CR-4iA_CR-7iA_linebuilder_[A-97606-3023][EN03]

2017 2017..03. 03.13 3rd Edition

Smal mal l Co Co l l ab o rat rat i ve Ro b o t FANUC Ro b o t CR-4i A, 7i A, 7i A/L A/L

FANUC ANU C CORPORA CORP ORATIO TION N

Export Control:  Controlled (Related item No. of Foreign Exchange Order Attachment List of Japan: Non-controlled for item No. 2 to 15 of  Non-controlled

)

2017 2017..03. 03.13 3rd Edition

Small Collabora Collabor ative tiv e Rob Robot ot Three additional models in the collaborative robot product line

CR-4i A Max. load capacity Reach Maximum Speed

CR-7i A

CR-7i A/L A /L

CR-35i A

4kg

7kg

7kg

35kg

550mm

717mm

911mm

1813mm

Collaborative mode

500mm/s

250mm/s

High speed mode

1000mm/s

750mm/s

2017.03.13 3rd Edition

Collaborative Robot Green Collaborative Robot enables the collaboration with human operators with no safety fences A

Workspace Sharing A robot can keep in operation even close to human operators.

Traditional Robot

No safety fences

B

Collaborative Operation Collaborative assembly while a robot holds a part

Collaborative Robot


Safety Function Three safety functions enable the collaborative operation with a human operator with no safety fences

Contact Stop

Push to Escape

Retract Motion

The robot stops sensitively when an operator contacts at any portion of the robot.

The robot can be moved away by operator’s pushing its arm.

The robot can retract immediately when it contacts hard objects in order to minimize a pinching force.

Push J 2 Retract

Stop

Push J 1


Safety Certification Small collaborative robot is certified to meet the safety requirement using DCS(Dual Check Safety) of force monitoring.

• ISO 10218-1:2011 (Equivalent to JIS B8433-1) • EN ISO 13849-1:2015 (Category 3, PL=d)


High Speed Mode High speed motion is available with a safety sensor (Prepared by customers).

Safety Sensor （Prepared by customers ）

Collaborative Mode

High Speed Mode

Maximum 500mm/s

Maximum 1000mm/s is available


Application Examples

Handcart

Gear Assembly （Relocation by handcart easily）

Apply Adhesive to Windshield (Up-side Down)


Specifications Item Controlled axes Reach Installation Note1) J1 axis rotation J2 axis rotation J3 axis rotation Motion range J4 axis wrist rotation J5 axis wrist swing J6 axis wrist rotation Max. load capacity at wrist Note 2) Max. load capacity on J3 housing Note 2) Maximum speed Note 3) J4 axis Allowable load J5 axis moment at wrist J6 axis J4 axis Allowable load J5 axis inertia at wrist J6 axis Repeatability Mass Note 5) Dust proof and drip proof mechanism Acoustic noise level Input power source capacity Average power consumption Installation environment

CR-4i A 550 mm 340º 5.93 rad 150º 2.61 rad 354º 6.17 rad 380º 6.63 rad 200º 3.49 rad 720º 12.57 rad 4 kg 1 kg 8.86 N·m 8.86 N·m 4.90 N·m 0.20 kg·m2 0.20 kg·m2 0.067 kg·m2 ± 0.02 mm 48 kg

CR-7i A 6 axes (J1, J2, J3, J4, J5, J6) 717 mm Floor, Upside-down, Wall 340º 5.93 rad 166º 2.89 rad 373º 6.51 rad 380º 6.63 rad 240º 4.18 rad 720º 12.57 rad 7 kg 1 kg 500 mm/s (Max 1000 mm/s Note 4) 16.6 N·m 16.6 N·m 9.4 N·m 0.47 kg·m2 0.47 kg·m2 0.15 kg·m2 ± 0.02 mm 53 kg Conform to IP67 64.7dB 1.2kVA 0.5kW

CR-7i A/L 911 mm 340º 5.93 rad 166º 2.89 rad 383º 6.68 rad 380º 6.63 rad 240º 4.18 rad 720º 12.57 rad 7 kg 1 kg 16.6 N·m 16.6 N·m 9.4 N·m 0.47 kg·m2 0.47 kg·m2 0.15 kg·m2 ± 0.03 mm 55 kg

Ambient temperature : 0~45℃ Ambient humidity : Normally 75%RH or less (No dew, nor frost allowed) Short term Max. 95%RH or less (within one month) Vibration acceleration : 4.9 m/s 2 (0.5G) or less

Note 1) In case of the wall mount, the operation space will be restricted according with the payload. Note 2) A total weight including the equipment and connection cables and its swing must not exceed this value when yo u install the equipment. Note 3) During short distance motions, the speed may not reach the maximum value stated. Note 4) If the area is monitored by a safety sensor (located separately). Note 5) Without controller.


Operating Space and Dimension CR-4i A R

R 2 3 0 5 5 0

-170DEG -180DEG (OPTION) +180DEG (OPTION) +170DEG

0DEG

(0,+880) (+30,+558) 70

190

290

(-156,+719) 0 2

(-486,+588) 0 6 2

(+550,+330)

(+230,+330)

(+122,+135) (+122,+96)

(-398,+199)

7 5 4

(+259,+62) 7 2 1

235

(0,0)


Operating Space and Dimension CR-7i A R

7 1 7

R 3 4 7

-170DEG -180DEG (OPTION) +180DEG (OPTION)

0DEG

+170DEG

(+50,+997) 235

80

227

335 (+43,+627)

50 (-94,+762)

5 3

(-559,+601) 0 3 3

(+717,+330)

(+347,+330)

(+191,+68)

7 5 4

(-367,+148)

(+191,-9) (+325,-64)

7 2 1


Operating Space and Dimension CR-7i A/L R 4 0 5

R 9 11

-170DEG -180DEG (OPTION) +180DEG (OPTION)

0DEG

+170DEG

(+50,+1191)

235 227

80

420

50 (-162,+885) 5 3

(-734,+686)

(+31,+684) 0 4 4

(+911,+330) (+405,+330)

7 5 4

(+191,+5) (+191,-50) 235

(+483,-168)

7 2 1

(0,0)

(-505,+116)


Wrist Interface CR-4i A

USER TAP ユーザタップ 2-M3 深さ5 DEPTH

5 2 0 . 0 0 -

1 2 0 . 0 0 +

14.5

70 3

7 H 0 2

O

4 5 °

7 h 0 4

O5H7 深さ7

DEPTH

O

O

( 70 )

14.5

USER TAP ユーザタップ 2-M3 深さ5 DEPTH

3 1. 5

8 2

8 2

6 5

6 5

6 手首回転中心 WRIST ROTATION CENTER

4-M5 深さ8 周上等配 DEPTH EQ.SP

CR-7i A, 7 i A/L USER TAP ユーザタップ 2-M3 深さ5 DEPTH 5 . 5 2

18

1 2 0 . 0 0 +

80

5 2 0 . 0 0 -

7 7 h H 0 4 0 2

4.5

O5H7 深さ7 DEPTH 4 5 °

O O

1 5

O

5 . 3 1

( 80 )

18

USER TAP ユーザタップ 2-M3 深さ5 DEPTH 5 . 5 2

1 5

3 手首回転中心 WRIST ROTATION CENTER

4-M5 深さ8 周上等配 DEPTH EQ.SP

Figure is example with J6-axis reducer bolt cover (A05B-1142-J001) User tap(2-M3) is for piping and wiring to the end


Wrist load diagram  

Apply a load within the region indicated in the graph. Apply the conditions of the allowable load moment and the allowable load inertia. See “Specifications” about the allowable load moment and the allowable load inertia. CR-7i A, 7i A/L

CR-4i A

Z (cm) 65

Z (cm) 40 60.5

1kg

37.7 35

60

1kg

55 50

30

45

24.5

25 2kg

40.4

40 2kg

18.6 15.1

35

20

15

3kg

31.5

4kg

26.1

30

3kg

25

22.5

10

19.7 16.2

5kg

20

4kg

6kg

7kg 15

5 10

X,Y (cm) m c 7

5

10

15 5 . 6 . 2 4 1 1

20 1 . 8 1

25 8 . 5 2

5

30

5 m c 8

10

15

20

7 . 0 . 4 . 1 . 2 . 7 9 2 3 5 1 1 1 1 2

25

30 3 . 7 2

35

40 7 . 8 3

X,Y (cm)


Dimensions for devices CR-4i A

2-M6 深さ10 DEPTH 2 2

2 2

2-M8 深さ16 DEPTH （マスタリング治具用）（FOR MASTERING FIXTURE）

55 機器取付面範囲 MOUNTING SURFACE AREA 3 7

2-M6 深さ10 DEPTH

2-M6 深さ10 DEPTH

本タップ使用不可 DO NOT USE THESE TAPS

8 1 3

48

26

7 7 2

80.5 80

8 1 3

本タップ使用不可

26

48


Dimensions for devices 93

CR-7i A, 7 i A/L

76.5

50

2-M6 深さ9 DEPTH

9 3

6 4

6 4

機器取付面範囲 MOUNTING SURFACE AREA 35

5 4

2-M8 深さ16 DEPTH (マスタリング治具用) (FOR MASTERING FIXTURE)

88.5

1 5

2-M6 深さ10 DEPTH

6 1 3

41

本タップ使用不可 DO NOT USE THESE TAPS

33

8 7 2

100

2-M6 深さ10 DEPTH

6 1 3

33

99 本タップ使用不可

41


EE, Air, Sensor interface CR-4i A

J3 air interface RO3

Screw size : M5

RO1


RO2

Double solenoid valve x 1 Double solenoid valve x 2 J3 signal interface

J1 interface

J3 signal interface

EE

EE

CAUTION Please cover the unused connector and air port reliably by a metal cap (option) and a plug. If the covering is loose, unexpected substances will enter into the robot and cause any troubles. At ex-factory, the interfaces are c overed by easy caps in order to avoid dust during transportation. Please keep in mind that the cap doesn’t work enough as a protect means in factory environment.

Camera

Ethernet (M12 D-coded female）

EE, Camera

EE, Ethernet


EE, Air, Sensor interface CR-7i A, 7 i A/L


RO3

Screw size : M5

RO1

J3 air interface

RO6

RO4

RO2

Double solenoid valve x 1 Double solenoid valve x 2

J3 signal interface

J1 interface

J3 signal interface Force sensor

EE

CAUTION Please cover the unused connector and air port reliably by a metal cap (option) and a plug. If the covering is loose, unexpected substances will enter into the robot and cause any troubles. At ex-factory, the interfaces are c overed by easy caps in order to avoid dust during transportation. Please keep in mind that the cap doesn’t work enough as a protect means in factory environment.

EE

Camera

Ethernet

(M12 D-coded female）

EE, Camera, Force sensor

EE, Ethernet


EE, Air, Sensor interface CR-4i A, 7 i A, 7 i A/L J1 interface

AIR2

Ethernet

AIR2

(M12 D-coded female）

(for solenoid valve)


Camera Camera

AIR2

Force sensor


Port size Rc1/4

Port size Rc1/4

Backside connector / CAM(color/high-reso.) / RI6RO2(EE12P) / No user AIR

Backside connector / CAM(color/high-reso.) / FS / RI6RO2(EE12P) / No user AIR

Por t size Rc1/4 Backside connector Ethernet/ RI6RO2(EE12P) / No user AIR


Transportation using a crane CR-4i A

5 1

16

232 200

4

4 -

O 1

7 7 2 9 3 2

Transport posture 輸送姿勢

クレーン Crane クレーン Crane 可搬質量 : 100kg 以上 Crane capacity : 100kgor more

J1： 0° J2：-20° J3：-24° J4： 0° J5：-66° J6： 0°

スリング Sling 可搬質量 : 100kg 以上 Sling capacity : 100kgor more

スリング Sling

Shackle シャックル

Robot float 3mm from the installation輸送部材取付け時、 surface when ロボットが設置面から3mm installing transport equipment. 浮いた状態になります。

3

163.5

163.5

Note) 注） 1. Mechanical unit mass: 48kg 1. 機構部質量：48kg 2. Shackle complied with JIS B 2801.

2. シャックル JIS B 2801に準ずるものを使用

224

193


Transportation using a crane CR-7i A

CR-7i A/L

232 16

232 5 1

7 2 3

16

200 4 -

1 4

O

7 2 3

7 9 2


4 -

Crane クレーン可搬質量 : 1 00kg 以上 Crane capacity : 100kgor more Sling スリング可搬質量 : 100kg 以上 Sling capacity : 100kgor more

O 1 4

7 9 2


クレーン Crane

J1： 0° J2：-35° J3： -7° J4： 0° J5：-83° J6： 0°

200

5 1

Crane クレーン

J1： 0° J2：-30° J3：-15° J4： 0° J5：-75° J6： 0°

Crane クレーン Crane capacity : 100kgor more 可搬質量 : 100kg 以上スリング Sling

Sling スリング Sling可搬質量 capacity: 100kg : 100kgor 以上 more

スリング Sling

1 3 9

シャックル Shackle 7 1 8

Robot float輸送部材取付け時、 3mm from the installationロボットが設置面から3mm surface when installing transport equipment. 浮いた状態になります。

Robot float 3mm from the 輸送部材取付け時、 installation surface when ロボットが設置面から3mm installing浮いた状態になります。 transport equipment. 3

Note)

注）

シャックル Shackle

3

163.5

163.5

1. Mechanical unit mass: 53kg 機構部質量：53kg 2.1.Shackle complied with JIS B 2801. シャックルShackle:4 JIS B 2801に準ずるものを使用 3.2. Quantity Sling:4

3. 使用数シャックル：4 スリング：4

240

163.5

191

163.5

Note)

注）

1. Mechanical unit mass: 55kg 1. 2. 機構部質量：55kg Shackle complied with JIS B 2801. 2. JIS B 2801に準ずるものを使用 3. シャックル Quantity Shackle:4 Sling:4

使用数シャックル：4 スリング：4

288

245


Caution in transportation

Special transport equipment

Do not remove the bolts of a portion surrounded by a red frame.

Special skid









Please be sure to use the special transport equipment and skid during transportation. Please do not use other skids during transportation. Please do not dispose and store this skid, it is necessary during transportation. During transportation, hook the lashing belt on the skid. Do not hook the lashing belt directly on the robot and the transport equipment.







When hoisting or lowering the robot with a crane, move it slowly with great care. When placing the robot on the floor, exercise care to prevent the installation surface of the robot from striking the floor strongly. When hoisting or lowering the robot, be sure to perform it robot only. Do not hoisting or lowering the robot with a pedestal or an installation plate and skid for transportation.

Insert the board of filling under the robot at installing or removing transport equipment.

Note) If t hese cautions are not f ollow ed, internal sensor might break.


Robot Base Diagram CR-4i A, 7 i A, 7 i A/L

2 2

ロボット正面 Robot Front Front

2 2

212 180 235

106 6-O14 Through

90

貫通

117.5

Locating surfaces

突き当て面

5 . 4 2 1

3 1 1 7 9

6 1 1

2 3 2

5 . 6 9 2

4 7 2

J1-axis rotation center

J1軸回転中心

22 12

44

12 117.5

24

24

37 127

235

Sensor unit weight: 28kg


Installation •

•

•

Arrange the Installation plate or the pedestal for delivering high performance. Flatness of robot installation surface must be less than or equal to 0.15mm. Thickness of robot installation surface plate must be larger than or equal to 30mm. (Material is steel) If the installation plate is fixed to the floor directly, flatness of the floor must be less than or equal to 0.5mm. The robot can not deliver the high performance if its installed area was not flat enough after installation on the floor. If there is a gaps between the installation plate and the floor, fill it up with shim (spacer) so that the installation plate is not warped. Please install the robot carefully using the special transport equipment in order to prevent it from being shocked. 280 240 212 180

Example of Installation plate 4-O18 貫通 THROUGH 座繰りO26 深さ17.5 COUNTER BORE DEPTH

88

( ) 4-O10H7 深さ10 DEPTH

122.5 120 106 90 88

r 0.15

6-M12 貫通 THROUGH

3 1 1 7 9

ロボット正面 ROBOT FRONT

4 7 2

5 . 7 9 2 2 5 1 1 9

3 4

ロボット設置面 ROBOT INSTALL SURFACE 5 5 8 2 2 3

J1軸回転中心 J1-AXIS ROTATION CENTER 0 1 C

12

12

ロボットベース

30


Outer dimension of Controller R-30iB Mate Controller for CR-4i A, 7 i A, 7 i A/L

Aux. axis cabinet


Restriction of Order Controller • R-30iB Mate controller has no safety I/O on the main board, so when you use safety signals with the scanner sensor etc., please order the additional safety I/O board together. • Only single phase 200V is selectable, 3 phase and Open air type are not supported.

Software • Collaborative robot cannot correspond to Touch skip function (J921). • This robot cannot correspond to the Arc motion, Circle Arc motion and SoftFloat.

CR-4iA_CR-7iA_linebuilder_[A-97606-3023][EN03]

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