Robotics

Compact arm option for close

and floor space requirements
operator panel reduces aisle
Wrist axis torque and inertia
allows rated motion speed

Unique hollow RV speed

brackets can be used for

Absolute serial encoder

Compact remote mount

reducers simplify cable

Waist mounted forklift

transformer mounting
with large guns/tools

peripheral and weld

spacing of units
positioning

routing
■

■
Extension arm, heavy payload

Direct drive on all axes results

weld, rack mount, long arm or

smooth motion at all speeds

reduction ratio and balancer

Flexible and expandable I/O

provides precise positioning

system internal to controller

Simple modular design with

Sealed bearings and drives

RV speed reducers provide
modules allow simple robot
conversion to single point

Mechanical Features
Mechanical construction
Distributed I/O blocks to

and high motion speed

in higher reliability and

wrist, wedge pedestal,

provide protection and

Flexibility Features

reduced maintenance

improve reliability
heavy duty types

few components
and a long life
reduce wiring
■

■
cation programming packages
robots is engineered for maximum

ported by our extensive application

™

automotive body shop and is sup-

conversion from one model to

Low mass arm design allows

Automotive spot welding and

cabinet reduces downtime to

Minimal mechanical/electrical
performance and reliability in the

Easy-to-learn and use appli-

internal to arm for increased
and robot controller reduces
Modular robot design allows
cessing of large fabrications
unique integrated controller, six-
axis modular construction and a

S-420i, the Solution for:

wiring and installation costs

High motion speeds reduce

design for high-speed and heavy
network. The S-420i features a
FANUC Robotics’ S-420i line of

Combined mechanical unit

“Quick change” electronics

Work envelope allows pro-

User power/signal/air lines

Proven arm design in over

S-420i

technology and service/parts

floor space, point-to-point

flexible, electric servo-driven

parts increase reliability

General industrial spot

high-speed positioning
less than 15 minutes
Basic Description

time between welds

360° Axis 1 rotation

13,000 S-420 robot

Material handling
body assembly
payload processes.

installations
reliability
another
welding

Benefits
■

■
S-420i Specifications
Items S-420i F S-420i F S-420i F S-420i L S-420i S S-420i W S-420i W S-420i W
Maximum reach 2.40m 2.85m 3.0m 3.00m 2.25m 2.40m 2.85m 2.40m
Load capacity 120kg (265 lbs) 120kg (265 lbs) 120kg (265 lbs) 75kg (165 lbs) 80kg (176 lbs) 155kg (342 lbs) 155kg (342 lbs) 175kg (386 lbs)
Axis 1 Range 360˚ 360˚ 360˚ 360˚ 360˚ 360˚ 360˚ 360˚
Speed 100˚/sec 90˚/sec 90˚/sec 100˚/sec 70˚/sec 90˚/sec 90˚/sec 90˚/sec
Axis 2 Range 142° 142° 142° 142° 142° 142° 142° 142°
Speed 110°/sec 100°/sec 110°/sec 110°/sec 110°/sec 100°/sec 100°/sec 100°/sec
Axis 3 Range 135˚ 135˚ 135˚ 135˚ 135˚ 135˚ 135˚ 135˚
Speed 100˚/sec 90˚/sec 75˚/sec 100˚/sec 100˚/sec 75˚/sec 75˚/sec 75˚/sec
Axis 4 Range 600° 600° 600° 600° 480° 600° 600° 600°
Speed 210˚/sec 210˚/sec 210˚/sec 210˚/sec 210˚/sec 140˚/sec 140˚/sec 140˚/sec
Axis 5 Range 260° 260° 260° 260° 260° 260° 260° 260°
Speed 150°/sec 150°/sec 150°/sec 150°/sec 150°/sec 110°/sec 110°/sec 110°/sec
Axis 6 Range 720° 720° 720° 720° 720° 720° 720° 720°
Speed 210°/sec 210°/sec 210°/sec 210°/sec 210°/sec 140°/sec 140°/sec 140°/sec
Moments Axis 4 60kgf • m 60kgf • m 60kgf • m 53kgf • m 54kgf • m 86kgf • m 86kgf • m 90kgf • m
Axis 5 60kgf • m 60kgf • m 60kgf • m 53kgf • m 54kgf • m 86kgf • m 86kgf • m 90kgf • m
Axis 6 30kgf • m 30kgf • m 30kgf • m 27kgf • m 28kgf • m 50kgf • m 50kgf • m 52kgf • m
Load Axis 4 306kgf • cm • sec2 306kgf • cm • sec2 306kgf • cm • sec2 387kgf • cm • sec2 376kgf • cm • sec2 486kgf • cm • sec2 486kgf • cm • sec2 472kgf • cm • sec2
Inertia Axis 5 306kgf • cm • sec2 306kgf • cm • sec2 306kgf • cm • sec2 387kgf • cm • sec2 376kgf • cm • sec2 486kgf • cm • sec2 486kgf • cm • sec2 472kgf • cm • sec2
Axis 6 77kgf • cm • sec2 77kgf • cm • sec2 77kgf • cm • sec2 104kgf • cm • sec2 100kgf • cm • sec2 164kgf • cm • sec2 164kgf • cm • sec2 158kgf • cm • sec2
Repeatability ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016")
Mounting method Upright Upright Upright Upright Upright Upright Upright Upright
Mechanical brakes All axes All axes All axes All axes All axes All axes All axes All axes
Weight 1500 kg (3300 lbs) 1600 kg (3520 lbs) 1600 kg (3520 lbs) 1600 kg (3520 lbs) 1500 kg (3300 lbs) 1500 kg (3300 lbs) 1600 kg (3520 lbs) 1500 kg (3300 lbs)
Items S-420i R S-420i R S-420i R FANUC Robotics offers complete
S-420i application dressout featuring:
Maximum reach 3.11m 3.11m 3.11m
Load capacity 100kg (220 lbs) 120kg (265 lbs) 155kg (342 lbs)
■ Maintainability
Axis 1 Range 360˚ 360˚ 360˚ ■ Reliability
Speed 100˚/sec 90˚/sec 90˚/sec ■ Unique configurations
Axis 2 Range 123° 123° 123°
Speed 100°/sec 90°/sec 100°/sec
Axis 3 Range 106˚ 106˚ 106˚
Speed 100˚/sec 90˚/sec 75˚/sec
Axis 4 Range 600° 600° 600°
Speed 210˚/sec 210˚/sec 140˚/sec Robotics
Axis 5 Range 260° 260° 260°
FANUC Robotics North America Charlotte, NC Toronto, Canada
Speed 150°/sec 150°/sec 110°/sec 3900 W. Hamlin Road Phone (704) 596-5121 Phone (905) 812-2300
Axis 6 Range 720° 720° 720° Rochester Hills, MI 48309-3253
Speed 210°/sec 210°/sec 140°/sec Phone (248) 377-7000 Chicago, IL Montréal, Québec
Fax (248) 377-7366 Phone (630) 876-5600 Phone (450) 492-9001
Moments Axis 4 57kgf • m 60kgf • m 86kgf • m
Axis 5 57kgf • m 60kgf • m 86kgf • m Literature Request Cincinnati, OH Mexico City, Mexico
Axis 6 29kgf • m 30kgf • m 50kgf • m 1-800-47-ROBOT Phone (513) 754-2400 Phone (52-5) 611-5998
Load Axis 4 337kgf • cm • sec2 306kgf • cm • sec2 486kgf • cm • sec2 Los Angeles, CA Aguascalientes, Mexico
Inertia Axis 5 337kgf • cm • sec2 306kgf • cm • sec2 486kgf • cm • sec2 Phone (949) 595-2700 Phone (52-4) 973-0453
Axis 6 86kgf • cm • sec2 77kgf • cm • sec2 164kgf • cm • sec2
Toledo, OH Sao Paulo, Brazil
Repeatability ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") Phone (419) 866-0788 Phone (55)(11) 3955-0599
Mounting method Rack Rack Rack
Mechanical brakes All axes All axes All axes web page: http:/ /www.fanucrobotics.com
Weight 1700 kg (3740 lbs) 1700 kg (3740 lbs) 1700 kg (3740 lbs) ©1998 FANUC Robotics North America, Inc. All rights reserved. OM 05-98 FANUC ROBOTICS LITHO IN U.S.A.
Isometric Footprint S-420i Dimensions
S-420i F/W S-420i S S-420i R
556mm
Top Top Top

▲
(21.8")

▲
▲
▲

▲
3 700mm ▲ 578mm
(27.5") Axis 1 (22.7") m

.5 m
5m ")

22 m
▲
rotation 40 .6

")
(1 113
m
R2 (94

▲
640mm 8m )

R3
25 .9"
▲

Controller
(25.1") 4-M20 for 440mm R2 (88
FRONT
6 eye bolt (17.3")
5 4-DIA24 for ▲
▲ ▲
mounting ▲ ▲ ▲
▲
▲
▲ ▲
▲
+/-180° +/-180°
▲
▲ +/-180°
▲
32mm

▲
▲
▲
▲ ▲
(1.3")
284mm ▲ ▲
▲

▲
▲
▲
(11.2") 600mm 313mm
Control Features
▲
600mm
251.5mm S-420i F (23.6") 251.5mm (12.3")
1032mm
524mm (23.6") (9.9") 313mm (9.9") 1206mm

▲
▲

▲
▲
(12.3") (40.6")
171mm (20.6") (47.4")
■ Controller provides easy (6.7") S-420i W
334mm
installation, startup, (13.1")

troubleshooting and Mounting plate

2
maintenance (FANUC std)
6-MI0 DEPTH20
DIA90 EQSP
■ Stores programs in IBM
1
DOS format 2-I0H7
DEPTH 20
Side 600mm 1300mm 200mm Side 600mm Side 755mm 950mm

▲
▲

▲
(23.6") (51.2") (7.8") (23.6") 1150m
■ Built-in TCP teach utility DOWEL HOLES
m
200mm (29.7") (37.4")
240mm

▲
▲

▲
DIA90 EQSP (7.8")

▲
▲

▲
▲ (9.4")
allows setup without special 2808mm
▲ ▲ ▲
▲ 600mm 600mm
fixturing 240mm
(110.5") 240mm ▲ 2733mm (23.6") ▲ ▲ (23.6")
■ Other standard software (9.4") ▲ ▲
(9.4")
▲ ▲
(107.6")
▲ ▲
779mm
■ Easy-to-apply user multi- features include: 950mm 180mm 950mm (30.6")

▲
▲
180mm (37.4") (7.1") (37.4")

▲
▲
tasking programming
▲
(7.1") ▲ ▲
1752mm
- Alarm logging and diagnostics

▲
▲
▲
▲
▲
▲ (68.9")
environment 1000mm
1000mm
516mm
(20.3")
284mm
(11.1")
▲ (39.3")
- Simple robot setup 500mm ▲ (39.3") ▲
■ Six-axis servo drive and 500mm
(19.7")
▲ ▲ ▲
(19.7") ▲ ▲ ▲
1574mm
(62.0") ▲

single board control - Production monitoring

▲
▲
▲
200mm
Mounting plate

▲
▲
470mm (7.8")
maximizes integration and - File utilities
(18.5") 2405mm 470mm

▲
2258mm
(ISO std) (94.6") (18.5")

▲
(88.9")
reliability 6-MI0 DEPTH20
- Menu windows DIA125 EQSP

■ Distributed I/O blocks eliminate

■ Optional SpotWorks cell PC
costly multi-conductor cables 2-I0H7
DEPTH 20
graphical interface supple- DOWEL HOLES S-420i L S-420i F Front
DIA125 EQSP
■ Common SYSTEM Robot ments controller functionality Top Top
Controller interface to PLC, and provides the following
peripheral control, valve packs, features:
robot programs and training

▲
- Cause and recovery fault m

▲
increase customers' ease-of- 1m )
00 .1"
m
2m )
diagnostics R3 (118 85 .3"
use R2 (112

- Three-dimensional path editor

■ Advanced TurboMove motion ▲ ▲ ▲

- PLC connectivity support

▲
+/-180° ▲ +/-180° ▲ 251.5mm
control increases throughput

▲
(9.9")
Operation box ▲ ▲
▲
▲ ▲
▲

313mm
- Weld controller network 600mm
313mm 600mm (12.3")
Software Features (23.6")
251.5mm
(9.9")
(12.3") (23.6")
251.5mm
(9.9")
support 50 180
313mm

▲
(12.3")
■ Teach pendant uses menu-
- On-line manuals 50 60
driven, plain English
370

commands and process- - Direct PC connection on plant

specific, built-in functions network Front
for S-420i F/W/L/S
■ English commands, com- Options 300 485

ments, user-defined jog ■ Internal arm user I/O and

frames and consistent speed Side 600mm 200mm Side 600mm 1752mm
power wiring and air tube (23.6") 1902mm (7.8") (23.6") (68.9") 200mm
(7.8")
S-420i Product Line

▲
▲

▲
paths make setup and pro- (74.8")

▲
▲

▲
▲
▲
■ Tool Frame adjustment Family of S-420i Robots
gramming quick and easy 3109mm 3034mm 770.7mm

▲
▲
(122.4") (119.4") (30.3")
■ Ethernet and RS-232
■ Tool packages allow Model Reach Purpose 240mm
▲
240mm
▲

Communications (9.4") (9.4")

▲ ▲ 603mm 603mm
positional and speed ▲ ▲

▲
(23.7")

▲
(23.7")

▲
2.4m (7ft, 11in) Floor mount 950mm
S-420iF
adjustments during robot ■ Remote TCP programming 950mm (37.4")

▲
▲
180mm 180mm

▲
▲
S-420iF 2.85m (9 ft, 4 in) Floor mount (37.4") (7.1")
(7.1")
▲

cycles and jogging control S-420iL 3.0m (9 ft, 9 in) Long arm
▲
▲
▲

▲
▲
1000mm
700mm
2.25m (7 ft, 5 in) Single point 500mm ▲ (39.3")
■ Remote cabinet mounting with S-420iS (27.5")
■ SpotTool soft panel on teach 500mm
▲ 1000mm
(39.3")
(19.7") ▲ ▲ ▲
S-420iW 2.4m (7 ft, 11 in) Heavy duty
pendant reduces hard wired 7m (23 ft.) or 14m (46 ft.) (19.7") ▲ ▲ ▲

▲
▲
S-420iR 3.11m (10 ft, 2 in) Rack std duty 470mm
buttons, switches and signals cables
▲
▲

(18.5") 2852mm
S-420iR 3.11m (10 ft, 2 in) Rack hvy duty Scale

▲
470mm (112.3")
3001mm
lights ■ CSA approval option (18.5") 1/100"
▲

▲
(118.1")
Isometric Footprint S-420i Dimensions
S-420i F/W S-420i S S-420i R
556mm
Top Top Top

▲
(21.8")

▲
▲
▲

▲
3 700mm ▲ 578mm
(27.5") Axis 1 (22.7") m

.5 m
5m ")

22 m
▲
rotation 40 .6

")
(1 113
m
R2 (94

▲
640mm 8m )

R3
25 .9"
▲

Controller
(25.1") 4-M20 for 440mm R2 (88
FRONT
6 eye bolt (17.3")
5 4-DIA24 for ▲
▲ ▲
mounting ▲ ▲ ▲
▲
▲
▲ ▲
▲
+/-180° +/-180°
▲
▲ +/-180°
▲
32mm

▲
▲
▲
▲ ▲
(1.3")
284mm ▲ ▲
▲

▲
▲
▲
(11.2") 600mm 313mm
Control Features
▲
600mm
251.5mm S-420i F (23.6") 251.5mm (12.3")
1032mm
524mm (23.6") (9.9") 313mm (9.9") 1206mm

▲
▲

▲
▲
(12.3") (40.6")
171mm (20.6") (47.4")
■ Controller provides easy (6.7") S-420i W
334mm
installation, startup, (13.1")

troubleshooting and Mounting plate

2
maintenance (FANUC std)
6-MI0 DEPTH20
DIA90 EQSP
■ Stores programs in IBM
1
DOS format 2-I0H7
DEPTH 20
Side 600mm 1300mm 200mm Side 600mm Side 755mm 950mm

▲
▲

▲
(23.6") (51.2") (7.8") (23.6") 1150m
■ Built-in TCP teach utility DOWEL HOLES
m
200mm (29.7") (37.4")
240mm

▲
▲

▲
DIA90 EQSP (7.8")

▲
▲

▲
▲ (9.4")
allows setup without special 2808mm
▲ ▲ ▲
▲ 600mm 600mm
fixturing 240mm
(110.5") 240mm ▲ 2733mm (23.6") ▲ ▲ (23.6")
■ Other standard software (9.4") ▲ ▲
(9.4")
▲ ▲
(107.6")
▲ ▲
779mm
■ Easy-to-apply user multi- features include: 950mm 180mm 950mm (30.6")

▲
▲
180mm (37.4") (7.1") (37.4")

▲
▲
tasking programming
▲
(7.1") ▲ ▲
1752mm
- Alarm logging and diagnostics

▲
▲
▲
▲
▲
▲ (68.9")
environment 1000mm
1000mm
516mm
(20.3")
284mm
(11.1")
▲ (39.3")
- Simple robot setup 500mm ▲ (39.3") ▲
■ Six-axis servo drive and 500mm
(19.7")
▲ ▲ ▲
(19.7") ▲ ▲ ▲
1574mm
(62.0") ▲

single board control - Production monitoring

▲
▲
▲
200mm
Mounting plate

▲
▲
470mm (7.8")
maximizes integration and - File utilities
(18.5") 2405mm 470mm

▲
2258mm
(ISO std) (94.6") (18.5")

▲
(88.9")
reliability 6-MI0 DEPTH20
- Menu windows DIA125 EQSP

■ Distributed I/O blocks eliminate

■ Optional SpotWorks cell PC
costly multi-conductor cables 2-I0H7
DEPTH 20
graphical interface supple- DOWEL HOLES S-420i L S-420i F Front
DIA125 EQSP
■ Common SYSTEM Robot ments controller functionality Top Top
Controller interface to PLC, and provides the following
peripheral control, valve packs, features:
robot programs and training

▲
- Cause and recovery fault m

▲
increase customers' ease-of- 1m )
00 .1"
m
2m )
diagnostics R3 (118 85 .3"
use R2 (112

- Three-dimensional path editor

■ Advanced TurboMove motion ▲ ▲ ▲

- PLC connectivity support

▲
+/-180° ▲ +/-180° ▲ 251.5mm
control increases throughput

▲
(9.9")
Operation box ▲ ▲
▲
▲ ▲
▲

313mm
- Weld controller network 600mm
313mm 600mm (12.3")
Software Features (23.6")
251.5mm
(9.9")
(12.3") (23.6")
251.5mm
(9.9")
support 50 180
313mm

▲
(12.3")
■ Teach pendant uses menu-
- On-line manuals 50 60
driven, plain English
370

commands and process- - Direct PC connection on plant

specific, built-in functions network Front
for S-420i F/W/L/S
■ English commands, com- Options 300 485

ments, user-defined jog ■ Internal arm user I/O and

frames and consistent speed Side 600mm 200mm Side 600mm 1752mm
power wiring and air tube (23.6") 1902mm (7.8") (23.6") (68.9") 200mm
(7.8")
S-420i Product Line

▲
▲

▲
paths make setup and pro- (74.8")

▲
▲

▲
▲
▲
■ Tool Frame adjustment Family of S-420i Robots
gramming quick and easy 3109mm 3034mm 770.7mm

▲
▲
(122.4") (119.4") (30.3")
■ Ethernet and RS-232
■ Tool packages allow Model Reach Purpose 240mm
▲
240mm
▲

Communications (9.4") (9.4")

▲ ▲ 603mm 603mm
positional and speed ▲ ▲

▲
(23.7")

▲
(23.7")

▲
2.4m (7ft, 11in) Floor mount 950mm
S-420iF
adjustments during robot ■ Remote TCP programming 950mm (37.4")

▲
▲
180mm 180mm

▲
▲
S-420iF 2.85m (9 ft, 4 in) Floor mount (37.4") (7.1")
(7.1")
▲

cycles and jogging control S-420iL 3.0m (9 ft, 9 in) Long arm
▲
▲
▲

▲
▲
1000mm
700mm
2.25m (7 ft, 5 in) Single point 500mm ▲ (39.3")
■ Remote cabinet mounting with S-420iS (27.5")
■ SpotTool soft panel on teach 500mm
▲ 1000mm
(39.3")
(19.7") ▲ ▲ ▲
S-420iW 2.4m (7 ft, 11 in) Heavy duty
pendant reduces hard wired 7m (23 ft.) or 14m (46 ft.) (19.7") ▲ ▲ ▲

▲
▲
S-420iR 3.11m (10 ft, 2 in) Rack std duty 470mm
buttons, switches and signals cables
▲
▲

(18.5") 2852mm
S-420iR 3.11m (10 ft, 2 in) Rack hvy duty Scale

▲
470mm (112.3")
3001mm
lights ■ CSA approval option (18.5") 1/100"
▲

▲
(118.1")
 Robotics
Compact arm option for close
and floor space requirements
operator panel reduces aisle
Wrist axis torque and inertia
allows rated motion speed

Unique hollow RV speed

brackets can be used for

Absolute serial encoder

Compact remote mount

reducers simplify cable

Waist mounted forklift

transformer mounting
with large guns/tools

peripheral and weld

spacing of units
positioning

routing
■

■
Extension arm, heavy payload

Direct drive on all axes results

weld, rack mount, long arm or

smooth motion at all speeds

reduction ratio and balancer

Flexible and expandable I/O

provides precise positioning

system internal to controller

Simple modular design with

Sealed bearings and drives

RV speed reducers provide
modules allow simple robot
conversion to single point

Mechanical Features
Mechanical construction
Distributed I/O blocks to

and high motion speed

in higher reliability and

wrist, wedge pedestal,

provide protection and

Flexibility Features

reduced maintenance

improve reliability
heavy duty types

few components
and a long life
reduce wiring
■

■
cation programming packages
robots is engineered for maximum

ported by our extensive application

™

automotive body shop and is sup-

conversion from one model to

Low mass arm design allows

Automotive spot welding and

cabinet reduces downtime to

Minimal mechanical/electrical
performance and reliability in the

Easy-to-learn and use appli-

internal to arm for increased
and robot controller reduces
Modular robot design allows
cessing of large fabrications
unique integrated controller, six-
axis modular construction and a

S-420i, the Solution for:

wiring and installation costs

High motion speeds reduce

design for high-speed and heavy
network. The S-420i features a
FANUC Robotics’ S-420i line of

Combined mechanical unit

“Quick change” electronics

Work envelope allows pro-

User power/signal/air lines

Proven arm design in over

S-420i

technology and service/parts

floor space, point-to-point

flexible, electric servo-driven

parts increase reliability

General industrial spot

high-speed positioning
less than 15 minutes
Basic Description

time between welds

360° Axis 1 rotation

13,000 S-420 robot

Material handling
body assembly
payload processes.

installations
reliability
another
welding

Benefits
■

■
S-420i Specifications
Items S-420i F S-420i F S-420i F S-420i L S-420i S S-420i W S-420i W S-420i W
Maximum reach 2.40m 2.85m 3.0m 3.00m 2.25m 2.40m 2.85m 2.40m
Load capacity 120kg (265 lbs) 120kg (265 lbs) 120kg (265 lbs) 75kg (165 lbs) 80kg (176 lbs) 155kg (342 lbs) 155kg (342 lbs) 175kg (386 lbs)
Axis 1 Range 360˚ 360˚ 360˚ 360˚ 360˚ 360˚ 360˚ 360˚
Speed 100˚/sec 90˚/sec 90˚/sec 100˚/sec 70˚/sec 90˚/sec 90˚/sec 90˚/sec
Axis 2 Range 142° 142° 142° 142° 142° 142° 142° 142°
Speed 110°/sec 100°/sec 110°/sec 110°/sec 110°/sec 100°/sec 100°/sec 100°/sec
Axis 3 Range 135˚ 135˚ 135˚ 135˚ 135˚ 135˚ 135˚ 135˚
Speed 100˚/sec 90˚/sec 75˚/sec 100˚/sec 100˚/sec 75˚/sec 75˚/sec 75˚/sec
Axis 4 Range 600° 600° 600° 600° 480° 600° 600° 600°
Speed 210˚/sec 210˚/sec 210˚/sec 210˚/sec 210˚/sec 140˚/sec 140˚/sec 140˚/sec
Axis 5 Range 260° 260° 260° 260° 260° 260° 260° 260°
Speed 150°/sec 150°/sec 150°/sec 150°/sec 150°/sec 110°/sec 110°/sec 110°/sec
Axis 6 Range 720° 720° 720° 720° 720° 720° 720° 720°
Speed 210°/sec 210°/sec 210°/sec 210°/sec 210°/sec 140°/sec 140°/sec 140°/sec
Moments Axis 4 60kgf • m 60kgf • m 60kgf • m 53kgf • m 54kgf • m 86kgf • m 86kgf • m 90kgf • m
Axis 5 60kgf • m 60kgf • m 60kgf • m 53kgf • m 54kgf • m 86kgf • m 86kgf • m 90kgf • m
Axis 6 30kgf • m 30kgf • m 30kgf • m 27kgf • m 28kgf • m 50kgf • m 50kgf • m 52kgf • m
Load Axis 4 306kgf • cm • sec2 306kgf • cm • sec2 306kgf • cm • sec2 387kgf • cm • sec2 376kgf • cm • sec2 486kgf • cm • sec2 486kgf • cm • sec2 472kgf • cm • sec2
Inertia Axis 5 306kgf • cm • sec2 306kgf • cm • sec2 306kgf • cm • sec2 387kgf • cm • sec2 376kgf • cm • sec2 486kgf • cm • sec2 486kgf • cm • sec2 472kgf • cm • sec2
Axis 6 77kgf • cm • sec2 77kgf • cm • sec2 77kgf • cm • sec2 104kgf • cm • sec2 100kgf • cm • sec2 164kgf • cm • sec2 164kgf • cm • sec2 158kgf • cm • sec2
Repeatability ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016")
Mounting method Upright Upright Upright Upright Upright Upright Upright Upright
Mechanical brakes All axes All axes All axes All axes All axes All axes All axes All axes
Weight 1500 kg (3300 lbs) 1600 kg (3520 lbs) 1600 kg (3520 lbs) 1600 kg (3520 lbs) 1500 kg (3300 lbs) 1500 kg (3300 lbs) 1600 kg (3520 lbs) 1500 kg (3300 lbs)
Items S-420i R S-420i R S-420i R FANUC Robotics offers complete
S-420i application dressout featuring:
Maximum reach 3.11m 3.11m 3.11m
Load capacity 100kg (220 lbs) 120kg (265 lbs) 155kg (342 lbs)
■ Maintainability
Axis 1 Range 360˚ 360˚ 360˚ ■ Reliability
Speed 100˚/sec 90˚/sec 90˚/sec ■ Unique configurations
Axis 2 Range 123° 123° 123°
Speed 100°/sec 90°/sec 100°/sec
Axis 3 Range 106˚ 106˚ 106˚
Speed 100˚/sec 90˚/sec 75˚/sec
Axis 4 Range 600° 600° 600°
Speed 210˚/sec 210˚/sec 140˚/sec Robotics
Axis 5 Range 260° 260° 260°
FANUC Robotics North America Charlotte, NC Toronto, Canada
Speed 150°/sec 150°/sec 110°/sec 3900 W. Hamlin Road Phone (704) 596-5121 Phone (905) 812-2300
Axis 6 Range 720° 720° 720° Rochester Hills, MI 48309-3253
Speed 210°/sec 210°/sec 140°/sec Phone (248) 377-7000 Chicago, IL Montréal, Québec
Fax (248) 377-7366 Phone (630) 876-5600 Phone (450) 492-9001
Moments Axis 4 57kgf • m 60kgf • m 86kgf • m
Axis 5 57kgf • m 60kgf • m 86kgf • m Literature Request Cincinnati, OH Mexico City, Mexico
Axis 6 29kgf • m 30kgf • m 50kgf • m 1-800-47-ROBOT Phone (513) 754-2400 Phone (52-5) 611-5998
Load Axis 4 337kgf • cm • sec2 306kgf • cm • sec2 486kgf • cm • sec2 Los Angeles, CA Aguascalientes, Mexico
Inertia Axis 5 337kgf • cm • sec2 306kgf • cm • sec2 486kgf • cm • sec2 Phone (949) 595-2700 Phone (52-4) 973-0453
Axis 6 86kgf • cm • sec2 77kgf • cm • sec2 164kgf • cm • sec2
Toledo, OH Sao Paulo, Brazil
Repeatability ±0.4mm (±0.016") ±0.4mm (±0.016") ±0.4mm (±0.016") Phone (419) 866-0788 Phone (55)(11) 3955-0599
Mounting method Rack Rack Rack
Mechanical brakes All axes All axes All axes web page: http:/ /www.fanucrobotics.com
Weight 1700 kg (3740 lbs) 1700 kg (3740 lbs) 1700 kg (3740 lbs) ©1998 FANUC Robotics North America, Inc. All rights reserved. OM 05-98 FANUC ROBOTICS LITHO IN U.S.A.