M-420iA/M-421iA™
Basic Description
The M-420iA series is FANUCRobotics’ latest-generation, high-performance, high-speed family ofindustrial robots. Based on a simpleand reliable design, the M-420iAand M-421iA provide sophisticatedmotion control and consistentperformance with high productivity.The series is supported by theintelligent robot control system.
The M-420iA is a four-axis, modularconstruction, electric servo-drivenrobot designed for high-speed casepacking and material handlingapplications. The M-421iA is a two-axis variant designed for the high-speed top-loading packing market.
M-420iA/M-421iA, theSolution for:
� High-speed packaging� High-speed palletizing� Machine loading� Mechanical assembly
Benefits
� Features highest motion speeds in its class for maximumperformance and productivity.
� Highest payload in its class helpsachieve maximum throughput byhandling multiple parts.
� Four-axis dexterity enables access to multiple packaging lines with one unit.
� Additional auxiliary amplifiersavailable in the robot controlleroffer ability to control completehigh-speed packaging line with robot controller.
� FANUC’s iRVision™ (IntegratedRobot Vision) Option for VisualLine Tracking provides anintegrated vision based solution for locating randomly-orientedproduct on a moving line for robotic picking and packingoperations.
Features
� M-420iA - 4 axes of motion, 40 kg capacity.
� M-421iA - 2 axes of motion, 50 kgcapacity. Waist and wrist rotationremoved from four-axis unit.
� iPendant™, a color, Internet-ready teach pendant for eveneasier programming and customcell user interface design.
� Large work envelope with 1855mm horizontal reach developedaround packaging applications.
� Repeatability of +/- 0.5 mm at full speed and full payloadwithin entire work envelope.
� Linear motion speeds up to 4200 mm/sec.
� Dedicated pneumatic andelectrical (8 digital inputs/8 digitaloutputs) connections at wrist tosimplify user’s end-of-arm toolingdesign and integration.
� Material handling style teachpendant with large LCD screenand ergonomic design offersintuitive control over automatedprocess.
� Sealed bearings and brushlessAC motor drives provideprotection and improve reliability.
Options
� M-420iA high-speed wrist option,J4 wrist speed increases from350 to 720 degrees/sec. forapplications that require high-speed wrist motions. Maximumpayload decreases from 40 kg to30 kg.
� iPendant is also available with touch screen support.
� Various robot connection cable lengths for flexible cabinetplacement and optional trackrated cables.
� A cleanable unit coated withwhite polyurethane to meetrequirements in typicalsecondary food packagingapplications.
� Monochrome pendant available.� FANUC’s iRVision system
delivers high performance 2-D and 3-D machine visioncapabilities with FANUCreliability. Additional option for Error Proofing can provideintegrated vision basedcapabilities to check for productcompleteness before product ispackaged or further operationsare performed.
M-420iA Dimensions
Isometric Wrist Footprint
Top
Front Side
2-dia. 8 depth 15eq. sp.on dia. 100bolt circle
+0.015 0
6-M8 depth 16eq. sp. on dia.100 bolt circle
40°
J1
J4
J3J2
585190 190
220
272 240
544
240
FRONT
(0,0)
24.0 DIA. THRU &38.0 DIA. C'BORE 4.0 DP.(4) MOUNTING HOLES
600
160°
-160°
R1855.5
0°
R533.9
1148.2 1633.2
223 176
368.6 800
130
180
HEXAHEDRALOPERATIONAREA
700 1000 1461
780
1000
1850
180
(0,0)
650
800
1812.3 TOP SIDEINTERFERENCE
AREA
699.5 REARSIDE
INTERFERENCEAREA
Note: Dimensions are shown in millimeters.Detailed CAD data are available upon request.
M-421iA Dimensions
Isometric Wrist Footprint
Top
Front
2-dia. 8 depth 15eq. sp.on dia. 100bolt circle
+0.015 0
6-M8 depth 16eq. sp. on dia.100 bolt circle
40°
525
295
190 190
240
240
575
FRONT
(0,0)
M24 DIA. THRU &38.0 DIA C'BORE 4.0 DP.
(4) MOUNTING HOLES
1855.5
533
533
223 176.2
368.6 800
1552.3 TOP SIDEINTERFERENCE AREA
1190
390
699.5 REAR SIDEINTERFERENCE AREA
(0,0)
180
780
1000
1850
700 1000 1461
125 HEXADEDRALOPERATIONAREA
Side
Note: Dimensions are shown in millimeters.Detailed CAD data are available upon request.
M-420iA/M-421iA Specifications Fastest cycle times in its class:
50 Cycles/Minute30 kg Payload
80 Cycles/Minute10 kg Payload
500
125
600
400
90
High-Speed Material Handling High-Speed Packaging
High-Speed Mini-Palletizing
Axes 4 2
Payload - Wrist (kg) 40 50
- High-Speed Wrist (kg) 30 -
- J3 Arm (kg) 10 10
Reach (mm) 1855 1855
Repeatability (mm) ±0.5 ±0.5
Interference radius (mm) 543 -
Motion range J1 320 -(degrees) J2 115 115
J3 110 110
J4 540 -
Motion speed J1 180 -(degrees/s) J2 200 200
J3 200 200
J4 350 -
High-Speed J4 720 -
Wrist moment J4 98 (10) 98 (10)N-m (kgf-m)
High-Speed J4 68.6 (7) -
Wrist inertia J4 2.6 2.6(kg-m2)
Mechanical brakes All axes All axes
Mechanical weight (kg) 620 520
Mounting method Floor
Installation environment:
Ambient temperature °C 0 to 45
Humidity Normally: 75% or lessShort term (within a month): 95% or less
No condensation (No dew or frost allowed)
Vibration (m/s2) 4.9 or less
Items M-420iA M-421iA
FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada3900 W. Hamlin Road (704) 596-5121 (905) 812-2300Rochester Hills, MI 48309-3253(248) 377-7000 Chicago, IL Montréal, CanadaFax (248) 377-7362 (847) 898-6000 (450) 492-9001
For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico1-800-iQ-ROBOT • 1-800-47-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©2007 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-4/07
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