R-2000iA Series ™

Basic Description

The R-2000iA series is FANUC

Robotics’ latest-generation, heavy-
payload, high-performance family
of industrial robots. The R-2000iA
represents an advanced evolution
of the company’s industry-leading
S-430i series of robots. While
maintaining many of the features of
the S-430i, the R-2000iA provides

Robotics
even 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
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-up time
■ Easy connections to a variety
of I/O, including a number of
distributed I/O networks
Software:
■ Specific tool packages for
various applications
Options
■ Three faceplate types
■ Electrically insulated faceplate
■ Internal I/O cables
■ Harsh environment protection
■ Adjustable hard stops for J1-
J2-J3
■ Precision baseplate for
mounting
R-2000iA/165F ISO Flange Wrist 165F, 165R, 125L
R583
Top
138
+180° 0°
253 115
–180° 9

R2650

A B

1280
215
215 M10x16.0 DP.
225 TYP.(6) EQUALLY SPACED
R161 ON 125.0 DIA. B.C.
J5-AXIS
A. 80
REAR SIDE 814 B. 160
ROTATION
INTERFERENCE CENTER
AREA 312
1075 710 +0.015
–0.000
10.000 DIA. DWL. X 12.0 DP.
TYP. (2) EQUALLY SPACED
ON 125.0 DIA. B.C.

670

434 348
Back Front
Side

R-2000iA/200F ISO Flange Wrist 200, 200R, 200FO

R583
Top
170

+180° 0°
300 9 130
–180°

R2483

A B

1110
260

225 260
M10x20.0 DO.
814 J5-AXIS R189.3 TYP.(10) AS SHOWN
ROTATION ON 125.0 DIA. B.C.
CENTER A. 80
REAR SIDE 312 B. 160
1075 710
INTERFERENCE
AREA

+0.015
–0.000
10.000 DIA. DWL. X 20.0 DP.
TYP.(2) EQUALLY SPACED
670 ON 125.0 DIA. B.C.

Back Side Front

R-2000iA/125L ISO Flange Wrist 165CF

R583

Top 145
+180° 0° 9 115
253
–180°

R3001
A B

240 M10X20.0 DP.

R167.7
TYP.(6) EQUALLY SPACED
1635 ON 125.0 DIA. B.C.
A. 80
215 B. 160
225
+0.015
–0.000
REAR SIDE 814 J5-AXIS 10.000 DIA. DWL. X 20.0 DP.
INTERFERENCE ROTATION TYP. (2) EQUALLY SPACED
AREA CENTER ON 125.0 DIA. B.C.
312 1075 710

670

Back Side Front

 R-2000iA/165R R-2000iA/165CF
R721

Top
Top
+180° 0° R1429
–180°

+180° 0°
R3095
–180°

R355
REAR SIDE
INTERFERENCE
AREA
210 620 240

463

250
720 1075 225
REAR SIDE
1885 INTERFERENCE J5-AXIS
AREA ROTATION
550 CENTER

600

1280 600

Side

J5-AXIS
215 Back Side Front
ROTATION
CENTER
Back Front

R-2000iA/200R Isometric 165F

R721
Top
+180° 0°
–180°

R2928

REAR SIDE
INTERFERENCE
AREA

720 1075 225

1885

600
1110

Side
260
J5-AXIS
ROTATION
CENTER
Back Front

Footprint (All models)

R-2000iA/200FO
540
Top
+180° 0° 460
–180°
R2650 230

270

1110 260
230 270
225
460 540 610
648 J5-AXIS
ROTATION
REAR SIDE CENTER
INTERFERENCE
AREA 479 1075
710

423 348

Front
670
24.0 DIA. THRU &
38.0 DIA. C'BORE 5.0 DP.
TYP.(8) MOUNTING HOLES
434 348
Back Front
Side Note: Dimensions shown in millimeters.
R-2000iA Specifications
Items /165F /200F /125L /165R /200R /165CF /200FO
Axes 6 6 6 6 6 6 6
Payload - Wrist (kg) 165 200 125 165 200 165 200
- J3 Arm (kg) 25 25 20 25 0 25 25
- J2 Base (kg) 550 550 550 550 550 550 550
Reach (mm) 2650 2483 3001 3095 2928 1429 2650
Repeatability (mm) ± 0.3 ± 0.3 ± 0.3 ± 0.3 ± 0.3 ± 0.3 ± 0.3
Interference radius (mm) 583 583 583 721 721 355 583
Motion range J1 360 360 360 360 360 360 360
(degrees)
J2 135 135 135 185 185 165 135
J3 362 367 352 365 365 250 350.4
J4 720 720 720 720 720 720 720
J5 250 250 250 250 250 250 250
J6 720 720 720 720 720 720 720
Motion speed J1 105 90 105 105 90 110 90
(degrees/sec.)
J2 105 85 105 90 85 90 85
J3 105 90 105 105 90 100 90
J4 130 110 170 130 110 130 110
J5 130 110 170 130 110 130 110
J6 210 155 260 210 155 210 155
Wrist moment J4 94 130 60 94 130 93 130
(kgf•m)
J5 94 130 60 94 130 93 130
J6 47 70 35 47 70 46 70
Wrist inertia1 J4 800 1200 600 800 1200 900 1200/2200
(kgf•cm•s2)
J5 800 1200 600 800 1200 900 1200/2200
J6 410 600 230 410 600 450 600/2000
Mechanical brakes All axes All axes All axes All axes All axes All axes All axes
Mechanical weight (kg) 1210 1240 1230 1540 1570 1050 1310
Mounting method Floor Floor Floor Shelf Shelf Floor Floor
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 Wrist & J3 arm IP67, rest IP54 (IP55 optional)
Purpose Floor Heavy duty Long arm Shelf Heavy duty Compact Floor mount -
mount flooor mount floor mount mount shelf mount floor mount forward option

Notes:
(1) Allowable load inertia at wrist can be switched by software parameters.

FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada

3900 W. Hamlin Road (704) 596-5121 (905) 812-2300
Rochester Hills, MI 48309-3253
(248) 377-7000 Chicago, IL Montréal, Québec
Fax (248) 276-4133 (847) 898-6000 (450) 492-9001

For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico

1-800-47-ROBOT (513) 754-2400 52 (449) 910-8000

Los Angeles, CA Sao Paulo, Brazil

(949) 595-2700 (55) (11) 3955-0599

marketing@fanucrobotics.com Toledo, OH
www.fanucrobotics.com (419) 866-0788
©2003 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRNA-5/03