FANUC Robot R-2000iC
FANUC CORPORATION
Export Control:
 Controlled (Related item No. of
Foreign Exchange Order Attachment List of Japan:

 Non-controlled for item No. 2 to 15 of
Foreign Exchange Order Attachment List of Japan
July 29th 2014
)
A-97606-0293E_05
1
Full-model change of R-2000iB
Over 70,000 units of previous model R-2000iB have been operating throughout the world since 2006.
High reliability proven by past results
More convenient use due to slimmer body
Higher productivity due to speeding up
Extensive application due to enhanced wrist
load capability
Less varieties of spare parts due to common
units among main models
No need of spare entire cable assembly due to
modular configuration
R-2000iC
July 29th 2014
New motor
- Quick-release connector, - Enhanced waterproof
A-97606-0293E_05
2
Line up
Standard
Long reach
Rack mount
Heavy payload
Ceiling mount
165F
125L
165R
210F
Compact
210R
 Various options for multiple applications
July 29th 2014
Spot welding
Material
handling
Motor covers
Stud welding
Severe dust &
Liquid protection
Cooling fan
A-97606-0293E_05
3
Successor to R-2000iB
0
-0.063
10.5
O 160 h8
9
O 80 H7
+0.030
0
Identical mounting face with R-2000iB
30°
2- O 10 H7
30°
+0.015
0
depth10
Succeeding compatibility
and high reliability
30
°
30
°
Common compact wrist
125 ±0.05
10-M10 tap
depth16
(Same dimension with R-2000iB/165F’s)
O 1
25
°
30
°
30
215
30°
30°
Identical arm length
with R-2000iB
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
Identical installation with R-2000iB
July 29th 2014
A-97606-0293E_05
4
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
More convenient use
July 29th 2014
A-97606-0293E_05
5
Speed up & Enhanced wrist load capability
R-2000iB
/210F
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]
July 29th 2014
J5
1333
1360
J6
706
735
J4
141.1
147
J5
141.1
147
J6
78.4
82
1240
1090
210F
Allowable distance of load gravity center
from mounting face [load:210kg]
R-2000iB/210F
5% up
(Converted to
actual capability)
4% up
4% up
R-2000iC/210F
5% up
12% down
A-97606-0293E_05
6
Speed up & Enhanced wrist load capability
R-2000iB
/165F
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]
July 29th 2014
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
7
Speed up & Enhanced wrist load capability
R-2000iB
/165R
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]
July 29th 2014
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
8
Speeding up on spot welding motion
 Drastically reducing cycle time
Robot + Servo gun motion
(Except pressuring time)
i
i
50mm interval x 10 points
Average time
R-2000 B/210F
R-2000 C/210F
with R-30 B
with R-30 B
（Actual）
（Actual）
X (Back & Forth) direction
0.485 [sec]
0.402 [sec]
▲17%
Y (Side to side) direction
0.493 [sec]
0.412 [sec]
▲16%
Z (Up & Down) direction
0.495 [sec]
0.417 [sec]
▲16%
i
i
Tip distance
Gun tip
: 10mm
Fixed tip : 10mm
50mm
10 points
 Reducing cycle time depending on wrist load
BOX C yc le T im e
Ave. Time of Segment [sec]
0.60
iB Linear
0.55
iC Linear
iB Joint
0.50
Z-
iC Joint
X-
X+
0.45
Z+
0.40
0
July 29th 2014
Y-
70
140
Wrist Load [kg]
210
280
YA-97606-0293E_05
9
Common units among main models
Less varieties of spare parts
Common units among main models
• Motors
• Wrist unit (including reducers)
• Mechanical inner cable
• Balancer unit
210F
Motors
Wrist unit
July 29th 2014
165F
125L
210R
165R
Same configuration for 5 models
Common for 5 models
Mechanical inner cable
Common for
3 models
Common for
2 models
Balancer unit
Common for
3 models
Common for
2 models
A-97606-0293E_05
10
Modular configuration of mechanical inner cable
Basic cable unit (for driving 6 motors) and other optional one are separated.
Available to individually replace or install each cable unit.
No need of spare
entire cable assembly
Basic cable unit
Optional cable unit
Entire cable assembly
Basic cable unit
Basic cable unit
Optional cable unit
Optional cable unit
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
①
Motor configuration
Axis
J1
J2
J3
J4
J5
J6
Pulsecoder
②
July 29th 2014
R-2000iB
R-2000iC
αiSR30/3000
αiSR22/4000
A06B-0041-B605#S042
A06B-2048-B605#0042
αiSR30/3000
αiSR30/3000
A06B-0041-B605#S042
A06B-2041-B605#0042
αiSR30/3000
αiSR30/3000
A06B-0041-B605#S042
A06B-2041-B605#0042
αiS12/4000
αiSR10/4000
A06B-0238-B605#S000
A06B-2047-B605
αiS12/4000
αiSR10/4000
A06B-0238-B605#S000
A06B-2047-B605
αiS12/4000
αiSR10/4000
A06B-0238-B605#S000
A06B-2047-B605
αiAR128
αiAR128
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)
R
-185v
1919 (210F,165F)
2364 (125L)
July 29th 2014
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
July 29th 2014
3095
A-97606-0293E_05
14
Solution arm (Option)
• Compact dressout including weld power cables and hoses
• Highly reliable durability of weld cables and hoses
• Unnecessary to check the interference due to optimized cable bundle
Wrist axis solution arm
• Ease of maintenance realizes shorter downtime to replace the unit
Available taps around J3 axis
to install equipments
Optimized cable bundle
prevent the interference
with EOAT
Minimize the interference area
Primary axis solution arm
July 29th 2014
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
Outline (with solution arm)
R
58
210F,165F
Restriction to J4/J5/J6 axis
(with wrist axis solution arm)
1
+185v
J4軸動作範囲
J4 motion range
J4=+210v
0v
-185v
R
49
7
J2+J3=-75v
J2+J3=+180v
J2+J3=-79v
J4=30v
J2+J3 motion range
J2+J3軸動作範囲
312
215
360
1280
265
457
J4=-180v
J4=-210v
1075
J5-axis
rotation center
J6=+205v
3045
225
J6J6軸動作範囲
motion range
J6=+130v
333
796
418
J5=-115v
J5=+115v
844
July 29th 2014
J5=+120v
Motion range
of J5-axis
rotation center
J6=-15v
370
670
J5=-120v
2655
J5 motion range
J5軸動作範囲
J6=-170v
J6=-205v
A-97606-0293E_05
16
Outline (with solution arm)
R
60
3
210R,165R
Restriction to J4/J5/J6 axis
(with wrist axis solution arm)
265
457
+185v
-185v
J4軸動作範囲
J4 motion range
0v
J4=+210v
R8
59
J2+J3=-75v
J2+J3=+180v
J2+J3=-79v
J4=30v
J2+J3 motion range
J2+J3軸動作範囲
J4=-180v
1708
2975
J4=-210v
J6J6軸動作範囲
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軸動作範囲
360
215
1758
J5-axis
rotation center
Motion range
of J5-axis
rotation center
393
July 29th 2014
J6=-170v
J6=-205v
3095
A-97606-0293E_05
17
End effecter mounting face
210F,165F,125L
210R,165R
0
-0.063
10.5
O 80 H7
+0.030
0
O 160 h8
9
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°
Based on ISO 9409-1-A125
July 29th 2014
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-M20 through
(for mounting transportation equipment)
50
230
305
45
J1-axis
rotation center
460
Robot front
230
205 ±0.1
Pin holes for
positioning are
added
230
270
540
205 ±0.1
278
278
(Mounting face)
310 ±0.1
45
30
5
A
230
(Mounting face)
A
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
Press handling package (option)
• The cooling fans for J1/J2 axis or J1/J2/J3 axis motor
improve duty performance.
• Suitable for high-duty application such as press-to-press
handling and high-speed palletizing.
• Available with R-30iB A-cabinet/B-cabinet controller.
Cooling fan
Power supply
cable
Power supply connector
for cooling fan
July 29th 2014
A-97606-0293E_05
20
Severe dust and liquid protection (option)
• Enhanced protective performance against
harsh environment
• Include motor covers, water proof connectors
and protection sheath for exposed cable
Main body ：IP56
J3 arm, wrist ： IP67
• Anti-rust bolts and washers for exposed parts
• Available with epoxy paint designation (FoundryPRO)
Motor covers
Water proof connector
for EE(RI/RO)
Battery box cover
July 29th 2014
A-97606-0293E_05
21
Zero-positioning plate (option)
• New option for zero degree mark in addition to scribe mark
and vernier mark seal
• Stainless plate and bolts for all
• Suitable for harsh environment
J4-axis
J5-axis
J6-axis
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