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FANUC CORPORATION
Export Control:
Controlled (Related item No. of
Foreign Exchange Order Attachment List of Japan:
A-97606-0293E_05
R-2000iC
July 29th 2014
New motor
- Quick-release connector, - Enhanced waterproof
A-97606-0293E_05
Line up
Standard
Long reach
Rack mount
Heavy payload
Ceiling mount
165F
125L
165R
210F
Compact
210R
Spot welding
Material
handling
Motor covers
Stud welding
Cooling fan
A-97606-0293E_05
Successor to R-2000iB
0
-0.063
10.5
O 160 h8
O 80 H7
+0.030
0
2- O 10 H7
30
+0.015
0
depth10
Succeeding compatibility
and high reliability
30
30
10-M10 tap
depth16
O 1
25
30
30
215
30
30
8-O24 through
O 42 c'bore depth5
(for fixing robot)
Robot front
230
270
540
460
J1-axis
rotation center
230
460
270
540
A-97606-0293E_05
Slimmer body
R-2000iB/210F
R-2000iB/210F
R-2000iC/210F
284
J3 axis
One-sided width -22%
Total width -16%
J2 axis
One-sided width -17%
Total width -6%
235
R-2000iB/210F
R-2000iC/210F
R-2000iC/210F
265
Rotation
radius
R620
R581
215
A-97606-0293E_05
R-2000iC
/210F
Conventional
ratio
Max. load
at wrist [kg]
210
210
Reach [mm]
2655
2655
J1
95
120
26% up
J2
90
105
17% up
J3
95
110
17% up
J4
120
140
17% up
J5
120
140
17% up
J6
190
220
16% up
J4
1333
1360
Max. speed
[deg/sec]
Allowable
load moment
at wrist
[Nm]
Allowable
load inertia
at wrist
[kgm2]
Mass [kg]
J5
1333
1360
J6
706
735
J4
141.1
147
J5
141.1
147
J6
78.4
82
1240
1090
210F
R-2000iB/210F
5% up
(Converted to
actual capability)
4% up
4% up
R-2000iC/210F
5% up
12% down
A-97606-0293E_05
R-2000iC
/165F
Conventional
ratio
Max. load
at wrist [kg]
165
165
Reach [mm]
2655
2655
J1
110
130
18% up
J2
110
115
5% up
J3
110
125
14% up
J4
150
180
20% up
J5
150
180
J6
220
260
J4
921
940
Max. speed
[deg/sec]
Allowable
load moment
at wrist
[Nm]
Allowable
load inertia
at wrist
[kgm2]
Mass [kg]
R-2000iB
/125L
R-2000iC
/125L
Conventional
ratio
Max. load
at wrist [kg]
125
125
Reach [mm]
3005
3100
3% up
J1
110
130
18% up
J2
110
115
5% up
J3
110
125
14% up
J4
170
180
6% up
20% up
J5
170
180
6% up
18% up
J6
260
260
J4
588
710
J5
588
710
J6
343
355
J4
58.8
72
J5
58.8
72
J6
22.5
40
78% up
1190
1115
6% down
2% up
J5
921
940
J6
461
490
J4
78.4
89
165F,125L
6% up
14% up
J5
78.4
89
J6
40.2
46
14% up
1170
1090
7% down
Max. speed
[deg/sec]
Allowable
load moment
at wrist
[Nm]
Allowable
load inertia
at wrist
[kgm2]
Mass [kg]
21% up
3% up
22% up
A-97606-0293E_05
R-2000iC
/165R
Conventional
ratio
Max. load
at wrist [kg]
165
165
Reach [mm]
3095
3095
J1
110
115
5% up
J2
100
110
10% up
J3
110
125
14% up
J4
150
180
20% up
J5
150
180
J6
220
260
J4
921
940
Max. speed
[deg/sec]
Allowable
load moment
at wrist
[Nm]
Allowable
load inertia
at wrist
[kgm2]
Mass [kg]
R-2000iB
/200R
R-2000iC
/210R
Conventional
ratio
Max. load
at wrist [kg]
200
210
3% up
Reach [mm]
3095
3095
J1
90
105
17% up
J2
85
97
14% up
J3
95
110
16% up
J4
120
140
17% up
20% up
J5
120
140
17% up
18% up
J6
190
220
17% up
J4
1333
1360
2% up
J5
921
940
J6
461
490
J4
78.4
89
165R,210R
6% up
14% up
J5
78.4
89
J6
40.2
46
14% up
1480
1370
7% down
Max. speed
[deg/sec]
Allowable
load moment
at wrist
[Nm]
Allowable
load inertia
at wrist
[kgm2]
Mass [kg]
5% up
(Converted to
actual capability)
J5
1333
1360
J6
706
735
J4
141.4
147
J5
141.4
147
J6
78.4
82
5% up
1540
1370
11% down
4% up
4% up
A-97606-0293E_05
R-2000 B/210F
R-2000 C/210F
with R-30 B
with R-30 B
Actual
Actual
0.485 [sec]
0.402 [sec]
17%
0.493 [sec]
0.412 [sec]
16%
0.495 [sec]
0.417 [sec]
16%
Tip distance
Gun tip
: 10mm
Fixed tip : 10mm
50mm
10 points
0.60
iB Linear
0.55
iC Linear
iB Joint
0.50
Z-
iC Joint
X-
X+
0.45
Z+
0.40
0
Y-
70
140
210
280
YA-97606-0293E_05
165F
125L
210R
165R
Common for
3 models
Common for
2 models
Balancer unit
Common for
3 models
Common for
2 models
A-97606-0293E_05
10
J1 connector plate
Side of J2 arm
July 29th 2014
A-97606-0293E_05
11
New motor
- Easy maintenance
- High reliability
*1 Quick-release connector
*2 Enhanced waterproof by improved seals
Motor configuration
Axis
J1
J2
J3
J4
J5
J6
Pulsecoder
R-2000iB
R-2000iC
iSR30/3000
iSR22/4000
A06B-0041-B605#S042
A06B-2048-B605#0042
iSR30/3000
iSR30/3000
A06B-0041-B605#S042
A06B-2041-B605#0042
iSR30/3000
iSR30/3000
A06B-0041-B605#S042
A06B-2041-B605#0042
iS12/4000
iSR10/4000
A06B-0238-B605#S000
A06B-2047-B605
iS12/4000
iSR10/4000
A06B-0238-B605#S000
A06B-2047-B605
iS12/4000
iSR10/4000
A06B-0238-B605#S000
A06B-2047-B605
iAR128
iAR128
A860-2010-T341
A860-2060-T321
A-97606-0293E_05
12
Outline (Standard)
210F,165F,125L
R
1
58
+185v
0v
1280 (210F,165F)
1730 (125L)
1075
225
312
49
7
215
J5-axis
rotation center
220 416
3045 (210F,165F)
3490 (125L)
-185v
1919 (210F,165F)
2364 (125L)
333
418
Motion range
of J5-axis
rotation center
2655 (210F,165F)
3100 (125L)
370 (210F,165F)
815 (125L)
670
796
A-97606-0293E_05
13
Outline (Standard)
R
210R,165R
60
3
220 416
+185v
-185v
0v
1708
2975
R8
59
1075
333
225
565
1280
600
720
1758
215
J5-axis
rotation center
Motion range
of J5-axis
rotation center
1117
3095
A-97606-0293E_05
14
Note
1. In case of primary axis solution arm is ordered, its motion range is changed from the standard one.
2. In case of wrist axis solution arm is ordered, motion range restriction is applied to J4/J5/J6 axis.
3. Wrist axis solution arm is available for standard reach, not for R-2000iC/125L.
A-97606-0293E_05
15
58
210F,165F
Restriction to J4/J5/J6 axis
(with wrist axis solution arm)
+185v
J4
J4 motion range
J4=+210v
0v
-185v
49
7
J2+J3=-75v
J2+J3=+180v
J2+J3=-79v
J4=30v
312
215
360
1280
265
457
J4=-180v
J4=-210v
1075
J5-axis
rotation center
J6=+205v
3045
225
J6J6
motion range
J6=+130v
333
796
418
J5=-115v
J5=+115v
844
J5=+120v
Motion range
of J5-axis
rotation center
J6=-15v
370
670
J5=-120v
2655
J5 motion range
J5
J6=-170v
J6=-205v
A-97606-0293E_05
16
60
3
210R,165R
Restriction to J4/J5/J6 axis
(with wrist axis solution arm)
265
457
+185v
-185v
J4
J4 motion range
0v
J4=+210v
R8
59
J2+J3=-75v
J2+J3=+180v
J2+J3=-79v
J4=30v
J4=-180v
1708
2975
J4=-210v
J6J6
motion range
720
1075
333
225
731
J6=+205v
600
J6=+130v
J5=-115v
J5=+115v
J5=-120v
1280
J5=+120v
J6=-15v
J5 motion range
J5
360
215
1758
J5-axis
rotation center
Motion range
of J5-axis
rotation center
393
J6=-170v
J6=-205v
3095
A-97606-0293E_05
17
210F,165F,125L
210R,165R
0
-0.063
10.5
O 80 H7
+0.030
0
O 160 h8
30
2- O 10 H7
30
+0.015
0
depth10
30
30
125 0.05
10-M10 tap
depth16
O 1
25
30
30
215
30
30
A-97606-0293E_05
18
210F,165F,125L
210R,165R
Installation
348
(Mounting face)
37
(Mounting face)
281
268
8-O 24 through
O 42 c'bore depth5
(for fixing robot)
8-M20through
(for mounting transportation equipment)
50
230
305
45
J1-axis
rotation center
460
Robot front
230
205 0.1
270
540
205 0.1
278
278
(Mounting face)
310 0.1
45
30
230
(Mounting face)
2-O 16 H7
+0.018
0
through
460
270
540
Section A-A
July 29th 2014
35
278
278
35
A-97606-0293E_05
19
Cooling fan
Power supply
cable
A-97606-0293E_05
20
A-97606-0293E_05
21
J3-axis
J6-axis
Type1:A05B-1333-H063
J2-axis
J6-axis
Type2:A05B-1333-H064
J1-axis
J1-axis
July 29th 2014
J5-axis
J4-axis
J2-axis
J3-axis
A-97606-0293E_05
22