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
otic
s
19
94 F
AN
UC
Rob
otic
s
FAN
UC
Roboti
cs
Nort
h
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
Top Related