FA & ROBOT

Multi-purpose
Intelligent
Robot
R-2000iA

FANUC LTD

FA & ROBOT

Intelligent
IntelligentFunction
Function
Newly developed robot controller R-J3iB makes robot intelligent by the newest servo
function, network function, sensor control function, etc.
High Sensitive Collision Detection
This is safety function which detects the symptom of the
collision and stops the robot urgently. This can protects robot
and peripherals without traditional mechanical clutch.

Robot Link
Simultaneous motion or coordinated motion is realized by
multiple robots which are connected with ethernet. This can
handle heavy /large workpiece which cant be handled by
single robot or can reduce system cost by replacing from
current special machine to multiple robot handling system.

Automatic Payload Identification

Sensor Control

Robot identifies payload by itself and realizes best

By combining various sensors (force sensor, 2D sensor, 3D

performance automatically.

sensor, etc.), robot can be realized better performance.

Soft Float
Floating function is realized by software. This can reduce
the system cost by eliminating mechanical floating device.

Diagnosis
Diagnostic function for appropriate maintenance is enriched
by using various information(voltage, current,temperature,
etc.) from amplifier and pulsecoder.

Sensor

Intelligent software function

High Sensitive Collision Detection
Automatic Payload Identification

Soft Float

Robot Link
Sensor Control
Diagnosis

Force sensor

MIG EYE

3D sensor
2D sensor

FA & ROBOT

Configuration
Configuration
R-2000iA Mechanical Unit

R-2000iA Controller
(R-J3iB)

Newly
developed
motor

Same operation as R-J3

Existing servo spot gun,servo
hand can be used for R-2000iA
by adding aux. axis amplifier and
aux. axis brake unit.

Same programs of R-J3 can be used

Aux. axis amplifier

(option)

Newly developed control unit, amplifier, transformer,etc.

Aux. axis brake unit
(option;this unit is required
in case of aux axis with
existing motor)

Remote type controller only.

Aux.
axis

Existing aux. axis unit can be used for R-2000iA by adding aux.
axis amplifier and aux. axis brake unit.
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FA & ROBOT

Features
Featuresof
ofthe
theMechanical
MechanicalUnit
Unit
As the wrist size becomes compact,
interference with car body is reduced.

As the allowable wrist load moment is

increased, it is easily applied spot welding
with large size gun or handling of heavy
workpiece.

As the height becomes lower, robot can

be mounted in low ceiling places.

Flip over mechanism as the standard

and 360 degree rotation axis enables
operation to all directions.
As the rear side interference area is small,
line width can be reduced and floor space
is used effectively.

As the distance from J5 axis center to wrist

flange is reduced, the substantial allowable
wrist load moment is increased

As the projection of J2 and J3 axis motor is

reduced, high density installation of the
robots and peripherals is possible.

As the various models and options are

prepared, customer can choose the most
suitable model and use more wider application.

As the diagnostic function is enriched,

customer can use robot more safely.

As the minimum maintenance period is

extended from 6 months to 1 year,
maintenance becomes easier.
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FA & ROBOT

Improvement
Improvementof
ofMotion
MotionPerformance
Performance
In order to evaluate motion performance, the following many programs are used.
Box pattern - from short pitch to long pitch
Actual programs used by customers
1) Box pattern

2) Actual programs used by customers

Programs with servo weld gun

Cycle Time [sec]

1.2

No.1
No.2
No.3
No.4

1.0
0.8
0.6

Cycle Time [sec]

Improve
S-430iW
R-2000iA/165F -ment
29.3
23.1
-21%
18.0
13.4
-26%
25.0
22.0
-12%
25.8
21.7
-16%
-19%
Average Improvement

Programs without servo weld gun

0.4
0.2
0.0
30

50

100

150

200 300
Pitch [mm]

S-430iW

400

500

R-2000iA/165F

600

700

No.1
No.2
No.3
No.4
No.5
No.6
No.7
No.8

Cycle Time [sec]

Improve
S-430iW
R-2000iA/165F -ment
25.8
24.7
-4.2%
21.9
21.7
-1.2%
19.3
17.3
-10.5%
22.9
22.6
-1.5%
18.1
15.8
-13.1%
29.2
28.8
-1.5%
14.5
14.1
-2.5%
17.5
17.6
0.6%
Average Improvement
-4.2%

FA & ROBOT

Outer
Outerview
viewand
andSpecification
Specification(R-2000iA/165F)
(R-2000iA/165F)
Payload at wrist

165 kg

Reach

2650mm

Maximum speed

Allowable load
moment at wrist
Allowable load
inertia at wrist
Repeatability

Note) All specifications are subject to change without notice.

J1

105 deg/sec

J2

105 deg/sec

J3

105 deg/sec

J4

130 deg/sec

J5

130 deg/sec

J6

210 deg/sec

J4

921 Nm

J5

921 Nm

J6

461 Nm

J4

78.4 kgm2

J5

78.4 kgm2

J6

40.2 kgm2
0.3mm

FA & ROBOT

Compact
CompactMechanical
MechanicalUnit(1)
Unit(1)
Total height is reduced 98mm still maintaining a motion range equivalent to the S-430i. This reduction enables
mounting in low ceiling places.
Thanks to the newly developed small size motor, the projection of J2 and J3 axis motor is reduced, and then
total width of the robot is reduced 158mm. This enables high density installation of the robots and peripherals.

S-430iW

R-2000iA/165F

699

2113

2211

J3 axis motor

J2 axis motor

868
Note) All specifications are subject to change without notice.

FA & ROBOT

Compact
CompactMechanical
MechanicalUnit(2)
Unit(2)
The wrist size becomes further more compact. This reduces its interference with car body
and the robot can be operated even through smaller opening. And besides, rubbing against
cable/hose is reduced.

222

214

210

226

R168

1
R16

215
240

Note) All specifications are subject to change without notice.

FA & ROBOT

Compact
CompactMechanical
MechanicalUnit(3)
Unit(3)
Simple direct drive mechanism reduces rear side projection at robot escape position. Line
width can be reduced and floor space is used effectively.

Note) All specifications are subject to change without notice.

FA & ROBOT

Excellent
ExcellentPerformance
Performanceand
andFunction(1)
Function(1)
As maximum reach is extended 7mm, wider operating area can be covered.
Flip over mechanism as the standard and 360 degree rotation axis enables operation to all
directions.
R-2000iA/165F

J3 arm flip over

Wide operation area at flip over side

360 degree rotation

2650
(Reach is increased 7mm)

Note) All specifications are subject to change without notice.

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FA & ROBOT

Excellent
ExcellentPerformance
Performanceand
andFunction(2)
Function(2)
Payload at wrist is 165kg as standard, and allowable load moment at wrist is increased. It is
easily applied spot welding with large size gun or handling of heavy workpiece.
The distance from J5 axis center to wrist flange is reduced 25mm.(ISO flange)
This reduction increases the substantial allowable load moment at wrist.

165kg

Allowable wrist moment at wrist

J4,J5 : 921 Nm
J6
: 461 Nm

215mm
(25mm)

Substantial allowable load moment

is increased by reduction of the distance
from J5 axis center to wrist flange.
Note) All specifications are subject to change without notice.

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FA & ROBOT

Improvement
Improvementof
ofMaintainability
Maintainability
Every 6 months greasing points are eliminated and minimum maintenance period is extended to
1 year.
As all motors and pulsecoders are faced to outside, replacement of these elements is easy.
New pulsecoder mechanism enables automatic uniting with temperature detecting device which
is wired so far. This can reduce replacing time of pulsecoder.
As the mechanical unit cable is routed along with the outside of the J2 arm, it is easy to replace.
Mechanical unit cable
is easy to replace

Minimum maintenance period

6 months

1 year

All motors and pulsecoders

are faced to out side.
Replacement of these elements
is easy.

Wrist motors

J3 motor

J1 motor
J2 motor

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FA & ROBOT

SERVO
SERVODIAGNOSIS
DIAGNOSIS
SERVO DIAGNOSIS displays the information
useful to maintain robots.
- It calculates the recommended reducer overhaul time
- It displays the percentage of margin of alarms(overheat, OVC etc.) with
present duty useful to evaluate the propriety of the duty
- It keeps the history of collision detection useful to maintain the robot

Information is displayed on
the teach pendant.

reducer
J1
98356.2 hours
J2
28940.6 hours
J3
93746.5 hours
J4
164856.2 hours
J5
26374.5 hours
J6
18273.9 hours

Reducer overhaul time calculated

from torque and current

overheat
present
max
current
J 1 32.5 %
46.4 %
J 1 J 2 35.8 % 11.4 32.7
% %
disturbance
J 2 J 3 10.0 % 43.6 123.4
%
%
current
max(%)/min(%)
J
3
10.0
%
%
123.4
%
OVC J 1 5.2 % J 4 10.0
123.4/ -20.1%
J4 5 %
10.0 123.4
%
10.0
% -20.3%
%
J1
J 2 13.5 J%5 J23.8
123.4/
10.0 123.4
%
Collision detection
J
6
10.0
%
%
J2
27.5
%
J 3 10.0 J%6
123.4/ -20.7%
10.0 %
J1
1 times
J3
25.4
%
J 4 10.0 %
123.4/ -20.3%
J2
***** times
J4
J 5 10.0 % 19.3 %123.4/ -20.2%
J3
***** times
J5
J 6 10.0 % 75.4 %123.4/ -20.3%
J4
***** times
J6
28.3 %
J5
5 times
J6
***** times
last detection
2001 / 1 / 10, 12: 15: 57

Margin of alarms
History of collision detection
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FA & ROBOT

Various
Various Models
Modelsand
andOptions
Options
Various models are prepared. Customers can choose the most suitable model according to their use.
- Floor mount 165kg payload type
- Floor mount 200kg payload type
- Long arm 125kg payload type
- Rack mount 165kg payload type
- Rack mount 200kg payload type
- Compact 165kg payload type

By using various options, robot will become more convenient and can be used for wider application.
- Spot welding dressout package
- Severe dust / liquid protection option
- Mechanical unit option cablesignal,power,DeviceNet,etc.)
- Servo weld gun cableinside of the mechanical unit - J3 casing - servo weld gun
- Over travel switchJ1-J3 axis
- Stopper for motion range restriction
- Insulated wrist flange(ISO
- Brake release unit

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FA & ROBOT

Replacement
Replacementfrom
fromS-430i
S-430i
In case of replacement from S-430iW to R-2000iA/165F , almost operation space can be
covered even installed at the same position.
70mm

Further more, if R-2000iA/165F is installed 70mm rise, almost entire operation space can be
covered.

70mm

R-2000iA/165F

J1 axis rotation center(S-430iW, R-2000iA/165F)

S-430iW

Operation space(1)

Operation space(2)

In case of same position

In case of 70mm rise

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FA & ROBOT

Wrist
WristFlange
FlangeInterface(R-2000iA/165F)
Interface(R-2000iA/165F)

Wrist
WristLoad
LoadDiagram(R-2000iA/165F)
Diagram(R-2000iA/165F)

tap depth E
EQSP

ISO Flange

Note
1)
1

Standard/Special Flange

depth H
EQSP
tap depth E
EQSP

1)
Note
1
Standard Flange

ISO Flange

2)
Note
2

2)
Note
2

depth H
EQSP
Special Flange

2)
Note
2

2)
2)
Note
Note
2
2
Note 1) The length of fitting(outside) is 1-4 mm shorter than S-430i.
2)
Note

(Based on ISO
9409-1-A125)
2

R-2000iA/165F
Wrist load diagram(ISO Flange)
Note) In case of Standard/Special flange,
the allowable position of X direction
becomes 25mm shorter

Note 2) The depth of tap/pin holes is 4mm/8mm shallower than S-430i.

Note) All specifications are subject to change without notice.

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FA & ROBOT

Dimensions
Dimensionsofofthe
theRobot
RobotBase
Base

Equipment
EquipmentMounting
MountingSurface(R-2000iA/165F)
Surface(R-2000iA/165F)

Dimensions of the robot base is the same as S-430i

Note) All specifications are subject to change without notice.

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FA & ROBOT

R-2000iA/200F
R-2000iA/200Fspecification
specification
Maximum load capacity at wrist
Maximum load capacity at J3 arm
Maximum load capacity at J2 base

Motion range
(Maximum speed)

Allowable load moment

at wrist
Allowable load inertia
at wrist
Repeatability
Mass

J1 axis

200 kg
25kg
550kg
360 deg
(90 deg/s)

J2 axis

135 deg
(85 deg/s)

J3 axis

367.4 deg
(90 deg/s)

J4 axis

720 deg
(110 deg/s)

J5 axis

250 deg
(110 deg/s)

J6 axis

720 deg
(155 deg/s)

J4 axis
J5 axis
J6 axis
J4 axis
J5 axis
J6 axis

1274 Nm
1274 Nm
686 Nm
117.6 kgm2
117.6 kgm2
58.8 kgm2
+/-0.3 mm
1,240 kg

Note) All specifications are subject to change without notice.

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FA & ROBOT

R-2000iA/200F
R-2000iA/200Fwrist
wristload
loadconditions
conditions

R-2000iA/200F
R-2000iA/200Fequipment
equipmentmounting
mountingsurfaces
surfaces

R-2000iA/200F
Wrist load diagram(ISO Flange)

Note) All specifications are subject to change without notice.

19

FA & ROBOT

R-2000iA/125L
R-2000iA/125Lspecification
specification

Maximum load capacity at wrist

Maximum load capacity at J3 arm
Maximum load capacity at J2 base

Motion range
(Maximum speed)

Allowable load moment

at wrist
Allowable load inertia
at wrist
Repeatability
Mass

J1 axis

125 kg
20 kg
550 kg
360 deg
(105 deg/s)

J2 axis

135 deg
(105 deg/s)

J3 axis

352.4 deg
(105 deg/s)

J4 axis

720 deg
(170 deg/s)

J5 axis

250 deg
(170 deg/s)

J6 axis

720 deg
(260 deg/s)

J4 axis
J5 axis
J6 axis
J4 axis
J5 axis
J6 axis

588 Nm
588 Nm
343 Nm
58.8 kgm2
58.8 kgm2
22.5 kgm2
+/-0.3 mm
1,230 kg

Note) All specifications are subject to change without notice.

20

FA & ROBOT

R-2000iA/125L
R-2000iA/125Lwrist
wristload
loadconditions
conditions

R-2000iA/125L
R-2000iA/125Lequipment
equipmentmounting
mountingsurfaces
surfaces

R-2000iA/125L
Wrist load diagram(ISO Flange)
Note) In case of Standard/Special flange,
the allowable position of X direction
becomes 25mm shorter

Note) All specifications are subject to change without notice.

21

FA & ROBOT

R-2000iA/165R
R-2000iA/165Rspecification
specification

Maximum load capacity at wrist

Maximum load capacity at J3 arm
Maximum load capacity at J2 base

Motion range
(Maximum speed)

Allowable load moment

at wrist
Allowable load inertia
at wrist
Repeatability
Mass

J1 axis

165 kg
25 kg
550 kg
360 deg
(105 deg/s)

J2 axis

185 deg
(90 deg/s)

J3 axis

365 deg
(105 deg/s)

J4 axis

720 deg
(130 deg/s)

J5 axis

250 deg
(130 deg/s)

J6 axis

720 deg
(210 deg/s)

J4 axis
J5 axis
J6 axis
J4 axis
J5 axis
J6 axis

921 Nm
921 Nm
461 Nm
78.4 kgm2
78.4 kgm2
40.2 kgm2
+/-0.3 mm
1,540 kg

Note) All specifications are subject to change without notice.

22

FA & ROBOT

R-2000iA/165R
R-2000iA/165Rwrist
wristload
loadconditions
conditions

R-2000iA/165R
R-2000iA/165Requipment
equipmentmounting
mountingsurfaces
surfaces

R-2000iA/165R
Wrist load diagram(ISO Flange)
Note) In case of Standard/Special flange,
the allowable position of X direction
becomes 25mm shorter

Note) All specifications are subject to change without notice.

23

FA & ROBOT

R-2000iA/200R
R-2000iA/200Rspecification
specification

Maximum load capacity at wrist

Maximum load capacity at J3 arm
Maximum load capacity at J2 base

Motion range
(Maximum speed)

Allowable load moment

at wrist
Allowable load inertia
at wrist
Repeatability
Mass

J1 axis

200 kg
0 kg
550 kg
360 deg
(90 deg/s)

J2 axis

185 deg
(85 deg/s)

J3 axis

365 deg
(90 deg/s)

J4 axis

720 deg
(110 deg/s)

J5 axis

250 deg
(110 deg/s)

J6 axis

720 deg
(155 deg/s)

J4 axis
J5 axis
J6 axis
J4 axis
J5 axis
J6 axis

1274 Nm
1274 Nm
686 Nm
117.6 kgm2
117.6 kgm2
58.8 kgm2
+/-0.3 mm
1,570 kg

Note) All specifications are subject to change without notice.

24

FA & ROBOT

R-2000iA/200R
R-2000iA/200Rwrist
wristload
loadconditions
conditions

R-2000iA/200R
R-2000iA/200Requipment
equipmentmounting
mountingsurfaces
surfaces

R-2000iA/200R
Wrist load diagram(ISO Flange)

Note) All specifications are subject to change without notice.

25

FA & ROBOT

R-2000iA/165CF
R-2000iA/165CFspecification
specification
Maximum load capacity at wrist
Maximum load capacity at J3 arm
Maximum load capacity at J2 base

Motion range
(Maximum speed)

Allowable load moment

at wrist
Allowable load inertia
at wrist
Repeatability
Mass

J1 axis

165 kg
25kg
550kg
360 deg
(110 deg/s)

J2 axis

165 deg
(90 deg/s)

J3 axis

250 deg
(100 deg/s)

J4 axis

720 deg
(130 deg/s)

J5 axis

250 deg
(130 deg/s)

J6 axis

720 deg
(210 deg/s)

J4 axis
J5 axis
J6 axis
J4 axis
J5 axis
J6 axis

911 Nm
911 Nm
451 Nm
88.2 kgm2
88.2 kgm2
44.1 kgm2
+/-0.3 mm
1,050 kg

Note) All specifications are subject to change without notice.

26

FA & ROBOT

R-2000iA/165CF
R-2000iA/165CFwrist
wristload
loadconditions
conditions

R-2000iA/165CF
R-2000iA/165CFequipment
equipmentmounting
mountingsurfaces
surfaces

R-2000iA/165CF
Wrist load diagram(ISO Flange)

Note) All specifications are subject to change without notice.

27

FA & ROBOT

R-2000iA
R-2000iA Controller
Controller Configuration
Configuration
(R-J3iB)
(R-J3iB)
Special controller designed for R-2000iA robot
Based on current R-J3 and increase performance with keeping reliability
Enhance communication function
Flash ATA Card

R-J3iB
Controller

Line control
PLC

R-2000iA
PC Card
Slot

Teach Pendant

Integrated
PMC
(Option)

Host PC

Ethernet

Remote access
by MODEL Card

Serial I/O (Slave)

Serial I/O (Master)
- AB Remote I/O
- DeviceNet
- InterBus-S
- Profibus-DP
- ControlNet
Weld timer

I/O device

28

FA & ROBOT

ControllerHardware)
ControllerHardware)
Providing Main CPU and communication CPU as dual processor
system
64 bit RISC processor for Main CPU
Enhancement of communication processor to realize 100 BaseT
Ethernet
Expanding Flash memory from 4-16MB to 16,32MB
Adopting ECC for battery-backed up SRAM for high reliability
Enhancement servo DSP
Two times faster than R-J3

29

FA & ROBOT

Controller(Hardware)
Controller(Hardware)
For CE mark and RIA standard, to provide category-4 safety level of IEC
standard and control reliable of RIA standard.

24V

Dual chain
Dual contact
Approved parts

Teach Pendant

0V

E-Stop
Dead-man

Dual contact
Approved parts
Redundant E-Stop

OP panel

24V

E-Stop
3-Mode switch

Servo Amp

External E-Stop
Fence
.

0V

Primary power
Dual chain of
EMG input

Dual MCC

Dual chain Circuit

30

FA & ROBOT

Controller(Hardware)
Controller(Hardware)
Two expandable high speed reliable serial buses are provided

OP Panel

HSSB
High Speed Serial Bus
Serial bus to OP panel
Providing PCMCIA port at
OP panel
Switch/LED control
Status of E-Stop signal

6-ch amplifier

Control unit

FSSB
(FANUC Serial Servo Bus)
50 Mbps optical fiber communication
High reliable ECC function
Various data transfer except motor
control signal
High speed Communication directly
to/from servo DSP

Motor power
Pulsecoder signal
ROT/HBK
RDI/RDO

31

FA & ROBOT

Controller(hardware)
Controller(hardware)
FSSB(aux axis, analog input)

Aux amp
Analog input board

6-ch amplifier

Analog input

FSSB
(FANUC Serial Servo Bus)
Control unit

Flow sensor
Welding sensor
Pressure sensor
Force sensor

Providing high speed serial communication between servo DSP

and aux axis amplifier/analog input board by FSSB
Realizing real time control based on the data from sensors

32

FA & ROBOT

Controller(Hardware)
Controller(Hardware)
FSSB(Servo amplifier)

Various data transfer directly to servo DSP

6-ch amplifier

FSSB
(FANUC Serial Servo Bus)

Voltage information
Discharge current
Detail alarm status

Control unit

Improvement of servo control by use of voltage information.

Providing good maintenance information based on various data
from servo amplifier

33

FA & ROBOT

Controller(Hardware)
Controller(Hardware)
FSSB(Pulse coder)

Serial
communication

Pulsecoder

6-ch amplifier

FSSB
(FANUC Serial Servo Bus)

Control unit

High speed serial communication of absolute position data

Because of absolute data, higher reliability than pulse transfer
Detecting alarms at pulsecoder and transfer them to control unit
for better maintenance

34

FA & ROBOT

Controller(Hardware)
Controller(Hardware)
Reducing transformer size and Robot connection cable

Transformer

S-430iW : 10.5KVA

Connection cable S-430iW : (4) cables

S-430iF : (3) cables

R-2000iA : 7.5KVA
R-2000iA : (2) cables

Robot connection cable:

(2) cables

35

FA & ROBOT

Controller(Hardware)
Controller(Hardware)
Providing PCMCIA port at OP panel
OP panel

Expanding PCMCIA bus to OP panel by HSSB

Easy to access PCMCIA port for Data back-up
or modem connection
Available to use large size ATA flash memory
card
Easy to back-up to/from PC through memory
card

HSSB
(High Speed Serial Bus)

Control unit

36

FA & ROBOT

Controller(Hardware)
Controller(Hardware)
Enhancement of network
Providing 100BaseT Ethernet by enhancement of
communication processor
Field Bus option
Device Net
Control Net
FL Net
Profi Bus
InterBus S
Control unit

100BaseT

Field Bus

37

FA & ROBOT

Controller(Hardware)
Controller(Hardware)
Sensor Board
Sensor board

2D vision

3D vision/
MigEye
Full size option
Force
sensor

Having all sensor I/F at one board(sensor board)

Possible to provide various sensors to robot system easily

38

FA & ROBOT

Controller(Configuration)
Controller(Configuration)
Inside of cabinet
Aux amp

6ch amplifier

Discharge
resister

Fan unit

Breaker

E-Stop unit
Control PCB

Transformer
I/O unit

39

FA & ROBOT

Controller(Configuration)
Controller(Configuration)
OP panel

Mode switch(key switch)

IEC-947-5-1(force opening)
AUTO : Running
T1 :
Teach(safety speed)
T2 :
Teach(100% speed)
Hour meter (option)
ON/OFF (alternate)

E-Stop switch
IEC-947-5-1(force opening)

PCMCIA
RS-232-C
Ethernet(option)

Optional panel with Alarm LED,

Start switch, Reset switch and
User #1, #2 switch is available.

(Option)

ON/OFF (alternate)
Alarm LED
Start switch(with cover)

Reset switch
User #1,#2

40

FA & ROBOT

Controller(Configuration)
Controller(Configuration)
Option PCB

Mini slot
Profibus

4 slot back-plane
Option PCB

Main CPU

DeviceNet
PSU

FL Net
Aux axis
Wide mini slot
Line Tracking
Interbus-S(PC104)
2-mini
slot

ControlNet(PC104)
Full size slot
DeviceNet(PC104)
Interbus-S(PC104)

Wide mini

ControlNet(PC104)
Process I/O
Sensor Board

Full size

41

FA & ROBOT

Controller(Configuration)
Controller(Configuration)
Servo Gun

Amplifier for servo gun

Add servo amplifier and cables to

realize servo gun
Brake power is provided from 6 ch
amplifier
DC link is also provided from 6 ch
amplifier
Add gun change unit to realize gun
change

Gun change unit

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FA & ROBOT

Controller(Maintenance)
Controller(Maintenance)
Servo amplifier
Connector for all connection

6ch amplifier

Reduce 18% weight as R-J3

Exchanging within 5 minutes

Rear-to-rear air flow

Exchanging
fan

Air Flow

Fan unit
No maintenance space at side of
cabinet
Exchanging fan unit from front
side

Fan unit

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FA & ROBOT

R-J3iB
R-J3iB Software
Software
Ethernet 100Base-TX
100Base-TX Ethernet is supported
Higher data transfer is available than current 10Base-T
Robot can connect 100Base-TX Ethernet directly in factory without any converter
R-J3iB

100Base-TX

Ethernet 100Base-TX
100Base-TX -> 10Base-T
converter

100Base-TX
10Base-T

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FA & ROBOT

R-J3iB
R-J3iB Software
Software
Web Server

HTTP interface is supported

Access robot data through Internet or Intranet
Access robot data through Internet Explorer on PC. Special software is not needed on PC
Customer can look/modify/save robot data as same manner of Internet Home Page
PC
R-J3iB

Web server

Ethernet

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FA & ROBOT

R-J3iB
R-J3iB Software
Software
Mode Switch
3 mode switch (AUTO, T1, T2) is provided as standard. Previously, only CE/RIA controller
provides 3 mode switch.
In T1 mode, robot speed is limited under 250mm/sec. Teaching operation becomes safe.
In T1 and T2 mode, robot is energize only when Dead-man switch of TP is held
Mode can be fixed by key-lock. Prevent to change mode unexpectedly

R-J3iB
Controller

T1
AUTO

T2

3 Mode Switch
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FA & ROBOT

R-J3iB
R-J3iB Software
Software
Automatic Backup Function
User programs and other system setup are saved in system automatically
Reduce effort to data backup when program is changed and prevent to forget to save
modified program
When user programs and/or system setup are lost in unexpected reason, easy to
recover system with minimum effort and time

R-J3iB

Backup is automatic done at following timing

Specified time (5 times per day)
Specified digital input signal turning on
Power on
Multiple backups are available. If wrong program and
setup is saved, previous another backup can be loaded

Save user programs and system

setup in integrated Flash memory

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FA & ROBOT

R-J3iB
R-J3iB Software
Software
Robot Link Simultaneous Motion

Handling for heavy / large workpiece by multiple robots

By handling with multiple robots, robot hand can be simple and small
Does not need special hardware
When one robot is stopped, other robots are also stopped automatically.
Slave robots follow
a motion of master robot

Slave Robot #2
Master
Robot

Master robot moves by

program or jogging

Slave
Robot

Ethernet

Move master robot by

program or jogging

Slave robot follows

a motion of master robot

Master Robot

Slave Robot #1

Ethernet

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FA & ROBOT

R-J3iB
R-J3iB Software
Software
Robot Link Approach Deterrence
Approach stop function

Approach stop

Feature: This function detects near-miss between a robot and

another one/fixed object. This function decelerates and
stops robots before collision.If deceleration is not in
time, robots are E-stopped.
Usage : This function prevents interference by operation error.

Approach wait function

Feature: If distance between a robot and another one/fixed
object is less than approach wait distance, this function
decelerates former robot to stop. According to
situation,motion of stopped robot can be restarted
automatically.
Usage : This function is used when robots move in close range
to each other.

(Waiting for I/O condition)

Approach wait
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FA & ROBOT

R-J3iB
R-J3iB Software
Software
ROBOGUIDE
Connect PC to robot controller and execute high accurate simulation is available on PC
Robot motion
TCP path trajectory
Cycle time
I/O Interlock
Easy to switch simulation to actual robot. After simulating a robot program, execute this
program and move actual robot.
3D animation on PC is available for create/edit robot program, teach/modify taught robot
position
Multiple robots animation is available
ROBOGUIDE

R-J3iB

Ethernet
50