S-420i

Basic Description

FANUC Robotics S-420i line of robots is engineered for maximum performance and reliability in the automotive body shop and is supported by our extensive application technology and service/parts network. The S-420i features a unique integrated controller, sixaxis modular construction and a flexible, electric servo-driven design for high-speed and heavy payload processes.

Robotics

S-420i, the Solution for:

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Automotive spot welding and body assembly General industrial spot welding Material handling Work envelope allows processing of large fabrications Modular robot design allows conversion from one model to another Combined mechanical unit and robot controller reduces floor space, point-to-point wiring and installation costs
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Benefits
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Flexibility Features
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Extension arm, heavy payload wrist, wedge pedestal, reduction ratio and balancer modules allow simple robot conversion to single point weld, rack mount, long arm or heavy duty types Flexible and expandable I/O system internal to controller Distributed I/O blocks to reduce wiring Mechanical construction provides precise positioning and high motion speed
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Minimal mechanical/electrical parts increase reliability

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High motion speeds reduce time between welds 360 Axis 1 rotation User power/signal/air lines internal to arm for increased reliability

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Mechanical Features
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Absolute serial encoder positioning Wrist axis torque and inertia allows rated motion speed with large guns/tools Unique hollow RV speed reducers simplify cable routing Compact remote mount operator panel reduces aisle and floor space requirements Waist mounted forklift brackets can be used for peripheral and weld transformer mounting Compact arm option for close spacing of units

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Easy-to-learn and use application programming packages Quick change electronics cabinet reduces downtime to less than 15 minutes Low mass arm design allows high-speed positioning Proven arm design in over 13,000 S-420 robot installations
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Direct drive on all axes results in higher reliability and reduced maintenance
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RV speed reducers provide smooth motion at all speeds and a long life
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Simple modular design with few components Sealed bearings and drives provide protection and improve reliability
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Isometric

Footprint
556mm (21.8")
v v

v v v v

700mm (27.5")

Axis 1 rotation 4-M20 for eye bolt 4-DIA24 for mounting

v v

578mm (22.7")

Controller

Controller provides easy installation, startup, troubleshooting and maintenance Stores programs in IBM DOS format Built-in TCP teach utility allows setup without special fixturing Easy-to-apply user multitasking programming environment Six-axis servo drive and single board control maximizes integration and reliability Distributed I/O blocks eliminate costly multiconductor cables Common SYSTEM Robot Controller interface to PLC, peripheral control, valve packs, robot programs and training increase customers' ease-of-use Advanced TurboMove motion control increases throughput
1

171mm (6.7")

Mounting plate (FANUC std)

50 50 370
6-MI0 DEPTH20 180 DIA90 EQSP

Control Features

284mm (11.2")

32mm (1.3")

524mm (20.6")

60
2-I0H7 DEPTH 20 DOWEL HOLES DIA90 EQSP

Other standard software features include: Alarm logging and diagnostics Simple robot setup Production monitoring File utilities Menu windows Optional SpotWorks cell PC graphical interface supplements controller functionality and provides the following features: Cause and recovery fault diagnostics Three-dimensional path editor PLC connectivity support Weld controller network support On-line manuals Direct PC connection on plant network Internal arm user I/O and power wiring and air tube Tool Frame adjustment Ethernet and RS-232 Communications Remote TCP programming and jogging control Remote cabinet mounting with 7m (23 ft.) or 14m (46 ft.) cables CSA approval option
370

300

Mounting plate (ISO std)

50 50 370
6-MI0 DEPTH20 180 DIA125 EQSP

60
2-I0H7 DEPTH 20 DOWEL HOLES DIA125 EQSP

300

Operation box
50 50 60 180

Software Features
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Teach pendant uses menudriven, plain English commands and processspecific, built-in functions English commands, comments, user-defined jog frames and consistent speed paths make setup and programming quick and easy Tool packages allow positional and speed adjustments during robot cycles SpotTool soft panel on teach pendant reduces hard wired buttons, switches and signals lights

Options
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300

485

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S-420i Product Line Family of S-420i Robots

Model
S-420iF S-420iF S-420iL S-420iS S-420iW S-420iR S-420iR

Reach
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)

Purpose
Floor mount Floor mount Long arm Single point Heavy duty Rack std duty Rack hvy duty

640mm (25.1")

440mm (17.3")

FRONT

v v

48

48

S-420i Dimensions S-420i F/W

Top
m 5m ") 40 .6 R2 (94

S-420i S
Top

S-420i R
Top
v

m 8m ) 25 .9" R2 (88

R3 (1 113 22 m .5 m ")

+/-180

600mm (23.6")

251.5mm S-420iF 313mm (9.9") (12.3") S-420iW 334mm (13.1")

251.5mm (9.9")

1206mm (47.4")

Side

600mm (23.6")

1300mm (51.2")

200mm (7.8")
v

Side

600mm (23.6")
v v v

Side
1150mm (45.2") 200mm (7.8")
v
v v

755mm (29.7")
v v v

v v v

v v

v v v

1000mm (39.3")
v

470mm (18.5")

2405mm (94.6")

470mm (18.5")

2258mm (88.9")

S-420i L
Top

S-420i F
Top

Front

m 1m ) 00 .1" R3 (118

m 2m ) 85 .3" R2 (112

+/-180
v

600mm (23.6")

251.5mm (9.9")

313mm (12.3")

600mm (23.6")

Front for S-420i F/W/L/S Side

600mm (23.6")
v v v

1902mm (74.8")

200mm (7.8")
v v v 3109mm (122.4")

Side

600mm (23.6")
v v v

1752mm (68.9")
v v

200mm (7.8")
v

3034mm (119.4") 240mm (9.4") v

v

240mm (9.4") 180mm (7.1")

v v v

v v

950mm (37.4")
v v

180mm (7.1")

470mm (18.5")

3001mm (118.1")

500mm (19.7")

470mm (18.5")
v

2852mm (112.3")

1000mm (39.3")

500mm (19.7")

1000mm (39.3")

251.5mm (9.9")

313mm (12.3") 313mm (12.3")

v

v v

+/-180

950mm (37.4")
v

603mm (23.7")

500mm (19.7")

1574mm (62.0")

200mm (7.8")

251.5mm (9.9")

770.7mm (30.3")

603mm (23.7")

700mm (27.5")

Scale 1/100"

500mm v (19.7")
v

1000mm (39.3")

180mm (7.1")

950mm (37.4")

180mm (7.1")

950mm (37.4")

779mm (30.6")
v

516mm (20.3")

284mm (11.1")

1752mm (68.9")

240mm (9.4")

2808mm (110.5")

240mm (9.4")

2733mm (107.6")

600mm (23.6")

600mm (23.6")

313mm (12.3")

1032mm (40.6")

950mm (37.4")
v

240mm (9.4")
v

+/-180

v v
v v v

v
v v

v
v v

+/-180

600mm (23.6")

v
v
v
v v v

v v

S-420i Specifications
Items
Maximum reach Load capacity Axis 1 Range Speed Axis 2 Range Speed Axis 3 Range Speed Axis 4 Range Speed Axis 5 Range Speed Axis 6 Range Speed Moments Axis 4 Axis 5 Axis 6 Load Axis 4 Inertia Axis 5 Axis 6 Repeatability Mounting method Mechanical brakes Weight

S-420i F
2.40m 120kg (265 lbs) 360 100/sec 142 110/sec 135 100/sec 600 210/sec 260 150/sec 720 210/sec 60kgf m 60kgf m 30kgf m 306kgf cm sec2 306kgf cm sec2 77kgf cm sec2 0.4mm (0.016") Upright All axes 1500 kg (3300 lbs)

S-420i F
2.85m 120kg (265 lbs) 360 90/sec 142 100/sec 135 90/sec 600 210/sec 260 150/sec 720 210/sec 60kgf m 60kgf m 30kgf m 306kgf cm sec2 306kgf cm sec2 77kgf cm sec2 0.4mm (0.016") Upright All axes 1600 kg (3520 lbs)

S-420i F
3.0m 120kg (265 lbs) 360 90/sec 142 110/sec 135 75/sec 600 210/sec 260 150/sec 720 210/sec 60kgf m 60kgf m 30kgf m 306kgf cm sec2 306kgf cm sec2 77kgf cm sec2 0.4mm (0.016") Upright All axes 1600 kg (3520 lbs)

S-420i L
3.00m 75kg (165 lbs) 360 100/sec 142 110/sec 135 100/sec 600 210/sec 260 150/sec 720 210/sec 53kgf m 53kgf m 27kgf m 387kgf cm sec2 387kgf cm sec2 104kgf cm sec2 0.4mm (0.016") Upright All axes 1600 kg (3520 lbs)

S-420i S
2.25m 80kg (176 lbs) 360 70/sec 142 110/sec 135 100/sec 480 210/sec 260 150/sec 720 210/sec 54kgf m 54kgf m 28kgf m 376kgf cm sec2 376kgf cm sec2 100kgf cm sec2 0.4mm (0.016") Upright All axes 1500 kg (3300 lbs)

S-420i W
2.40m 155kg (342 lbs) 360 90/sec 142 100/sec 135 75/sec 600 140/sec 260 110/sec 720 140/sec 86kgf m 86kgf m 50kgf m 486kgf cm sec2 486kgf cm sec2 164kgf cm sec2 0.4mm (0.016") Upright All axes 1500 kg (3300 lbs)

S-420i W

Robotics

S-420i W
2.40m 175kg (386 lbs) 360 90/sec 142 100/sec 135 75/sec 600 140/sec 260 110/sec 720 140/sec 90kgf m 90kgf m 52kgf m 472kgf cm sec2 472kgf cm sec2 158kgf cm sec2 0.4mm (0.016") Upright All axes 1500 kg (3300 lbs)

2.85m 155kg (342 lbs) 360 90/sec 142 100/sec 135 75/sec 600 140/sec 260 110/sec 720 140/sec 86kgf m 86kgf m 50kgf m 486kgf cm sec2 486kgf cm sec2 164kgf cm sec2 0.4mm (0.016") Upright All axes 1600 kg (3520 lbs)

Maximum reach Load capacity Axis 1 Range Speed Axis 2 Range Speed Axis 3 Range Speed Axis 4 Range Speed Axis 5 Range Speed Axis 6 Range Speed Moments Axis 4 Axis 5 Axis 6 Load Axis 4 Inertia Axis 5 Axis 6 Repeatability Mounting method Mechanical brakes Weight

3.11m 100kg (220 lbs) 360 100/sec 123 100/sec 106 100/sec 600 210/sec 260 150/sec 720 210/sec 57kgf m 57kgf m 29kgf m 337kgf cm sec2 337kgf cm sec2 86kgf cm sec2 0.4mm (0.016") Rack All axes 1700 kg (3740 lbs)

3.11m 120kg (265 lbs) 360 90/sec 123 90/sec 106 90/sec 600 210/sec 260 150/sec 720 210/sec 60kgf m 60kgf m 30kgf m 306kgf cm sec2 306kgf cm sec2 77kgf cm sec2 0.4mm (0.016") Rack All axes 1700 kg (3740 lbs)

3.11m 155kg (342 lbs) 360 90/sec 123 100/sec 106 75/sec 600 140/sec 260 110/sec 720 140/sec 86kgf m 86kgf m 50kgf m 486kgf cm sec2 486kgf cm sec2 164kgf cm sec2 0.4mm (0.016") Rack All axes 1700 kg (3740 lbs)

FANUC Robotics North America 3900 W. Hamlin Road Rochester Hills, MI 48309-3253 Phone (248) 377-7000 Fax (248) 276-4133 Literature Request 1-800-47-ROBOT

Charlotte, NC Phone (704) 596-5121 Chicago, IL Phone (847) 898-6000 Cincinnati, OH Phone (513) 754-2400 Los Angeles, CA Phone (949) 595-2700 Toledo, OH Phone (419) 866-0788

Toronto, Canada Phone (905) 812-2300 Montral, Qubec Phone (450) 492-9001 Mexico City, Mexico Phone 52 (5) 611-5998 Aguascalientes, Mexico Phone 52 (49) 10-8000 Sao Paulo, Brazil Phone (55)(11) 3955-0599

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

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

1994 FANUC Robotics

Items

S-420i R

S-420i R

S-420i R

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

FANUC Robotics North