fanuc robot arc mate ic seriesrobotforum.ru/assets/files/fanuc_pdf/new_robots.pdf · 22/4/2014 ·...
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1/12 A-97606-1136E/01
May. 15th 2014
FANUC Robot ARC Mate iC Series
FANUC CORPORATION
Export Control:
Controlled (Related item No. of
Foreign Exchange Order Attachment List of Japan: )
Non-controlled for item No. 2 to 15 of
Foreign Exchange Order Attachment List of Japan
04.22.2014 1st. edition
Update history
01
2/12 A-97606-1136E/01
May. 15th 2014
ARC Mate iC Series Line up
New New New
ARC Mate 100iC/7L
Long arm type
Payload capacity 7kg
Max. reach 1.63m
ARC Mate 120iC
Standard arm type
Payload capacity 20kg
Max. reach 1.81m
ARC Mate 100iC/12
Standard arm type
Payload capacity 12kg
Max. reach 1.42m
ARC Mate 120iC/12L
Long arm type
Payload capacity 12kg
Max. reach 2.01m
3/12 A-97606-1136E/01
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Advanced design in J5/J6 axis unit of ARC Mate 100iC
Higher wrist payload
ARC Mate 100iC/12 10kg to 12kg
ARC Mate 100iC/7L 6kg to 7kg
ARC Mate 120iC/12L 10kg to 12kg
Succeed to the slim wrist of ARC Mate 100iC
Higher productivity due to speeding up
Same kinematics and same engineering
ARC Mate 100iC/12
Enhanced motion performance from the previous model.
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Speed up & Enhanced wrist payload capability (ARC Mate 100iC/12)
ARC Mate 100iC
Max. load at wrist [kg] 10
Reach [mm] 1,420
Max. speed
[deg/sec]
J1 210
J2 190
J3 210
J4 400
J5 400
J6 600
Allowable load
moment at
wrist [Nm]
J4 22.0
J5 22.0
J6 9.8
Allowable load
inertia at wrist
[kgm2]
J4 0.63
J5 0.63
J6 0.15
ARC Mate 100iC/12 Conventional ratio
12 20% up↑
1,420 ‐
230 10% up↑
225 18% up↑
230 10% up↑
430 8% up↑
430 8% up↑
630 5% up↑
22.0 ‐
22.0
9.8 ‐
0.65 3% up↑
0.65
0.17 13% up↑
5/12 A-97606-1136E/01
May. 15th 2014
Speed up & Enhanced wrist payload capability (ARC Mate 100iC/7L)
ARC Mate 100iC/6L
Max. load at wrist [kg] 6
Reach [mm] 1,632
Max. speed
[deg/sec]
J1 210
J2 190
J3 210
J4 400
J5 400
J6 600
Allowable load
moment at
wrist [Nm]
J4 15.7
J5 10.1
J6 5.9
Allowable load
inertia at wrist
[kgm2]
J4 0.63
J5 0.38
J6 0.061
ARC Mate 100iC/7L Conventional ratio
7 17% up↑
1,632 ‐
230 10% up↑
225 18% up↑
230 10% up↑
430 8% up↑
430 8% up↑
630 5% up↑
15.7 ‐
10.1 ‐
5.9 ‐
0.63 ‐
0.38 ‐
0.061 ‐
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Speed up & Enhanced wrist payload capability (ARC Mate 120iC/12L)
ARC Mate 120iC/10L
Max. load at wrist [kg] 10
Reach [mm] 2,009
Max. speed
[deg/sec]
J1 195
J2 175
J3 180
J4 400
J5 400
J6 600
Allowable load
moment at
wrist [Nm]
J4 22.0
J5 22.0
J6 9.8
Allowable load
inertia at wrist
[kgm2]
J4 0.63
J5 0.63
J6 0.15
ARC Mate 120iC/12L Conventional ratio
12 20% up↑
2,009 ‐
200 3% up↑
175 ‐
190 6% up↑
430 5% up↑
430 5% up↑
630 3% up↑
22.0 ‐
22.0 ‐
9.8 ‐
0.65 3% up↑
0.65 3% up↑
0.17 13% up↑
7/12 A-97606-1136E/01
May. 15th 2014
108 45.5
108 45.5 ARC Mate 100iC
ARC Mate 100iC/12
Succeed to the slim wrist of ARC Mate 100iC
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May. 15th 2014
Specification
ARC Mate 100i C/12 ARC Mate 100i C/7L ARC Mate 120i C ARC Mate 120i C/12L
1420mm 1632mm 1811mm 2009mm
Motion range J1 axis rotation
340°/370°(OPTION)
(195°/s)
5.93rad/6.45rad(OPTION)
(3.40rad/s)
340°/370°(OPTION)
(200°/s)
5.93rad/6.45rad(OPTION)
(3.49rad/s)(Maximum speed) J2 axis rotation
(Note 1), (Note 2) J3 axis rotation445°(230°/s)
7.76rad(4.01rad/s)
447°(230°/s)
7.80rad(4.01rad/s)
458°(180°/s)
8.00rad(3.14rad/s)
460°(190°/s)
8.04rad(3.49rad/s)
J4 axis wrist rotation400°(360°/s)
6.98rad(6.28rad/s)
400°(430°/s)
6.98rad(7.50rad/s)
J5 axis wrist swing400°(360°/s)
6.98rad(6.28rad/s)
360°(430°/s)
6.28rad(7.50rad/s)
J6 axis wrist rotation900°(550°/s)
15.71rad(9.60rad/s)
900°(630°/s)
15.71rad(11.0rad/s)12 kg 7 kg 20 kg 12 kg
Allowable load momentJ4 axis 22.0 Nm 15.7 Nm 44.0 Nm 22.0 Nm
at wrist J5 axis 22.0 Nm 10.1 Nm 44.0 Nm 22.0 Nm
J6 axis 9.8 Nm 5.9 Nm 22.0 Nm 9.8 Nm
Allowable load inertia J4 axis 0.65 kgm2
0.63 kgm2
1.04 kgm2
0.65 kgm2
at wrist J5 axis 0.65 kgm2
0.38 kgm2
1.04 kgm2
0.65 kgm2
J6 axis 0.17 kgm2
0.061 kgm2
0.28 kgm2
0.17 kgm2
130 kg 135 kg
Ambient temperature : 0 ~ 45℃
Ambient humidity : Normally 75%RH or less (No dew nor frost allowed)
Short term 95%RH or less (within one month)
Vibration : 0.5G or less
Note 1) In case of angle mounting, J1 and J2 axis motion range are restricted.
Note 2) In case of short distance motion, the axis speed doesn't reach maximum one.
Note 3) Without controller.
Repeatability
Mass (Note 3)
Acoustic noise level
Installation environment
Max. load capacity at wrist
Model
Controlled axes
Reach
Installation
340°/360°(OPTION)
(230°/s)
5.93rad/6.28rad(OPTION)
(4.01rad/s)250°(225°/s) 260°(175°/s)
6 axes (J1, J2, J3, J4, J5, J6)
Floor, upside-down, wall & angle mount
380°(430°/s)
6.63rad(7.50rad/s)380°(430°/s)
6.63rad(7.50rad/s)720°(630°/s)
12.57rad(11.0rad/s)
±0.08mm
250 kg
Less than 70dB
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Work envelope and outer dimensions
TP program of ARC Mate 100iC series can be applied to ARC Mate 100iC/12 series,
because kinematics and operating range is the same as ARC Mate 100iC series.
The interface of end effector mounting and robot installation are also same as ARC
Mate 100iC series.
ARC Mate100iC/12
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May. 15th 2014
Work envelope and outer dimensions
J5 axis rotation center
Motion range of
J5 axis rotation center
ARC Mate100iC/7L
11/12 A-97606-1136E/01
May. 15th 2014
Work envelope and outer dimensions
J5 axis rotation center
Motion range of
J5 axis rotation center
ARC Mate120iC/12L
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May. 15th 2014
Work load diagram
ARC Mate100iC/12
ARC Mate120iC/12L ARC Mate100iC/7L