cutting,grinding, deburring anddeflashing.

I Clutch insertion (intermediate,forward, reverse and triple

clutch).I Valve, bearing and shaft

insertion.I 3-D assembly applications

including spline matchingand gear assembly.

I Flexible part feeding.I Product life cycle tests (e.g.

automotive door operation,switching operation etc.)requiring constant forceapplication.

Features and Benefits

I High reliability – IntelligentRobots are built on standardmechanical arms with a highdegree of reliability and provenperformance records.

I Simple to use – Simple datasetup menus for force controland standard teach pendantprogramming for applicationdevelopment make the IntelligentRobots simple to operate.

I Color-graphic iPendant withpatented browser-basedinterface – Multiple-window,color-graphic interface allowssimultaneous display of robotprogram, force setup and real-time force/moment (Fx, Fy, Fz,Mx, My, Mz) information duringproduction operation.

I

Force data chart on iPendant – Allows continuous display ofactual force variations during theforce control operation.

I Safe to operate – IntelligentRobots are compliant withapplicable safety standards.Low speed teach mode switchand dual channel E-STOPinterface make Intelligent Robotssafe to operate in a productionenvironment.

I Easy to communicate withPC – Built-in Ethernetcommunication capabilityallows Intelligent Robots tocommunicate relevant processdata to a PC via Ethernet.

I FANUC Force Sensor – Isoptimized for robotics, includingsmall size and robust design.

Process Control Functions

Standard, schedule-based algorithmsare provided to support a variety ofcommon assembly and materialremoval processes. Once the forceschedule is set, a simple force controlinstruction is added to the robotprogram to perform the insertionoperation. Examples include:

I Clutch insert – Provides

force and motion control toinsert a clutch unit into anautomotive automatictransmission. Clutchinsert force schedule includesinsert direction, contact force,approach velocity, push force,rotation limits, search frequencyand search amplitude to performthe insert operation.

Gear Phase Match Precision Assembly

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I Contouring – Applies a constantforce on the part surface while therobot-held tool moves along apath during polishing, cutting,grinding or deflashing operations.Contouring force schedulesinclude approach velocity,contact force, push force andpush direction information.

Taught robot positions aredynamically shifted during theremoval operation to provide theprogrammed force along thespecified direction.

I Phase match – Performs variablespline matching prior to aninsertion operation. Phase matchforce schedule includes initialcontact force, push force, phasematch torque, the rotation velocity,phase match depth and phasematch time data.

I Face match – Provides uniformalignment between a robot heldcomponent and contact surfaceof a sub-assembly. It is usefulfor flexible machine loading,hotplate welding and spinwelding applications.

I Constant push – Providesuniform pushing force whileassembling or joining a workpieceto a sub-assembly.

I Built-in Diagnostics – Monitorssensor data and provides an

alarm message to replace thesensor if the sensor data is outof range.

FANUC Force Sensor Specifications

Items FS-10iA FS-30 FS-60

6

5

4

3

2

1

0        1 6

        1        1

        1        6

        2        1

        2        6

        3        1

        3        6

        4        1

        4        6

        5        1

        5        6

        6        1

        6        6

        7        1

        7        6

        8        1

        8        6

        9        1

        9        6

        1        0        1

        1        0        6

        1        1        1

        1        1        6

        1        2        1

kgf

x 100 ms

Constant Force ChartPolishing Application

Time

Polishing Application Clutch Assembly

Shaft Insertion

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

 ©2008 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-1/08

Intelligent Robot Solutions

Example Teach Pendant Data Display

Dimensions (mm) 90 x 43 108 x 75 152 x 80

Weight (kg) 0.56 1.3 2.8

Rated loadFx, Fy, Fz (kgf) 10 30 60Mx, My, Mz (kgf•cm) 80 300 1200

Static Overload ToleranceFx, Fy, Fz (kgf) 160 300 300Mx, My, Mz (kgf•cm) 1280 3000 6000

Resolution

Fx, Fy, Fz (kgf) 0.040 0.15 0.24Mx, My, Mz (kgf•cm) 0.160 0.5 1.4

AccuracyFx, Fy, Fz 2% or less 2% or less 2% or lessMx, My, Mz