M-420iA/M-421iA
™
Basic Description
The M-420iA series is FANUC
Robotics’ latest-generation, highperformance, high-speed family of
industrial robots. Based on a simple
and reliable design, the M-420iA
and M-421iA provide sophisticated
motion control and consistent
performance with high productivity.
The series is supported by the
intelligent robot control system.
The M-420iA is a four-axis, modular
construction, electric servo-driven
robot designed for high-speed case
packing and material handling
applications. The M-421iA is a twoaxis variant designed for the highspeed top-loading packing market.
M-420iA/M-421iA, the
Solution for:
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High-speed packaging
High-speed palletizing
Machine loading
Mechanical assembly
Benefits
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Features highest motion speeds
in its class for maximum
performance and productivity.
Highest payload in its class helps
achieve maximum throughput by
handling multiple parts.
Four-axis dexterity enables
access to multiple packaging
lines with one unit.
Additional auxiliary amplifiers
available in the robot controller
offer ability to control complete
high-speed packaging line
with robot controller.
FANUC’s iRVision™ (Integrated
Robot Vision) Option for Visual
Line Tracking provides an
integrated vision based solution
for locating randomly-oriented
product on a moving line for
robotic picking and packing
operations.
Features
Options
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M-420iA - 4 axes of motion,
40 kg capacity.
M-421iA - 2 axes of motion, 50 kg
capacity. Waist and wrist rotation
removed from four-axis unit.
iPendant™, a color, Internetready teach pendant for even
easier programming and custom
cell user interface design.
Large work envelope with 1855
mm horizontal reach developed
around packaging applications.
Repeatability of +/- 0.5 mm
at full speed and full payload
within entire work envelope.
Linear motion speeds up to
4200 mm/sec.
Dedicated pneumatic and
electrical (8 digital inputs/8 digital
outputs) connections at wrist to
simplify user’s end-of-arm tooling
design and integration.
Material handling style teach
pendant with large LCD screen
and ergonomic design offers
intuitive control over automated
process.
Sealed bearings and brushless
AC motor drives provide
protection and improve reliability.
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M-420iA high-speed wrist option,
J4 wrist speed increases from
350 to 720 degrees/sec. for
applications that require highspeed wrist motions. Maximum
payload decreases from 40 kg to
30 kg.
iPendant is also available
with touch screen support.
Various robot connection
cable lengths for flexible cabinet
placement and optional track
rated cables.
A cleanable unit coated with
white polyurethane to meet
requirements in typical
secondary food packaging
applications.
Monochrome pendant available.
FANUC’s iRVision system
delivers high performance
2-D and 3-D machine vision
capabilities with FANUC
reliability. Additional option
for Error Proofing can provide
integrated vision based
capabilities to check for product
completeness before product is
packaged or further operations
are performed.
M-420iA Dimensions
Footprint
Wrist
Isometric
+0.015
585
190
2-dia. 8 0
depth 15
eq. sp.
on dia. 100
bolt circle
190
220
272 240
6-M8 depth 16
eq. sp. on dia.
100 bolt circle
J3
J2
600
544
FRONT
240
40°
(0,0)
J4
24.0 DIA. THRU &
38.0 DIA. C'BORE 4.0 DP.
(4) MOUNTING HOLES
J1
Top
160°
R533.9
0°
1148.2
1633.2
R1855.5
-160°
368.6
223
800
130
176
180
HEXAHEDRAL
OPERATION
AREA
800
699.5 REAR
SIDE
INTERFERENCE
AREA
1812.3 TOP SIDE
INTERFERENCE
AREA
700 1000
1461
650
(0,0)
Front
Side
180
780
1000
Note: Dimensions are shown in millimeters.
Detailed CAD data are available upon request.
1850
M-421iA Dimensions
Footprint
Wrist
Isometric
525
+0.015
2-dia. 8 0
depth 15
eq. sp.
on dia. 100
bolt circle
295
190
190
M24 DIA. THRU &
38.0 DIA C'BORE 4.0 DP.
(4) MOUNTING HOLES
240
6-M8 depth 16
eq. sp. on dia.
100 bolt circle
575
FRONT
40°
240
(0,0)
Top
533
533
1855.5
368.6
223
176.2
800
1552.3 TOP SIDE
INTERFERENCE AREA
125
HEXADEDRAL
OPERATION
AREA
1190
700
390
(0,0)
699.5 REAR SIDE
INTERFERENCE AREA
Front
180
Side
780
1000
1850
Note: Dimensions are shown in millimeters.
Detailed CAD data are available upon request.
1000
1461
High-Speed Material Handling
High-Speed Packaging
High-Speed Mini-Palletizing
M-420iA/M-421iA Specifications
Items
M-420iA
M-421iA
Axes
4
2
Payload - Wrist (kg)
40
50
- High-Speed Wrist (kg)
30
-
10
10
Reach (mm)
- J3 Arm (kg)
1855
1855
Repeatability (mm)
±0.5
±0.5
Interference radius (mm)
543
-
Motion range
(degrees)
J1
320
-
J2
115
115
J3
110
110
J4
540
-
J1
180
-
J2
200
200
J3
200
200
J4
350
-
Motion speed
(degrees/s)
High-Speed
Wrist moment
N-m (kgf-m)
High-Speed
Wrist inertia
(kg-m2)
J4
720
-
J4
98 (10)
98 (10)
J4
68.6 (7)
-
J4
2.6
2.6
All axes
620
Mechanical brakes
Mechanical weight (kg)
Mounting method
Fastest cycle times in its class:
500
400
90
125
600
80 Cycles/Minute
10 kg Payload
50 Cycles/Minute
30 kg Payload
Intelligent Robot Solutions
FANUC Robotics America, Inc.
3900 W. Hamlin Road
Rochester Hills, MI 48309-3253
(248) 377-7000
Fax (248) 377-7362
Charlotte, NC
(704) 596-5121
Toronto, Canada
(905) 812-2300
Chicago, IL
(847) 898-6000
Montréal, Canada
(450) 492-9001
All axes
For sales or technical information, call:
520
1-800-iQ-ROBOT • 1-800-47-ROBOT
Cincinnati, OH
(513) 754-2400
Aguascalientes, Mexico
52 (449) 922-8000
Los Angeles, CA
(949) 595-2700
Sao Paulo, Brazil
(55) (11) 3619-0599
Floor
Installation environment:
Ambient temperature °C
Humidity
Vibration (m/s2)
0 to 45
Normally: 75% or less
Short term (within a month): 95% or less
No condensation (No dew or frost allowed)
4.9 or less
[email protected]
fanucrobotics.com
©2007 FANUC Robotics America, Inc.
Toledo, OH
(419) 866-0788
All rights reserved.
FANUC ROBOTICS
LITHO IN U.S.A. FRA-4/07