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F-100iA Fixturing System
Basic Description
F-100iA is a family of programmable positioners that orient locators and clamps to establish part geometry in a flexible assembly fixture.
The F-100iA positioner is compact, rugged, accurate and repeatable.
Benefits
n Flexible – Servo controlled unit orients datum locators to different positions, enabling multiple models to be built in a single fixture. Improves utilization of equipment and plant capacity.
n Reduced Floor Space – Multiple model specific fixtures are eliminated
n Reduced Tooling Complexity – Reliable units and simple tooling means less tool maintenance and down time
n Cost Effective - Since it eliminates style specific stations along with their associated tools, materials and equipment, the costs for engineering, capital equipment, and labor can be reduced
n Easy to Program – Unit positions can be established using math data generated from off-line simulation
n Easy to Adjust Positions – Software shimming eliminates need for mechanical shims. Position can be adjusted in seconds via the teach pendant
n Convertible – Because there is less material, equipment and tools to build / install /startup, and the majority of tooling debug has already been completed, a model changeover can be accomplished in less time and does not require significant added investment.
Intel l igent Robot Solutions
FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada3900 W. Hamlin Road (704) 596-5121 (905) 812-2300Rochester Hills, MI 48309-3253 Chicago, IL Montréal, Canada (847) 898-6000 (450) 492-9001
For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico1-800-iQ-ROBOT (513) 754-2400 52 (449) 922-8000
Los Angeles, CA Sao Paulo, Brazil (949) 595-2700 (55) (11) 3619-0599
[email protected] Toledo, OHfanucrobotics.com (419) 866-0788©2008 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-9/08
n Standardized Solution – Less retraining required
n Ergonomic – Can adjust load height to maximize operator efficiency
FeaturesMechanical
n Three, four and five degrees of freedom
n Robust, low maintenance design
n Electric, AC servo motors
n Precision gear drive
n Brakes on each axis
n Components protected from weld flash, grease, chemicals and water
n Modular base and wrist for quick and easy field repair
Control
n Latest generation R-30iA MultiARM Controller
n Modular Servo Amplifier for each unit
n iPendant™ – A color, internet ready teach pendant for even easier programming and maintenance uses
Options
n Eight models available to accommodate various process conditions
n Portable Brake Release Box
n Various connection cable lengths for flexible cabinet placement and optional track rated cables
F-100iA Specifications
J1
J2
J3
(+)(-)
(+)
(+)
(-)
(-)
F-100iA/103 F-100iA/103L F-100iA/105 F-100iA/105L
J1
J2
J3
J5
J4
(-)
(+)
(+)
(+)
(+)
(+)
(-)
(-)
(-)
(-)
F-100iA/104 F-100iA/104L
J1
J2
J3
J4
(+)
(-)
(-)
(+)
(+)
(+)
(-)
(-)
F-100iA/105S F-100iA/105LS
J3
J1
J2
J4
J5
(+)
(+)
(+)
(+)
(+)
(-)
(-)
(-)
(-)
(-)
Items /103 /103L /104 /104L /105 /105L /105S /105LSType Articulated type
Controlled Axes 3axis (J1, J2, J3) 4 axis (J1, J2, J3, J4) 5 axis (J1, J2, J3, J4, J5)
Mounting Method(1) Floor, angle (up to 15 degrees), wall
Motion Range J1 +225/-25mm +475/-25mm +225/-25mm +475/-25mm +225/-25mm +475/-25mm +225/-25mm +475/-25mm
J2+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg(+/-3.32rad)
J3 +245/-25mm +245/-25mm +245/-25mm +245/-25mm +245/-25mm +245/-25mm +245/-25mm +245/-25mm
J4 N/A N/A+/-360deg
(+/-6.28rad)+/-360deg
(+/-6.28rad)+/-185deg
(+/-3.23rad)+/-185deg
(+/-3.23rad)+/-360deg
(+/-6.28rad)+/-360deg
(+/-6.28rad)
J5 N/A N/A N/A N/A+/-90deg
(+/-1.57rad)+/-90deg
(+/-1.57rad)+/-360deg
(+/-6.28rad)+/-360deg
(+/-6.28rad)
Max Motion Speed J1 200mm/s 200mm/s 200mm/s 200mm/s 200mm/s 200mm/s 200mm/s 200mm/s
J255deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)
J3 85mm/s 85mm/s 85mm/s 85mm/s 85mm/s 85mm/s 85mm/s 85mm/s
J4 N/A N/A70deg/s
(1.22 rad/s)70deg/s
(1.22 rad/s)70deg/s
(1.22 rad/s)70deg/s
(1.22 rad/s)70deg/s
(1.22 rad/s)70deg/s
(1.22 rad/s)
J5 N/A N/A N/A N/A25deg/s
(0.436 rad/s)49deg/s
(0.855 rad/s)
Load Capacity at Wrist
Dynamic -136kgf (1333N) at center of faceplate -100kgf (981N) at 250mm from center of faceplate
-136kgf (1333N) at center of faceplate -75kgf (735N) at 250mm from J4 axis
-136kgf (1333N) at center of faceplate -52kgf (510N) at 250mm from J4 axis
Static -158kgf (1548N) at center of faceplate -100kgf (981N) at 250mm from center of faceplate
-158kgf (1548N) at center of faceplate -75kgf (735N) at 250mm from J4 axis
-158kgf (1548N) at center of faceplate -52kgf (510N) at 250mm from J4 axis
Impulse -180kgf (1764N) at center of faceplate -100kgf (981N) at 250mm from center of faceplate
- 180kgf (1764N) at center of the faceplate - 75kgf (735N) at 250mm from center of the point of intersection of J4 and J5
Accuracy Mean Error: < 0.25mm at 180mm from center of faceplate
Repeatability Mean Error: < 0.07mm at 180mm from center of faceplate
IP rate IP54 IP54 IP54 IP54 IP54 IP54 IP54 IP54
Drive method Electric servo drive by AC servo motor
Mechanical Weight (kg) 102 kg 121 kg 111 kg 130 kg 120 kg 139 kg 121 kg 140 kg
Installation Environment
Temperature (Co) 0 - 45
Ambient HumidityNormally: 75% RH or less (no dew, nor frost allowed).
Short Time (within one month): Max. 95% RH
Vibration 0.5G (4.9m/s2) or less
Notes: (1) Capacity derated for wall mount
M10 x 10 DP(4) HOLESNOT INSULATED
R69
82.0 CENT.
114.0CENT.
82.0CENT.
(2) HOLESINSULATED
DIA 10 +0.034+0.019 x 10 DP
(TYP.)
114.0CENT.
82.00±0.02DWL.
105/105L Wrist
114.0 SQ.
70.0
M10 x 10 DP(4) HOLESNOT INSULATED
82.0 CENT.
82.0CENT.
(2) HOLESINSULATED
DIA 10 +0.034+0.019 x 10 DP
82.00±0.02DWL.
CENT.
POINT "A" (CENTER OF FACEPLATE)
730
679
949
704
770
520 254
584 (BASE)
F-100iA ENVELOPE AT POINT "A"
F-100iA/104
F-100iA ENVELOPE AT POINT "A"
POINT "A" (CENTER OF FACEPLATE)
914 (BASE)
1060
949
679704
1020
520 254
F-100iA/104L
F-100iA/105LS
F-100iA ENVELOPE AT POINT "A"
680
1180
720
990
745
914 (BASE)
1060
254
POINT "A" (CENTER OF FACEPLATE)POINT "A" (CENTER OF FACEPLATE)
730
584 (BASE)
720
990
745
930
680 254
F-100iA ENVELOPE AT POINT "A"
F-100iA/105S
POINT "A" (CENTER OF FACEPLATE)
660
910
815
1060
720
584 (BASE)
730
254
F-100iA ENVELOPE AT POINT "A"
F-100iA/105
F-100iA ENVELOPE AT POINT "A"
914 (BASE)
1060
1060
720
POINT "A" (CENTER OF FACEPLATE)
1160
660 254
815
F-100iA/105L
M10 x 10 DP(4) HOLESNOT INSULATED
R69
82.0 Cent.
114.0 Cent.
82.0
M10 x 10 DP(4) HOLESNOT INSULATED
(2) HOLESINSULATED
60.0
41.0
DIA 10 +0.034+0.019 x 10 DP
(2) HOLESINSULATED
DIA 10 +0.034+0.019 x 10 DP
±0.02
DWL.(TYP.)
114.0 Cent.
40.00±0.08DWL.
80.0±0.6 (REF.)
58
Cent.
82.00
105S/105LS Wrist
MOUNTING HOLES OPTION AFootprint - Base Model
MOUNTING FACE 584.0 BASEREF.
544.0
13.0
20.0
22TYP. 20 CENT.TYP.
241.0BASEREF.
14.0 DIA.(4) HOLES
267.0
MOUNTING HOLES OPTION BFootprint - Base Model
MOUNTING FACE 22.0 TYP.
610.0
13.0
14.0 DIA.(4) HOLES
20.0
20 CENT.TYP.
201.0
584.0 BASEREF.
241.0BASEREF.
MOUNTING HOLES OPTION AFootprint - Long Axis 1 Model
MOUNTING FACE
14.0 DIA.(6) HOLES
437.0
267.0
241.0BASEREF.
20 CENT.TYP.
22 TYP.
20.0
13.0
874.0
914.0 BASEREF.
MOUNTING HOLES OPTION BFootprint - Long Axis 1 Model
MOUNTING FACE
14.0 DIA.(6) HOLES
13.0
267.0
470.0
20 CENT.TYP.
201.0
20.0
241.0BASEREF.
13.0
940.0
914.0 BASEREF.
22.0 TYP.
Note: Dimensions are shown in millimeters. Detailed CAD data are available upon request.
F-100iA/103
F-100iA ENVELOPE AT POINT "A"
POINT "A" (CENTER OF FACEPLATE)
730
679
949
704
770
520 254
584 (BASE)
F-100iA/103L
F-100iA ENVELOPE AT POINT "A"
POINT "A" (CENTER OF FACEPLATE)
914 (BASE)
1060
949
679704
1020
520 254
103/103L Wrist
M10 x 10 DP(4) HOLESNOT INSULATED
R69
82.0 CENT.
114.0CENT.
82.0CENT.
(2) HOLESINSULATED
DIA 10 +0.034+0.019 x 10 DP
(TYP.)
114.0CENT.
82.00±0.02DWL.
104/104L Wrist
M10 x 10 DP(4) HOLESNOT INSULATED
R69
82.0 CENT.
114.0CENT.
82.0CENT.
(2) HOLESINSULATED
DIA 10 +0.034+0.019 x 10 DP
(TYP.)
114.0CENT.
82.00±0.02DWL.
105/105L Wrist
114.0 SQ.
70.0
M10 x 10 DP(4) HOLESNOT INSULATED
82.0 CENT.
82.0CENT.
(2) HOLESINSULATED
DIA 10 +0.034+0.019 x 10 DP
82.00±0.02DWL.
CENT.
POINT "A" (CENTER OF FACEPLATE)
730
679
949
704
770
520 254
584 (BASE)
F-100iA ENVELOPE AT POINT "A"
F-100iA/104
F-100iA ENVELOPE AT POINT "A"
POINT "A" (CENTER OF FACEPLATE)
914 (BASE)
1060
949
679704
1020
520 254
F-100iA/104L
F-100iA/105LS
F-100iA ENVELOPE AT POINT "A"
680
1180
720
990
745
914 (BASE)
1060
254
POINT "A" (CENTER OF FACEPLATE)POINT "A" (CENTER OF FACEPLATE)
730
584 (BASE)
720
990
745
930
680 254
F-100iA ENVELOPE AT POINT "A"
F-100iA/105S
POINT "A" (CENTER OF FACEPLATE)
660
910
815
1060
720
584 (BASE)
730
254
F-100iA ENVELOPE AT POINT "A"
F-100iA/105
F-100iA ENVELOPE AT POINT "A"
914 (BASE)
1060
1060
720
POINT "A" (CENTER OF FACEPLATE)
1160
660 254
815
F-100iA/105L
M10 x 10 DP(4) HOLESNOT INSULATED
R69
82.0 Cent.
114.0 Cent.
82.0
M10 x 10 DP(4) HOLESNOT INSULATED
(2) HOLESINSULATED
60.0
41.0
DIA 10 +0.034+0.019 x 10 DP
(2) HOLESINSULATED
DIA 10 +0.034+0.019 x 10 DP
±0.02
DWL.(TYP.)
114.0 Cent.
40.00±0.08DWL.
80.0±0.6 (REF.)
58
Cent.
82.00
105S/105LS Wrist
MOUNTING HOLES OPTION AFootprint - Base Model
MOUNTING FACE 584.0 BASEREF.
544.0
13.0
20.0
22TYP. 20 CENT.TYP.
241.0BASEREF.
14.0 DIA.(4) HOLES
267.0
MOUNTING HOLES OPTION BFootprint - Base Model
MOUNTING FACE 22.0 TYP.
610.0
13.0
14.0 DIA.(4) HOLES
20.0
20 CENT.TYP.
201.0
584.0 BASEREF.
241.0BASEREF.
MOUNTING HOLES OPTION AFootprint - Long Axis 1 Model
MOUNTING FACE
14.0 DIA.(6) HOLES
437.0
267.0
241.0BASEREF.
20 CENT.TYP.
22 TYP.
20.0
13.0
874.0
914.0 BASEREF.
MOUNTING HOLES OPTION BFootprint - Long Axis 1 Model
MOUNTING FACE
14.0 DIA.(6) HOLES
13.0
267.0
470.0
20 CENT.TYP.
201.0
20.0
241.0BASEREF.
13.0
940.0
914.0 BASEREF.
22.0 TYP.
Note: Dimensions are shown in millimeters. Detailed CAD data are available upon request.
F-100iA/103
F-100iA ENVELOPE AT POINT "A"
POINT "A" (CENTER OF FACEPLATE)
730
679
949
704
770
520 254
584 (BASE)
F-100iA/103L
F-100iA ENVELOPE AT POINT "A"
POINT "A" (CENTER OF FACEPLATE)
914 (BASE)
1060
949
679704
1020
520 254
103/103L Wrist
M10 x 10 DP(4) HOLESNOT INSULATED
R69
82.0 CENT.
114.0CENT.
82.0CENT.
(2) HOLESINSULATED
DIA 10 +0.034+0.019 x 10 DP
(TYP.)
114.0CENT.
82.00±0.02DWL.
104/104L Wrist
F-100iA Fixturing System
Basic Description
F-100iA is a family of programmable positioners that orient locators and clamps to establish part geometry in a flexible assembly fixture.
The F-100iA positioner is compact, rugged, accurate and repeatable.
Benefits
n Flexible – Servo controlled unit orients datum locators to different positions, enabling multiple models to be built in a single fixture. Improves utilization of equipment and plant capacity.
n Reduced Floor Space – Multiple model specific fixtures are eliminated
n Reduced Tooling Complexity – Reliable units and simple tooling means less tool maintenance and down time
n Cost Effective - Since it eliminates style specific stations along with their associated tools, materials and equipment, the costs for engineering, capital equipment, and labor can be reduced
n Easy to Program – Unit positions can be established using math data generated from off-line simulation
n Easy to Adjust Positions – Software shimming eliminates need for mechanical shims. Position can be adjusted in seconds via the teach pendant
n Convertible – Because there is less material, equipment and tools to build / install /startup, and the majority of tooling debug has already been completed, a model changeover can be accomplished in less time and does not require significant added investment.
Intel l igent Robot Solutions
FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada3900 W. Hamlin Road (704) 596-5121 (905) 812-2300Rochester Hills, MI 48309-3253 Chicago, IL Montréal, Canada (847) 898-6000 (450) 492-9001
For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico1-800-iQ-ROBOT (513) 754-2400 52 (449) 922-8000
Los Angeles, CA Sao Paulo, Brazil (949) 595-2700 (55) (11) 3619-0599
[email protected] Toledo, OHfanucrobotics.com (419) 866-0788©2008 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-9/08
n Standardized Solution – Less retraining required
n Ergonomic – Can adjust load height to maximize operator efficiency
FeaturesMechanical
n Three, four and five degrees of freedom
n Robust, low maintenance design
n Electric, AC servo motors
n Precision gear drive
n Brakes on each axis
n Components protected from weld flash, grease, chemicals and water
n Modular base and wrist for quick and easy field repair
Control
n Latest generation R-30iA MultiARM Controller
n Modular Servo Amplifier for each unit
n iPendant™ – A color, internet ready teach pendant for even easier programming and maintenance uses
Options
n Eight models available to accommodate various process conditions
n Portable Brake Release Box
n Various connection cable lengths for flexible cabinet placement and optional track rated cables
F-100iA Specifications
J1
J2
J3
(+)(-)
(+)
(+)
(-)
(-)
F-100iA/103 F-100iA/103L F-100iA/105 F-100iA/105L
J1
J2
J3
J5
J4
(-)
(+)
(+)
(+)
(+)
(+)
(-)
(-)
(-)
(-)
F-100iA/104 F-100iA/104L
J1
J2
J3
J4
(+)
(-)
(-)
(+)
(+)
(+)
(-)
(-)
F-100iA/105S F-100iA/105LS
J3
J1
J2
J4
J5
(+)
(+)
(+)
(+)
(+)
(-)
(-)
(-)
(-)
(-)
Items /103 /103L /104 /104L /105 /105L /105S /105LSType Articulated type
Controlled Axes 3axis (J1, J2, J3) 4 axis (J1, J2, J3, J4) 5 axis (J1, J2, J3, J4, J5)
Mounting Method(1) Floor, angle (up to 15 degrees), wall
Motion Range J1 +225/-25mm +475/-25mm +225/-25mm +475/-25mm +225/-25mm +475/-25mm +225/-25mm +475/-25mm
J2+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg (+/-3.32rad)
+/-190 deg(+/-3.32rad)
J3 +245/-25mm +245/-25mm +245/-25mm +245/-25mm +245/-25mm +245/-25mm +245/-25mm +245/-25mm
J4 N/A N/A+/-360deg
(+/-6.28rad)+/-360deg
(+/-6.28rad)+/-185deg
(+/-3.23rad)+/-185deg
(+/-3.23rad)+/-360deg
(+/-6.28rad)+/-360deg
(+/-6.28rad)
J5 N/A N/A N/A N/A+/-90deg
(+/-1.57rad)+/-90deg
(+/-1.57rad)+/-360deg
(+/-6.28rad)+/-360deg
(+/-6.28rad)
Max Motion Speed J1 200mm/s 200mm/s 200mm/s 200mm/s 200mm/s 200mm/s 200mm/s 200mm/s
J255deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)55deg/s
(0.960 rad/s)
J3 85mm/s 85mm/s 85mm/s 85mm/s 85mm/s 85mm/s 85mm/s 85mm/s
J4 N/A N/A70deg/s
(1.22 rad/s)70deg/s
(1.22 rad/s)70deg/s
(1.22 rad/s)70deg/s
(1.22 rad/s)70deg/s
(1.22 rad/s)70deg/s
(1.22 rad/s)
J5 N/A N/A N/A N/A25deg/s
(0.436 rad/s)49deg/s
(0.855 rad/s)
Load Capacity at Wrist
Dynamic -136kgf (1333N) at center of faceplate -100kgf (981N) at 250mm from center of faceplate
-136kgf (1333N) at center of faceplate -75kgf (735N) at 250mm from J4 axis
-136kgf (1333N) at center of faceplate -52kgf (510N) at 250mm from J4 axis
Static -158kgf (1548N) at center of faceplate -100kgf (981N) at 250mm from center of faceplate
-158kgf (1548N) at center of faceplate -75kgf (735N) at 250mm from J4 axis
-158kgf (1548N) at center of faceplate -52kgf (510N) at 250mm from J4 axis
Impulse -180kgf (1764N) at center of faceplate -100kgf (981N) at 250mm from center of faceplate
- 180kgf (1764N) at center of the faceplate - 75kgf (735N) at 250mm from center of the point of intersection of J4 and J5
Accuracy Mean Error: < 0.25mm at 180mm from center of faceplate
Repeatability Mean Error: < 0.07mm at 180mm from center of faceplate
IP rate IP54 IP54 IP54 IP54 IP54 IP54 IP54 IP54
Drive method Electric servo drive by AC servo motor
Mechanical Weight (kg) 102 kg 121 kg 111 kg 130 kg 120 kg 139 kg 121 kg 140 kg
Installation Environment
Temperature (Co) 0 - 45
Ambient HumidityNormally: 75% RH or less (no dew, nor frost allowed).
Short Time (within one month): Max. 95% RH
Vibration 0.5G (4.9m/s2) or less
Notes: (1) Capacity derated for wall mount