S-420i

Basic Description

Robotics

FANUC Robotics S-420i line of

robots is engineered for maximum
performance and reliability in the
automotive body shop and is supported by our extensive application
technology and service/parts
network. The S-420i features a
unique integrated controller, sixaxis modular construction and a
flexible, electric servo-driven
design for high-speed and heavy
payload processes.

S-420i, the Solution for:

Automotive spot welding and

body assembly

General industrial spot

welding

Material handling

Benefits

Work envelope allows processing of large fabrications

Modular robot design allows

conversion from one model to
another

Combined mechanical unit

and robot controller reduces
floor space, point-to-point
wiring and installation costs

Minimal mechanical/electrical
parts increase reliability

High motion speeds reduce

time between welds

360 Axis 1 rotation

Flexibility Features

Extension arm, heavy payload

wrist, wedge pedestal,
reduction ratio and balancer
modules allow simple robot
conversion to single point
weld, rack mount, long arm or
heavy duty types

Flexible and expandable I/O

system internal to controller

Distributed I/O blocks to

reduce wiring

Easy-to-learn and use application programming packages

Quick change electronics

cabinet reduces downtime to
less than 15 minutes

Low mass arm design allows

high-speed positioning

Proven arm design in over

13,000 S-420 robot
installations

Absolute serial encoder

positioning

Wrist axis torque and inertia

allows rated motion speed
with large guns/tools

Unique hollow RV speed

reducers simplify cable
routing

Compact remote mount

operator panel reduces aisle
and floor space requirements

Waist mounted forklift

brackets can be used for
peripheral and weld
transformer mounting

Compact arm option for close

spacing of units

Mechanical Features

Mechanical construction
provides precise positioning
and high motion speed

Direct drive on all axes results

in higher reliability and
reduced maintenance

RV speed reducers provide

smooth motion at all speeds
and a long life

Simple modular design with

few components

Sealed bearings and drives

provide protection and
improve reliability

User power/signal/air lines

internal to arm for increased
reliability

Footprint

556mm
(21.8")

Isometric

Axis 1
rotation
4-M20 for
eye bolt

440mm
(17.3")

4-DIA24 for
mounting

Easy-to-apply user multitasking programming

environment

Six-axis servo drive and

single board control
maximizes integration and
reliability
Distributed I/O blocks
eliminate costly multiconductor cables
Common SYSTEM Robot
Controller interface to PLC,
peripheral control, valve
packs, robot programs and
training increase customers'
ease-of-use
Advanced TurboMove motion
control increases throughput

Teach pendant uses menudriven, plain English

commands and processspecific, built-in functions
English commands, comments, user-defined jog
frames and consistent speed
paths make setup and programming quick and easy
Tool packages allow
positional and speed
adjustments during robot
cycles
SpotTool soft panel on teach
pendant reduces hard wired
buttons, switches and signals
lights

50

Other standard software

features include:

Alarm logging and diagnostics

Simple robot setup

Production monitoring

File utilities

Menu windows

Optional SpotWorks cell PC

graphical interface supplements controller functionality
and provides the following
features:

Cause and recovery fault

diagnostics

Three-dimensional path editor

PLC connectivity support

Weld controller network

support

Software Features

6-MI0 DEPTH20
180
DIA90 EQSP

50

60
2-I0H7
DEPTH 20
DOWEL HOLES
DIA90 EQSP

370

Built-in TCP teach utility

allows setup without special
fixturing

Mounting plate
(FANUC std)

On-line manuals

Direct PC connection on plant

network

300

48

Mounting plate
(ISO std)
6-MI0 DEPTH20
180
DIA125 EQSP

50
50

2-I0H7
DEPTH 20
DOWEL HOLES
DIA125 EQSP

300

48

Operation box
180

50
50

Options

60

300

485

Internal arm user I/O and

power wiring and air tube

Tool Frame adjustment

S-420i Product Line

Family of S-420i Robots

Ethernet and RS-232

Communications

Model

Reach

S-420iF
S-420iF
S-420iL
S-420iS
S-420iW
S-420iR
S-420iR

2.4m (7ft, 11in)

2.85m (9 ft, 4 in)
3.0m (9 ft, 9 in)
2.25m (7 ft, 5 in)
2.4m (7 ft, 11 in)
3.11m (10 ft, 2 in)
3.11m (10 ft, 2 in)

Remote TCP programming

and jogging control

Remote cabinet mounting with

7m (23 ft.) or 14m (46 ft.)
cables

CSA approval option

60

370

32mm
(1.3")

370

Stores programs in IBM

DOS format

FRONT

524mm
(20.6")

171mm
(6.7")

Controller provides easy

installation, startup,
troubleshooting and
maintenance

Control Features

284mm
(11.2")

Controller

640mm
(25.1")

578mm
(22.7")

700mm
(27.5")

Purpose
Floor mount
Floor mount
Long arm
Single point
Heavy duty
Rack std duty
Rack hvy duty

S-420i Dimensions
S-420i F/W

S-420i S

S-420i R

Top

Top

Top

R3
(1 113
22 m
.5 m
")

m
8m )
25 .9"
R2 (88

m
5m ")
40 .6
R2 (94

Top

S-420i F

2258mm
(88.9")

200mm
(7.8")

S-420i L
Top

470mm
(18.5")

2405mm
(94.6")

284mm
(11.1")

1574mm
(62.0")

470mm
(18.5")

1752mm
(68.9")

516mm
(20.3")

1000mm
(39.3")

500mm
(19.7")

500mm
(19.7")

1000mm
(39.3")

Front

313mm
(12.3")

251.5mm
(9.9")

313mm
(12.3")

600mm
(23.6")

251.5mm
(9.9")

313mm
(12.3")

251.5mm
(9.9")

+/-180

600mm
(23.6")

m
2m )
85 .3"
R2 (112

+/-180

m
1m )
00 .1"
R3 (118

Front
for S-420i F/W/L/S

2852mm
(112.3")

3001mm
(118.1")

700mm
(27.5")

470mm
(18.5")

1000mm
(39.3")

500mm
(19.7")

1000mm
(39.3")

470mm
(18.5")

500mm
(19.7")

603mm
(23.7")

603mm
(23.7")

950mm
(37.4")

180mm
(7.1")

180mm
(7.1")

950mm
(37.4")

770.7mm
(30.3")

3034mm
(119.4")
240mm
(9.4")

200mm
(7.8")

3109mm
(122.4")

240mm
(9.4")

1752mm
(68.9")

1902mm
(74.8")

600mm
(23.6")

Side

200mm
(7.8")

600mm
(23.6")

Side

600mm
(23.6")

779mm
(30.6")

950mm
(37.4")

180mm
(7.1")

950mm
(37.4")

180mm
(7.1")

600mm
(23.6")

2733mm
(107.6")

240mm
(9.4")

2808mm
(110.5")

240mm
(9.4")

240mm
(9.4")

950mm
(37.4")

755mm
(29.7")

200mm
(7.8")

1150mm
(45.2")

Side

600mm
(23.6")

Side

200mm
(7.8")

1032mm
(40.6")

1206mm
(47.4")

1300mm
(51.2")

600mm
(23.6")

313mm
(12.3")

251.5mm
(9.9")

251.5mm S-420iF
313mm
(9.9")
(12.3")
S-420iW
334mm
(13.1")

Side

600mm
(23.6")

+/-180

600mm
(23.6")

+/-180

+/-180

Scale
1/100"

Items
Maximum reach
Load capacity
Axis 1
Range
Speed
Axis 2
Range
Speed
Axis 3
Range
Speed
Axis 4
Range
Speed
Axis 5
Range
Speed
Axis 6
Range
Speed
Moments Axis 4
Axis 5
Axis 6
Load
Axis 4
Inertia
Axis 5
Axis 6
Repeatability
Mounting method
Mechanical brakes
Weight

2.40m
120kg (265 lbs)
360
100/sec
142
110/sec
135
100/sec
600
210/sec
260
150/sec
720
210/sec
60kgf m
60kgf m
30kgf m
306kgf cm sec2
306kgf cm sec2
77kgf cm sec2
0.4mm (0.016")
Upright
All axes
1500 kg (3300 lbs)

S-420i R
3.11m
100kg (220 lbs)
360
100/sec
123
100/sec
106
100/sec
600
210/sec
260
150/sec
720
210/sec
57kgf m
57kgf m
29kgf m
337kgf cm sec2
337kgf cm sec2
86kgf cm sec2
0.4mm (0.016")
Rack
All axes
1700 kg (3740 lbs)

S-420i F
2.85m
120kg (265 lbs)
360
90/sec
142
100/sec
135
90/sec
600
210/sec
260
150/sec
720
210/sec
60kgf m
60kgf m
30kgf m
306kgf cm sec2
306kgf cm sec2
77kgf cm sec2
0.4mm (0.016")
Upright
All axes
1600 kg (3520 lbs)

S-420i R
3.11m
120kg (265 lbs)
360
90/sec
123
90/sec
106
90/sec
600
210/sec
260
150/sec
720
210/sec
60kgf m
60kgf m
30kgf m
306kgf cm sec2
306kgf cm sec2
77kgf cm sec2
0.4mm (0.016")
Rack
All axes
1700 kg (3740 lbs)

S-420i F
3.0m
120kg (265 lbs)
360
90/sec
142
110/sec
135
75/sec
600
210/sec
260
150/sec
720
210/sec
60kgf m
60kgf m
30kgf m
306kgf cm sec2
306kgf cm sec2
77kgf cm sec2
0.4mm (0.016")
Upright
All axes
1600 kg (3520 lbs)

S-420i R
3.11m
155kg (342 lbs)
360
90/sec
123
100/sec
106
75/sec
600
140/sec
260
110/sec
720
140/sec
86kgf m
86kgf m
50kgf m
486kgf cm sec2
486kgf cm sec2
164kgf cm sec2
0.4mm (0.016")
Rack
All axes
1700 kg (3740 lbs)

S-420i L

S-420i S

3.00m
75kg (165 lbs)
360
100/sec
142
110/sec
135
100/sec
600
210/sec
260
150/sec
720
210/sec
53kgf m
53kgf m
27kgf m
387kgf cm sec2
387kgf cm sec2
104kgf cm sec2
0.4mm (0.016")
Upright
All axes
1600 kg (3520 lbs)

2.25m
80kg (176 lbs)
360
70/sec
142
110/sec
135
100/sec
480
210/sec
260
150/sec
720
210/sec
54kgf m
54kgf m
28kgf m
376kgf cm sec2
376kgf cm sec2
100kgf cm sec2
0.4mm (0.016")
Upright
All axes
1500 kg (3300 lbs)

S-420i W
2.40m
155kg (342 lbs)
360
90/sec
142
100/sec
135
75/sec
600
140/sec
260
110/sec
720
140/sec
86kgf m
86kgf m
50kgf m
486kgf cm sec2
486kgf cm sec2
164kgf cm sec2
0.4mm (0.016")
Upright
All axes
1500 kg (3300 lbs)

S-420i W

S-420i W

2.85m
155kg (342 lbs)
360
90/sec
142
100/sec
135
75/sec
600
140/sec
260
110/sec
720
140/sec
86kgf m
86kgf m
50kgf m
486kgf cm sec2
486kgf cm sec2
164kgf cm sec2
0.4mm (0.016")
Upright
All axes
1600 kg (3520 lbs)

2.40m
175kg (386 lbs)
360
90/sec
142
100/sec
135
75/sec
600
140/sec
260
110/sec
720
140/sec
90kgf m
90kgf m
52kgf m
472kgf cm sec2
472kgf cm sec2
158kgf cm sec2
0.4mm (0.016")
Upright
All axes
1500 kg (3300 lbs)

FANUC Robotics offers complete

S-420i application dressout featuring:

Maintainability

Reliability

Unique configurations

FANUC Robotics North America

3900 W. Hamlin Road
Rochester Hills, MI 48309-3253
Phone (248) 377-7000
Fax (248) 276-4133

Charlotte, NC
Phone (704) 596-5121

Toronto, Canada
Phone (905) 812-2300

Chicago, IL
Phone (847) 898-6000

Montral, Qubec
Phone (450) 492-9001

Literature Request
1-800-47-ROBOT

Cincinnati, OH
Phone (513) 754-2400

Mexico City, Mexico

Phone 52 (5) 611-5998

Los Angeles, CA
Phone (949) 595-2700

Aguascalientes, Mexico
Phone 52 (49) 10-8000

Toledo, OH
Phone (419) 866-0788

Sao Paulo, Brazil

Phone (55)(11) 3955-0599

web page: http:/ /www.fanucrobotics.com

1999 FANUC Robotics North America, Inc. All rights reserved.
FRNA-11/9-DS-052

FANUC ROBOTICS

LITHO IN U.S.A.

1994 FANUC Robotics

Maximum reach
Load capacity
Axis 1
Range
Speed
Axis 2
Range
Speed
Axis 3
Range
Speed
Axis 4
Range
Speed
Axis 5
Range
Speed
Axis 6
Range
Speed
Moments Axis 4
Axis 5
Axis 6
Load
Axis 4
Inertia
Axis 5
Axis 6
Repeatability
Mounting method
Mechanical brakes
Weight

S-420i F

FANUC
Robotics
North

Items

Robotics

S-420i Specifications