M-16i

Basic Description

The FANUC M-16i and long-arm

M-16iL robots are engineered for
precision, high-speed operation,
user-friendly setup and maximum
reliability, supported by our
extensive service and parts
network. The M-16i is a six-axis,
modular construction, electric

Robotics
servo-driven robot designed for
a variety of manufacturing and
system processes.

M-16i, the Solution for:

■ Assembly
■ Dispensing
■ Material handling
■ Machine load/unload
■ Material removal
■ Waterjet cutting
Benefits
■ Large work envelope and
load capacity allow robot
operation in a wide range of
high-speed, medium-payload
manufacturing processes.
■ “Double-jointed” arm
increases work envelope
and positioning flexibility.
■ No robot modification
required for upright, inverted,
angle and wall mounting.
■ Absolute serial encoders
eliminate the need for
calibration at power-up.
■ Unique hollow RV speed
reducers simplify cable
routing.
■ Small footprint facilitates
placement in tight
surroundings.
■ Low arm mass and rigid
design allow high-speed,
precise positioning.
■ Electrical and pneumatic
services for tooling are
internal to the arm to
simplify integration.
■ Fail-safe brakes on all
axes increase safety,
functionality and control.
Features
■ 6 axes of motion
■ 16kg payload capacity
■ 0.08mm repeatability
■ Axes speeds up to 450°
per second
Reliability Features
■ Sealed bearings and drives,
and brushless AC motors
minimize maintenance.
■ Grease fittings on all
lubrication points for quick
and easy maintenance.
■ Uses directly-coupled drives,
which are more reliable than
belts, pulleys or chains.
■ All motors, cables and tooling
services are engineered to
prevent snagging and damage
from chips, sprays and other
hazards.
■ Dust and water resistant
design maximizes durability.
■ Quick disconnect robot
connecting cables.
■ In-line wrist design minimizes
complexity and eliminates
bevel gear adjustments.
Options
■ Axis 2 motor cover
■ Severe dust and liquid protection
package for die cast spray,
waterjet cutting and other harsh
environment applications
(standard M-16i wrist is rated
IP67 to withstand temporary
immersion in liquids).
 M-16i/iL Dimensions Footprint (remote)
670
670

Isometric Top
580
580
J3
J4 (455.5° 16i)
(400°) (410° 16iL) –165° 430
430
R1605
M16i

–180°
0° 180°
J6 J5 360
360 260
260
(900°) (280°) R1813
M16iL
165°
J2 OPTIONAL 180°
(240°) MOTION RANGE

139 Motion range of

J5 axis rotation
center
244 110 100
J1 600 143.5
(330°)
J3 axis rear
interference
J5 axis area
rotation
center
800

700

Wrist 215
(0, 0)
770

4-M6 dep. 10
ø6 H7 dep. 10
ø40 eq. sp.
430
Side (M-16i) Back
ø50 H7 ø40 eq. sp.
Front
ø25 H7 R119.4 45°

60 53 Motion range of
J5 axis rotation
60 53 center

6 J3 axis rear
interference
area
100 110 80
810
Stroke limit to avoid
J5 axis interference against
rotation controller
center
M-16i/iL Specifications
Items M-16i M-16iL
Axes 6 6
Payload (kg) 16 10
Reach (mm) 1605 1813
Repeatability (mm) ±0.08 ±0.10
Interference radius (mm) 312 312
Motion range J1 330 330 (0, 0)
(degrees) J2 240 240 770
J3 455.5 410
J4 400 400
Side (M-16iL)
J5 280 280
J6 900 900
Motion speed J1 140 140
(degrees/sec.) J2 140 140
J3 140 140
J4 330 330
J5 330 330
J6 450 450
Wrist moment J4 3.6 2.2
(kgf m) J5 3.2 2.0
J6 1.6 1.0
Wrist inertia J4 8.7 5.3 Note: Dimensions shown in millimeters.
(kgfcms2) J5 7.1 4.3
J6 2.0 1.2
Mechanical brakes All axes All axes FANUC Robotics North America Charlotte, NC Toronto, Canada
Mechanical weight (kg) 270 270 3900 W. Hamlin Road (704) 596-5121 (905) 812-2300
Mounting method Floor, ceiling, Floor, ceiling, Rochester Hills, MI 48309-3253
angle and wall angle and wall (248) 377-7000 Chicago, IL Montréal, Québec
Installation environment
Fax (248) 276-4133 (847) 898-6000 (450) 492-9001
Temperature °C 0 to 45 0 to 45
Humidity Normally: 75% or less Normally: 75% or less
Short term Short term For sales or technical information, call: Cincinnati, OH Mexico City, Mexico
(within a month): (within a month): 1-800-47-ROBOT (513) 754-2400 52 (55) 5611-5998
95% or less 95% or less
No condensation No condensation
Vibration (m/s2) 4.9 or less 4.9 or less Los Angeles, CA Aguascalientes, Mexico
IP Rating(s) Body IP54 std. Body IP54 std. (949) 595-2700 52 (449) 910-8000
(IP55 optional) (IP55 optional)
Wrist & J3 arm IP67 Wrist & J3 arm IP67 marketing@fanucrobotics.com Toledo, OH Sao Paulo, Brazil
Payload at axis 3 (kg) 20 12 www.fanucrobotics.com (419) 866-0788 (55) (11) 3955-0599
Notes:
©2002 FANUC Robotics North America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRNA-2/02
(1) Motion range is de-rated for wall and angle mount.