Robotic

sS-420i

Basic DescriptionFANUC Robotics S-420i line ofrobots is engineered for maximumperformance and reliability in theautomotive body shop and is sup-ported by our extensive applicationtechnology and service/partsnetwork. The S-420i features aunique integrated controller, six-axis modular construction and aflexible, electric servo-drivendesign for high-speed and heavypayload processes.

S-420i, the Solution for: Automotive spot welding and

body assembly

General industrial spotwelding

Material handling

Benefits Work envelope allows pro-

cessing of large fabrications

Modular robot design allowsconversion from one model toanother

Combined mechanical unitand robot controller reducesfloor space, point-to-pointwiring and installation costs

Minimal mechanical/electricalparts increase reliability

High motion speeds reducetime between welds

360 Axis 1 rotation

User power/signal/air linesinternal to arm for increasedreliability

Easy-to-learn and use appli-cation programming packages

Quick change electronicscabinet reduces downtime toless than 15 minutes

Low mass arm design allowshigh-speed positioning

Proven arm design in over13,000 S-420 robotinstallations

Flexibility Features Extension arm, heavy payload

wrist, wedge pedestal,reduction ratio and balancermodules allow simple robotconversion to single pointweld, rack mount, long arm orheavy duty types

Flexible and expandable I/Osystem internal to controller

Distributed I/O blocks toreduce wiring

Mechanical Features Mechanical construction

provides precise positioningand high motion speed

Direct drive on all axes resultsin higher reliability andreduced maintenance

RV speed reducers providesmooth motion at all speedsand a long life

Simple modular design withfew components

Sealed bearings and drivesprovide protection andimprove reliability

Absolute serial encoderpositioning

Wrist axis torque and inertiaallows rated motion speedwith large guns/tools

Unique hollow RV speedreducers simplify cablerouting

Compact remote mountoperator panel reduces aisleand floor space requirements

Waist mounted forkliftbrackets can be used forperipheral and weldtransformer mounting

Compact arm option for closespacing of units

Control Features Controller provides easy

installation, startup,troubleshooting andmaintenance

Stores programs in IBMDOS format

Built-in TCP teach utilityallows setup without specialfixturing

Easy-to-apply user multi-tasking programmingenvironment

Six-axis servo drive andsingle board controlmaximizes integration andreliability

Distributed I/O blockseliminate costly multi-conductor cables

Common SYSTEM RobotController interface to PLC,peripheral control, valvepacks, robot programs andtraining increase customers'ease-of-use

Advanced TurboMove motioncontrol increases throughput

Software Features Teach pendant uses menu-

driven, plain Englishcommands and process-specific, built-in functions

English commands, com-ments, user-defined jogframes and consistent speedpaths make setup and pro-gramming quick and easy

Tool packages allowpositional and speedadjustments during robotcycles

SpotTool soft panel on teachpendant reduces hard wiredbuttons, switches and signalslights

Other standard softwarefeatures include:

- Alarm logging and diagnostics

- Simple robot setup

- Production monitoring

- File utilities

- Menu windows

Optional SpotWorks cell PCgraphical interface supple-ments controller functionalityand provides the followingfeatures:

- Cause and recovery faultdiagnostics

- Three-dimensional path editor

- PLC connectivity support

- Weld controller networksupport

- On-line manuals

- Direct PC connection on plantnetwork

Options Internal arm user I/O and

power wiring and air tube

Tool Frame adjustment

Ethernet and RS-232Communications

Remote TCP programmingand jogging control

Remote cabinet mounting with7m (23 ft.) or 14m (46 ft.)cables

CSA approval option

50

50

370

300

60

180

48

6-MI0 DEPTH20DIA90 EQSP

2-I0H7 DEPTH 20DOWEL HOLESDIA90 EQSP

1

2

3

56

Footprint

32mm(1.3")284mm

(11.2")

524mm(20.6")171mm

(6.7")

440mm(17.3")

Axis 1rotation

4-M20 for eye bolt

4-DIA24 formounting

578mm(22.7")

FRONT

556mm(21.8")

700mm(27.5")

640mm(25.1")

Mounting plate(FANUC std)

Con

trol

ler

S-420iFS-420iFS-420iLS-420iSS-420iWS-420iRS-420iR

2.4m (7ft, 11in)2.85m (9 ft, 4 in)3.0m (9 ft, 9 in)2.25m (7 ft, 5 in)2.4m (7 ft, 11 in)3.11m (10 ft, 2 in)3.11m (10 ft, 2 in)

Floor mountFloor mountLong arm Single pointHeavy dutyRack std dutyRack hvy duty

Model Reach Purpose

50

50

370

300

60

180

485

Operation box

S-420i Product LineFamily of S-420i Robots

50

50

370

300

60

180

48

6-MI0 DEPTH20DIA125 EQSP

2-I0H7 DEPTH 20DOWEL HOLESDIA125 EQSP

Mounting plate(ISO std)

Isometric

Side

2258mm(88.9")

2733mm(107.6")

470mm(18.5")

500mm(19.7")

240mm(9.4")

180mm(7.1")

600mm(23.6") 1150mm

(45.2")200mm(7.8")

950mm(37.4")

1000mm(39.3")

S-420i R Top

1300mm(51.2")

200mm(7.8")

600mm(23.6")

Scale1/100"

251.5mm(9.9")

600mm(23.6")

+/-180

Side

Frontfor S-420i F/W/L/S

Top

+/-180

+/-180

600mm(23.6")

S-420iF313mm(12.3")

S-420iW334mm(13.1")

313mm(12.3")

1032mm(40.6")1206mm

(47.4")

251.5mm(9.9")

2405mm(94.6")

R240

5mm

(94.6"

)

R311

3mm

(122

.5")

R300

1mm

(118.1

")

600mm(23.6")

600mm(23.6")

240mm(9.4")

950mm(37.4")

755mm(29.7")

779mm(30.6")

516mm(20.3")

1574mm(62.0")

251.5mm(9.9")

313mm(12.3")

284mm(11.1")

200mm(7.8")

1752mm(68.9")

Front

600mm(23.6")

313mm(12.3")251.5mm

(9.9")

R225

8mm

(88.9"

)

Side

770.7mm(30.3")

603mm(23.7")

603mm(23.7")

700mm(27.5")

600mm(23.6") 1902mm

(74.8")

200mm(7.8")

950mm(37.4")

1000mm(39.3")

950mm(37.4")

1000mm(39.3")

240mm(9.4")

180mm(7.1")

240mm(9.4")

180mm(7.1")

470mm(18.5")

500mm(19.7")

470mm(18.5")

500mm(19.7")

Side

S-420i L

S-420i DimensionsS-420i F/WTop

S-420i S Top

+/-180

3001mm(118.1")

3109mm(122.4")

2808mm(110.5")

TopS-420i F

Side

+/-180

600mm(23.6")

313mm(12.3")251.5mm

(9.9")

R285

2mm

(112.3

")

600mm(23.6")

1752mm(68.9") 200mm

(7.8")

950mm(37.4")

1000mm(39.3")

240mm(9.4")

180mm(7.1")

470mm(18.5")

500mm(19.7")

2852mm(112.3")

3034mm(119.4")

Rob

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s

19

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Rob

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S-420i Specifications

Maximum reachLoad capacityAxis 1 Range

SpeedAxis 2 Range

SpeedAxis 3 Range

SpeedAxis 4 Range

SpeedAxis 5 Range

SpeedAxis 6 Range

SpeedMoments Axis 4

Axis 5Axis 6

Load Axis 4Inertia Axis 5

Axis 6RepeatabilityMounting methodMechanical brakesWeight

2.40m120kg (265 lbs)360100/sec142110/sec 135 100/sec600210/sec260150/sec720210/sec60kgf m60kgf m30kgf m306kgf cm sec2

306kgf cm sec2

77kgf cm sec2

0.4mm (0.016") UprightAll axes 1500 kg (3300 lbs)

2.85m120kg (265 lbs)36090/sec142100/sec 135 90/sec600210/sec260150/sec720210/sec60kgf m60kgf m30kgf m306kgf cm sec2

306kgf cm sec2

77kgf cm sec2

0.4mm (0.016") UprightAll axes 1600 kg (3520 lbs)

3.00m75kg (165 lbs)360100/sec142110/sec 135 100/sec600210/sec260150/sec720210/sec53kgf m53kgf m27kgf m387kgf cm sec2

387kgf cm sec2

104kgf cm sec2

0.4mm (0.016") UprightAll axes 1600 kg (3520 lbs)

2.25m80kg (176 lbs)36070/sec142110/sec 135 100/sec480210/sec260150/sec720210/sec54kgf m54kgf m28kgf m376kgf cm sec2

376kgf cm sec2

100kgf cm sec2

0.4mm (0.016") UprightAll axes 1500 kg (3300 lbs)

2.40m155kg (342 lbs)36090/sec142100/sec 135 75/sec600140/sec260110/sec720140/sec86kgf m86kgf m50kgf m486kgf cm sec2

486kgf cm sec2

164kgf cm sec2

0.4mm (0.016") UprightAll axes 1500 kg (3300 lbs)

Items S-420i F S-420i F

3.0m120kg (265 lbs)36090/sec142110/sec 135 75/sec600210/sec260150/sec720210/sec60kgf m60kgf m30kgf m306kgf cm sec2

306kgf cm sec2

77kgf cm sec2

0.4mm (0.016") UprightAll axes 1600 kg (3520 lbs)

S-420i F S-420i L S-420i S S-420i W

2.85m155kg (342 lbs)36090/sec142100/sec 135 75/sec600140/sec260110/sec720140/sec86kgf m86kgf m50kgf m486kgf cm sec2

486kgf cm sec2

164kgf cm sec2

0.4mm (0.016") UprightAll axes 1600 kg (3520 lbs)

S-420i W

2.40m175kg (386 lbs)36090/sec142100/sec 135 75/sec600140/sec260110/sec720140/sec90kgf m90kgf m52kgf m472kgf cm sec2

472kgf cm sec2

158kgf cm sec2

0.4mm (0.016") UprightAll axes 1500 kg (3300 lbs)

S-420i W

Maximum reachLoad capacityAxis 1 Range

SpeedAxis 2 Range

SpeedAxis 3 Range

SpeedAxis 4 Range

SpeedAxis 5 Range

SpeedAxis 6 Range

SpeedMoments Axis 4

Axis 5Axis 6

Load Axis 4Inertia Axis 5

Axis 6RepeatabilityMounting methodMechanical brakesWeight

3.11m100kg (220 lbs)360100/sec123100/sec 106 100/sec600210/sec260150/sec720210/sec57kgf m57kgf m29kgf m337kgf cm sec2

337kgf cm sec2

86kgf cm sec2

0.4mm (0.016") RackAll axes 1700 kg (3740 lbs)

3.11m120kg (265 lbs)36090/sec12390/sec 106 90/sec600210/sec260150/sec720210/sec60kgf m60kgf m30kgf m306kgf cm sec2

306kgf cm sec2

77kgf cm sec2

0.4mm (0.016") RackAll axes 1700 kg (3740 lbs)

3.11m155kg (342 lbs)36090/sec123100/sec 106 75/sec600140/sec260110/sec720140/sec86kgf m86kgf m50kgf m486kgf cm sec2

486kgf cm sec2

164kgf cm sec2

0.4mm (0.016") RackAll axes 1700 kg (3740 lbs)

Items S-420i R S-420i R S-420i R FANUC Robotics offers complete S-420i application dressout featuring: Maintainability Reliability Unique configurations

FANUC Robotics North America Charlotte, NC Toronto, Canada3900 W. Hamlin Road Phone (704) 596-5121 Phone (905) 812-2300Rochester Hills, MI 48309-3253Phone (248) 377-7000 Chicago, IL Montral, QubecFax (248) 276-4133 Phone (847) 898-6000 Phone (450) 492-9001

Literature Request Cincinnati, OH Mexico City, Mexico1-800-47-ROBOT Phone (513) 754-2400 Phone 52 (5) 611-5998

Los Angeles, CA Aguascalientes, MexicoPhone (949) 595-2700 Phone 52 (49) 10-8000

Toledo, OH Sao Paulo, BrazilPhone (419) 866-0788 Phone (55)(11) 3955-0599

web page: http:/ /www.fanucrobotics.com

1999 FANUC Robotics North America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A.FRNA-11/9-DS-052