f-100ia specifications f-100ia fixturing system - · pdf filef-100ia fixturing system basic...

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)

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


(0.855 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


Static -158kgf (1548N) at center of faceplate -100kgf (981N) at 250mm from center of faceplate



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


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



914 (BASE)

1060

949

679704

1020

520 254

F-100iA/104L

F-100iA/105LS


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/105S


660

910

815

1060

720

584 (BASE)

730

254


F-100iA/105


914 (BASE)

1060

1060

720


1160

660 254

815

F-100iA/105L


R69

82.0 Cent.

114.0 Cent.

82.0


(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



730

679

949

704

770

520 254

584 (BASE)

F-100iA/103L



914 (BASE)

1060

949

679704

1020

520 254

103/103L Wrist


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)

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


(0.855 rad/s)

Load Capacity at Wrist

Dynamic -136kgf (1333N) at center of faceplate -100kgf (981N) at 250mm from center of faceplate



Static -158kgf (1548N) at center of faceplate -100kgf (981N) at 250mm from center of faceplate



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

f-100ia specifications f-100ia fixturing system - · pdf filef-100ia fixturing system basic...

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