Paint Mate 200iA &

Paint Mate 200iA/5L

Basic Description

FANUC Robotics’ Paint Mate robot

is a compact, electric servo-driven
paint robot with best-in-class
performance designed for operation
in a hazardous environment. Based
on the highly-acclaimed LR Mate®
series, this robot’s envelopes,
speed, and dexterity are a perfect
fit for coatings and hazardous duty
applications. The Paint Mate can
be used for small parts painting
or a material saving alternative to
Paint Mate - Maximum performance at minimal cost. Class 1 Division 1 hazardous approval ratings enables the multiple fixed guns.
Affordable robotic automation for small parts coating. Paint Mate robot to be used for handling applications in
explosive and extreme environments Paint Mate, the Solution
for:

n Painting
n n HandlingTool™ allows for
n Coating
locations; see specifications the setup, programming,
n Assembly and Handling in and operation for basic and
for details.
Hazardous Environments custom applications. Built-in
n FM: Flex field and rigid conduit
n Material removal where ATEX: ROX macro functions including paint
FANUC Robotics offers a complete hazardous cooling chemicals application plug-in routines
line of painting robots and turnkey n Tabletop size, slim wrist, and
are present and menu-driven programming
system solutions for all your small footprint permit operation tools allow users to create,
n Dispensing
coatings needs. in tight work spaces test, and run robot application
n Extremely fast acceleration and programs with minimal training
Features deceleration motion results in and program assistance.
faster cycle times.
n iPendant™, a color, Internet-
n Control Reliable Safety Circuit
ready teach pendant for even n PaintTool™ software with
easier programming and custom (RIA1506.1999 compliant) optional configurations for stand
cell user interface design. alone or multi robot systems
n Optional one or four pneumatic Reliability and Maintenance with built-in paint function
three-way solenoid valves Advantages controls:
located in the purge cavity for - Analog parameter control
n The latest generation of a
gun triggering capability. - Color change control
proven design
n Floor, invert, angle and wall - “Cancel/Continue” feature
n Sealed bearings and brushless
Intelligent Robot Solutions mounting permits versatility for - Integral 2K variable ratio
robot location and allows for AC motors
Pump Control
FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada minimal spray booth size. n Purged and pressurized cavities
3900 W. Hamlin Road (704) 596-5121 (905) 812-2300
- ACCUFLOW™ closed-loop
Rochester Hills, MI 48309-3253 n Absolute serial encoders n Designed for painting fluid control.
Chicago, IL Montréal, Canada eliminate the need for environment - Line tracking
(847) 898-6000 (450) 492-9001
calibration at power-up. - Collision detection
For sales or technical information, call:
1-800-iQ-ROBOT
Cincinnati, OH
(513) 754-2400
Aguascalientes, Mexico
52 (449) 922-8000 n Standard FANUC Robotics Software - Internet connectivity
purge control. - KAREL® programming
Los Angeles, CA Sao Paulo, Brazil Two standard software applications language
(949) 595-2700 (55) (11) 3619-0599
are available:
Process control hardware must
[email protected] Toledo, OH
fanucrobotics.com (419) 866-0788 be added separately.
©2008 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-10/08

LR Mate® and iRVision® are registered trademarks of FANUC LTD.

 Dimensions Paint Mate Isometric Paint Mate Series Robot Specifications R-30iA Mate Controller Dimensions
Paint Mate 200iA Items Paint Mate 200iA Paint Mate 200iA/5L
Axes 6 6
Top Payload - wrist (kg) 5 5
R704
Reach (mm) 704 892 Top
Repeatability (mm) ±0.02 ±0.03

10°
Interference Radius (mm) 181 181
Motion range J1 340 340
10° (degrees) J2 200 230
J3 388 373
J4 380 380
R181 J5 240 240
J6 720 720
Motion speed J1 350 270 470 320
(degrees/s) J2 350 270
320 80 J3 400 270
B J4 450 450
C J5 450 450
J6 720 720 400

Wrist moments N-m J4 11.9 (1.21) 11.9 (1.21)

300
(kgf-m) J5 11.9 (1.21) 11.9 (1.21)

1079
J6 6.7 (0.68) 6.7 (0.68)
Wrist load inertia J4 0.3 0.3
950
750
145 75 825 (kg-m2) J5 0.3 0.3
ROBOT PURGE CONTROL

J6 0.1 0.1
PURGE PURGE PURGE
ENABLE COMPLETE FAULT
Paint Mate

450
128
251 Mechanical brakes All axes All axes
Mechanical weight (kg) 35 37 REPLACE BATTERIES WITH CONTROLLER POWER ON.
USE ONLY DURACELL PC1300 D-TYPE ALKALINE (AM1) BATTERIES.
400
A A
DO NOT MIX OLD & NEW BATTERIES OR BATTERY MANUFACTURERS.

Mounting method(1) Floor, ceiling, angle and wall

120
Installation environment
108 Temperature (°C) 0 to 45
160 130
265 Humidity Normally: 75% or less
235
260 Short term (within a month): 95% or less
513 704 No condensation
Front Vibration m/s2 (G) 0.5 or less
Side Footprint (All models) Ratings
150
FM Class l, ll, lll, Div l, Group C, D, E, F, G T4 45°C Ambient
ATEX ll 2 G c Ex ib px llB Ta=0°C to +45°C
ATEX ll 2 D c Ex pD 21 Tl 35°C Ta=0° to =45°C 282
260
Paint Mate 200iA/5L 20 205
Note: iPendant™ for non-hazardous areas only
Front
160
Side
Note: (1) J1 and J2 axes motion range will be limited for angle and wall mount installations.
15
Top R892

117
95
130
R-30iA™ Mate Controller Specifications
160
234 Items Isometric
265
10° External Dimensions (mm) - 470(W) x 320(D) x 950(H)
Weight - 56 kg

10°
Operating Environment - Ambient temperature: 0 - 45 ° C (R-30iA Mate)
Humidity: 75% RH or less; Short term (within a month): 95% or less
Front Vibration: 0.5G or less

Power Supply - 200-230VAC Single Phase; +10%, -15%, 50/60 Hz ± 1Hz

R276
Power Consumption - 0.5 KW (average), 1.2 KVA (maximum)
CPU - Multi-processor architecture (separate motion and communication)
with real-time clock/calendar
Wrist (All models)
410 104 123 Controlled Axes - 24 (up to 5 motion groups for R-30iA Mate)
80
Serial/ - One 100 Base-TX/10 Base-T Ethernet port with RJ-45 connector
ø5 DOWELL x 7 DP host communications
45° TYP(1) ø31.5 BC - One RS-232-C / RS-485 port
6
ø70 Teach Pendant
ø40
- Color graphic iPendantTM with available touch screen option
ø20 (Not in hazardous area)
1267 iRVision® - Built-in camera interface for 2-D vision applications
400 Optional: multiplexer for multiple 2-D cameras and 3-D vision
Built-in I/O - Up to 28 digital inputs / 24 digital outputs 24VDC
925
3 (external 24VDC power supply is required for digital outputs)
75 M5 x 8 DP
80 TYP(4) EQ SPC’D Safety Features - Dual Check Safety (DCS) circuit
128 ø31.5 BC
251
Memory Card - PCMCIA type 2 interface: ATA flash disk (SanDisk compatible)
450
R-30iA Mate Controller Options:
I/O sub-systems - Model A I/O (remote mounted modular rack- 5 or 10 slots)
120 - Model B I/O (distributed DIN rail mounted)
130 - FANUC I/O link
265
160 273
Remote I/O sub-systems - DeviceNet (single channel slave)
260 Front - Profibus DP slave/master
- CC-Link (slave)
- Ethernet I/O (EGD and EIP Adapter/Scanner)
170 Note: Dimensions are shown in millimeters.
742 892 Integrated PMC - Ladder logic control for peripheral devices
- Including ladder monitor with hot edit on iPendant Detailed CAD data is available upon request.
Side
 Dimensions Paint Mate Isometric Paint Mate Series Robot Specifications R-30iA Mate Controller Dimensions
Paint Mate 200iA Items Paint Mate 200iA Paint Mate 200iA/5L
Axes 6 6
Top Payload - wrist (kg) 5 5
R704
Reach (mm) 704 892 Top
Repeatability (mm) ±0.02 ±0.03

10°
Interference Radius (mm) 181 181
Motion range J1 340 340
10° (degrees) J2 200 230
J3 388 373
J4 380 380
R181 J5 240 240
J6 720 720
Motion speed J1 350 270 470 320
(degrees/s) J2 350 270
320 80 J3 400 270
B J4 450 450
C J5 450 450
J6 720 720 400

Wrist moments N-m J4 11.9 (1.21) 11.9 (1.21)

300
(kgf-m) J5 11.9 (1.21) 11.9 (1.21)

1079
J6 6.7 (0.68) 6.7 (0.68)
Wrist load inertia J4 0.3 0.3
950
750
145 75 825 (kg-m2) J5 0.3 0.3
ROBOT PURGE CONTROL

J6 0.1 0.1
PURGE PURGE PURGE
ENABLE COMPLETE FAULT
Paint Mate

450
128
251 Mechanical brakes All axes All axes
Mechanical weight (kg) 35 37 REPLACE BATTERIES WITH CONTROLLER POWER ON.
USE ONLY DURACELL PC1300 D-TYPE ALKALINE (AM1) BATTERIES.
400
A A
DO NOT MIX OLD & NEW BATTERIES OR BATTERY MANUFACTURERS.

Mounting method(1) Floor, ceiling, angle and wall

120
Installation environment
108 Temperature (°C) 0 to 45
160 130
265 Humidity Normally: 75% or less
235
260 Short term (within a month): 95% or less
513 704 No condensation
Front Vibration m/s2 (G) 0.5 or less
Side Footprint (All models) Ratings
150
FMuc Class l, ll, lll, Div l, Group C, D, E, F, G T4 45°C Ambient
ATEX ll 2 G c Ex ib px llB T4 Ta=0°C to +45°C
ATEX ll 2 D c Ex pD 21 T 135°C Ta=0° to +45°C 282
260
Paint Mate 200iA/5L 20 205
Note: iPendant™ for non-hazardous areas only
Front
160
Side
Note: (1) J1 and J2 axes motion range will be limited for angle and wall mount installations.
15
Top R892

117
95
130
R-30iA™ Mate Controller Specifications
160
234 Items Isometric
265
10° External Dimensions (mm) - 470(W) x 320(D) x 950(H)
Weight - 56 kg

10°
Operating Environment - Ambient temperature: 0 - 45 ° C (R-30iA Mate)
Humidity: 75% RH or less; Short term (within a month): 95% or less
Front Vibration: 0.5G or less

Power Supply - 200-230VAC Single Phase; +10%, -15%, 50/60 Hz ± 1Hz

R276
Power Consumption - 0.5 KW (average), 1.2 KVA (maximum)
CPU - Multi-processor architecture (separate motion and communication)
with real-time clock/calendar
Wrist (All models)
410 104 123 Controlled Axes - 24 (up to 5 motion groups for R-30iA Mate)
80
Serial/ - One 100 Base-TX/10 Base-T Ethernet port with RJ-45 connector
ø5 DOWELL x 7 DP host communications
45° TYP(1) ø31.5 BC - One RS-232-C / RS-485 port
6
ø70 Teach Pendant
ø40
- Color graphic iPendantTM with available touch screen option
ø20 (Not in hazardous area)
1267 iRVision® - Built-in camera interface for 2-D vision applications
400 Optional: multiplexer for multiple 2-D cameras and 3-D vision
Built-in I/O - Up to 28 digital inputs / 24 digital outputs 24VDC
925
3 (external 24VDC power supply is required for digital outputs)
75 M5 x 8 DP
80 TYP(4) EQ SPC’D Safety Features - Dual Check Safety (DCS) circuit
128 ø31.5 BC
251
Memory Card - PCMCIA type 2 interface: ATA flash disk (SanDisk compatible)
450
R-30iA Mate Controller Options:
I/O sub-systems - Model A I/O (remote mounted modular rack- 5 or 10 slots)
120 - Model B I/O (distributed DIN rail mounted)
130 - FANUC I/O link
265
160 273
Remote I/O sub-systems - DeviceNet (single channel slave)
260 Front - Profibus DP slave/master
- CC-Link (slave)
- Ethernet I/O (EGD and EIP Adapter/Scanner)
170 Note: Dimensions are shown in millimeters.
742 892 Integrated PMC - Ladder logic control for peripheral devices
- Including ladder monitor with hot edit on iPendant Detailed CAD data is available upon request.
Side
 Paint Mate 200iA &
Paint Mate 200iA/5L
Basic Description

FANUC Robotics’ Paint Mate robot

is a compact, electric servo-driven
paint robot with best-in-class
performance designed for operation
in a hazardous environment. Based
on the highly-acclaimed LR Mate®
series, this robot’s envelopes,
speed, and dexterity are a perfect
fit for coatings and hazardous duty
applications. The Paint Mate can
be used for small parts painting
or a material saving alternative to
Paint Mate - Maximum performance at minimal cost. Class 1 Division 1 hazardous approval ratings enables the multiple fixed guns.
Affordable robotic automation for small parts coating. Paint Mate robot to be used for handling applications in
explosive and extreme environments Paint Mate, the Solution
for:

n Painting
n FM and ATEX Hazardous n HandlingTool™ allows for
n Coating
approval for Class I, II and IIl the setup, programming,
n Assembly and Handling in and operation for basic and
Div. 1 environments
Hazardous Environments custom applications. Built-in
n FM: Flex field and rigid conduit
n Material removal where ATEX: ROX macro functions including paint
FANUC Robotics offers a complete hazardous cooling chemicals application plug-in routines
line of painting robots and turnkey n Tabletop size, slim wrist, and
are present and menu-driven programming
system solutions for all your small footprint permit operation tools allow users to create,
n Dispensing
coatings needs. in tight work spaces test, and run robot application
n Extremely fast acceleration and programs with minimal training
Features deceleration motion results in and program assistance.
faster cycle times.
n iPendant™, a color, Internet-
n Control Reliable Safety Circuit
ready teach pendant for even n PaintTool™ software with
easier programming and custom (RIA1506.1999 compliant) optional configurations for stand
cell user interface design. alone or multi robot systems
n Optional one or four pneumatic Reliability and Maintenance with built-in paint function
three-way solenoid valves Advantages controls:
located in the purge cavity for - Analog parameter control
n The latest generation of a
gun triggering capability. - Color change control
proven design
n Floor, invert, angle and wall - “Cancel/Continue” feature
n Sealed bearings and brushless
Intelligent Robot Solutions mounting permits versatility for - Integral 2K variable ratio
robot location and allows for AC motors
Pump Control
FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada minimal spray booth size. n Purged and pressurized cavities
3900 W. Hamlin Road (704) 596-5121 (905) 812-2300
- ACCUFLOW™ closed-loop
Rochester Hills, MI 48309-3253 n Absolute serial encoders n Designed for painting fluid control.
Chicago, IL Montréal, Canada eliminate the need for environment - Line tracking
(847) 898-6000 (450) 492-9001
calibration at power-up. - Collision detection
For sales or technical information, call:
1-800-iQ-ROBOT
Cincinnati, OH
(513) 754-2400
Aguascalientes, Mexico
52 (449) 922-8000 n Standard FANUC Robotics Software - Internet connectivity
purge control. - KAREL® programming
Los Angeles, CA Sao Paulo, Brazil Two standard software applications language
(949) 595-2700 (55) (11) 3619-0599
are available:
Process control hardware must
[email protected] Toledo, OH
fanucrobotics.com (419) 866-0788 be added separately.
©2009 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-12/09

LR Mate® and iRVision® are registered trademarks of FANUC LTD.