R-2000iA Series

Basic Description
The R-2000iA series is FANUC
Robotics latest-generation, sixaxis, heavy-payload, highperformance family of industrial
robots, supported by our extensive
service and parts network. The
R-2000iA provides higher value
through improved performance,
reliability and maintainability.
It features the SYSTEM R-J3iB
intelligent robot control system.

R-2000iA, the Solution for:

Automotive spot welding

and general assembly
General industrial applications
Part transfer
Material removal
Dispensing
Machine loading
Arc welding

Benefits

Slim arm and wrist assemblies

minimize interference with
system peripherals and allow
operation in confined spaces.
Large allowable wrist moments
and inertias meet a variety of
heavy handling challenges.
Many process attachment
points make integration easier.
Stationary outer arm simplifies
hose and cable dressout,
prolonging service life.
Proven, reliable FANUC servo
drives provide highest uptime
and productivity.
Longer maintenance intervals
equate to lower operating costs.
Fewer mechanical components
reduce down time, increase
mean time between failure
(MTBF) and minimize spare
part requirements.
High-performance motion
yields fast cycle times and
high throughput.
Wrist flange and base
mounting are identical to the
S-430i, allowing for seamless
backward compatibility.

R-2000iA/165F can reach all

areas of S-430iW/165 work
envelope, making replacement
easy.

Features
Mechanical:
Large work envelope with
ability to reach overhead
and behind
6 axes of motion
Slim profile design
RV reducers for all axes
Elimination of counterweight
increases available workspace
Process/application cables
routed through the arm
No motors at wrist
Control:
B-size cabinet
Quick change amplifier <5 min.
Fast boot time <30 sec.
Standard Ethernet port
PCMCIA Software distribution
Easy connections to a variety
of I/O, including a number of
distributed I/O networks
iPendant, a color, Internet-ready
teach pendant for even easier
programming and custom cell
user interface design

Software:
Process specific software
packages for various
applications
Web-based software tools
for remote connectivity,
diagnostics and production
monitoring
Machine vision for robot
guidance and inspection

Options

Enhanced severe dust and

liquid protection package with
two-part epoxy paint for harsh
environments.
Standard baseplate for quick
robot installation.
Auxiliary axes packages for
integration of peripheral servocontrolled devices.
Adjustable hard stops for J1,
J2 and J3.
Various robot connection cable
lengths for flexible cabinet
placement and optional track
rated cables.
iPendant is also available
with touch screen support.
Monochrome pendant available.
Integrated spot welding utilities.
Electrically insulated faceplate.

ISO Flange Wrist 165F, 165R, 125L

R-2000iA/165F, 210F
Top

138

R583 (R622, 210F)

115

9
+180
180

253

R2650

215

M10x16.0 DP.
TYP.(6) EQUALLY SPACED
ON 125.0 DIA. B.C.

1280

R161

215 (235, 210F)

A. 80
B. 160

225

J5-AXIS
ROTATION
CENTER

814

REAR SIDE
INTERFERENCE
AREA

312

+0.015
0.000

10.000 DIA. DWL. X 12.0 DP.

TYP. (2) EQUALLY SPACED
ON 125.0 DIA. B.C.

710

1075

670

434

Back

348

Front

Side

R-2000iA/200FO

ISO Flange Wrist 200R, 200FO, 130U

170

R583

Top

130

9
0

+180
180
R2650

260
1110

M10x20.0 DO.
TYP.(10) AS SHOWN
ON 125.0 DIA. B.C.

R189.3

260

225

A. 80
B. 160

648

J5-AXIS
ROTATION
CENTER

REAR SIDE
INTERFERENCE
AREA

479

+0.015
0.000

1075

10.000 DIA. DWL. X 20.0 DP.

TYP.(2) EQUALLY SPACED
ON 125.0 DIA. B.C.

710

670

Back

434

Front

348

Side

ISO Flange Wrist 210F, 100P

R-2000iA/125L

154.5

R583

Top

129.5

10.0

+180

253

180

R3001
A

235
1635
A. 80
B. 160

215
225

REAR SIDE
INTERFERENCE
AREA

312

710

1075

670

Back

Side

M10x16.0 DP.
TYP.(10) AS SHN.
ON 125.0 DIA. B.C.

+0.015
0.000

J5-AXIS
ROTATION
CENTER

814

R197.3

Front

10.000 DIA. DWL. x 12.0 DP.

TYP.(2) EQUALLY SPACED
ON 125.0 DIA. B.C.

R-2000iA/130U

R-2000iA/165R
R721

Top

NOTE: ROBOT CAN PASS IN THE HATCHED AREA, BUT CANNOT REST IN THIS AREA.
0

+180
180

670

R3095

647
REAR SIDE
INTERFERENCE
AREA

1075

1075

720

479

225

225
1110

260

1885

Front

REAR SIDE
INTERFERENCE
AREA

Side

J5-AXIS
ROTATION
CENTER

Back

600
R2650

1280

Side

215

J5-AXIS
ROTATION
CENTER

Back

R534

Bottom

Front

R-2000iA/200R
Top

180
+180

300

Isometric 165F

R721

+180
180

R2928

REAR SIDE
INTERFERENCE
AREA

720

1075

225

1885

600
1110

Side
260

J5-AXIS
ROTATION
CENTER

Back

Front

R-2000iA/100P
Top

Footprint (All models)

R721

+180
180

540
460

R3500
230
270
REAR SIDE
INTERFERENCE
AREA

230

270
460

720

1075

540

610

225

1885

600
423

Side

348

Front

1690

24.0 DIA. THRU &

38.0 DIA. C'BORE 5.0 DP.
TYP.(8) MOUNTING HOLES

Back

J5-AXIS
ROTATION
CENTER

235

Front

Note: Dimensions are shown in millimeters.

Detailed CAD data are available upon request.

R-2000iA Specifications
Items

/165F

Axes
Payload - Wrist (kg)

/210F

/200FO

/125L

/165R

/200R

/100P

/130U

165

210

200

125

165

200

100

130

- J3 Arm (kg)

25

25

25

20

25

25

25

- J2 Base (kg)

550

550

550

550

550

550

550

550

Reach (mm)

2650

2650

2650

3001

3095

2928

3500

2650

Repeatability (mm)

0.3

0.3

0.3

0.3

0.3

0.3

0.3

0.3

Repeatability under
constant motion
speed (mm)

0.18

--

--

0.18

--

--

--

--

Interference radius
Motion range
(degrees)

Motion speed
(degrees/s)

Wrist moment
(kgfm)

Wrist inertia1
(kgfcms2)

583

622

583

583

721

721

721

534

J1

360

360

360

360

360

360

360

360

J2

135

135

135

135

185

185

185

135

J3

362

361

350.4

352

365

365

365

367.5

J4

720

720

720

720

720

720

720

720

J5

250

250

250

250

250

250

250

250

J6

720

720

720

720

720

720

720

720

J1

105

95

90

105

105

90

105

90

J2

105

90

85

105

90

85

90

85

J3

105

95

90

105

105

90

105

90

J4

130

120

110

170

130

110

120

110

J5

130

120

110

170

130

110

120

110

J6

210

190

155

260

210

155

190

155

J4

94

136

130

60

94

130

100

70

J5

94

136

130

60

94

130

100

70

J6

47

72

70

35

47

70

72

35

J4

800

1440/2200

1200/2200

600

800

1200

2300

417

J5

800

1440/2200

1200/2200

600

800

1200

2300

417

J6

410

800/2000

600/2000

230

410

600

2000

104

Mechanical brakes

All axes

All axes

All axes

All axes

All axes

All axes

All axes

Mechanical weight (kg)

1210

1270

1310

1230

1540

1570

1630

All axes
1210

Mounting method

Floor

Floor

Floor

Floor

Shelf

Shelf

Shelf

Ceiling

Heavy duty
shelf mount

Shelf mount press robot

Ceiling mount forward option

Installation environment
Ambient temperature C

0 to 45

Humidity

Normally: 75% or less

Short term (within a month): 95% or less
No condensation (No dew or frost allowed)

Vibration (m/s2)

4.9 or less (0.5G or less)

IP rating(s)2
Purpose

Wrist & J3 arm IP67, rest IP54 (IP66 drivetrain optional)

Floor
mount

Heavy duty
flooor mount

Floor mount forward option

Long arm
floor mount

Shelf
mount

Notes:
(1)
(2)

Allowable load inertia at wrist can be switched by software parameters.

IP66 drivetrain option is not available on R-2000iA/100P.

FANUC Robotics America, Inc.

3900 W. Hamlin Road
Rochester Hills, MI 48309-3253
(248) 377-7000
Fax (248) 276-4133

Charlotte, NC
(704) 596-5121

Toronto, Canada
(905) 812-2300

Chicago, IL
(847) 898-6000

Montral, Canada
(450) 492-9001

For sales or technical information, call:

Cincinnati, OH
(513) 754-2400

Aguascalientes, Mexico
52 (449) 922-8000

Los Angeles, CA
(949) 595-2700

Sao Paulo, Brazil

(55) (11) 3619-0599

1-800-47-ROBOT

marketing@fanucrobotics.com
www.fanucrobotics.com
2005 FANUC Robotics America, Inc.

Toledo, OH
(419) 866-0788

All rights reserved.

FANUC ROBOTICS

LITHO IN U.S.A. FRA-6/05