Advanced Intelligent Robot
Intelligent Robot
FEATURES
● Vision sensor and force sensor with the FANUC robots realize
highly automated manufacturing systems in assembling and
machining areas.
● Vision sensor can be applied to bin-picking automation.
● Intelligent robot eliminates peripheral equipment conventionally
required for part-positioning and rearrangement, and reduces
total cost of your system.
● Force control function with the force sensor automates high
precision insertion of parts with sensitive control of force applied
to a robot end effector.
● Intelligent robot promotes robotization of deburring and polishing
by contouring motion with specified pushing force.
● Robot accuracy enhancement product suites improve robot’ s
positioning accuracy and enhance productive utilization of offline
programming system for an actual robot.
Application Examples
Visual tracking
Bin picking Visual inspection after assembling
Precise assembling
Dimension check of holes
of small parts
（Gage insertion by force control） Force controlled deburring
Integrated Robot Vision iRVision®
System Configuration and Setup of iRVision
iRVision function and a dedicated camera port are integrated in the robot controller.
The function can easily be set up with graphical user interface on iPendant.
iPendant can also serve as a runtime monitoring screen.
Main CPU
iPendant R-30iB Plus
Camera I/F
Key Functions
2D single-/multi-view vision process function Depalletizing vision process function
Allows the robot to locate a large rigid object precisely Allows a single camera to estimate Z height of each
by combining the results from multiple snapped images. palletized part using the scale information on an image,
and outputs X, Y, Z and rotation detected.
Fixed Cameras Robot-mounted Camera
3D single-/multi-view vision process function Bin picking function
Allows the robot to detect 3D position and posture of a Allows the robot to pick randomly piled objects by the
target object to recognize a large part by multi-view sensor measurement along with avoiding interference.
measurement and to conduct tool offset for gripping errors.
Multi-view Measurement Tool Offset
Visual tracking function (iRPickTool) Anti-Defect vision process function
Allows the robot to track objects on moving linear/circular Allows robotized automation to carry out error-proofing
conveyors. Dynamic load balancing among multiple robots and flaw detection.
is also available.
2
Integrated Robot Vision iRVision®
Specifications
2D Camera Image Type Grayscale / Color
LED Light for 2D Detection Red / White / None
Image Resolution Grayscale：1280×1024 / Color：640×512
Focal Length [mm] 8 / 12 / 16 / 25
Outer Dimension [mm] 80×131.8×74
Mass [kg] 0.6
3D Laser Vision Sensor Measurement Method 3D measurement with structured laser slit beams
Measurement Range [mm] 219×175×100
LED Light for 2D Detection Red / None
Outer Dimension [mm] 187.6×145.8×88.7
Mass [kg] 0.8
3D Vision Sensor Measurement Method 3D measurement with a single pattern light
3DV/400, 3DV/600
Maximum 3D Points 1104×950
3DV/400: 268×262×500
Measurement Range [mm]
3DV/600: 575×499×500
LED Light for 2D Detection Blue
Outer Dimension [mm] 154×133×51
Mass [kg] 1.1
3D Vision Sensor Measurement Method 3D measurement with a single pattern light
3DV/1600
Maximum 3D Points 2208×1920
Measurement Range [mm] 1280×1200× 2000
LED Light for 2D Detection Blue
Outer Dimension [mm] 234 × 198.2 × 70
Mass [kg] 3.2
Common Specifications LED Power Supply R-30iB Plus Integrated
Operating Temperature [℃] 0 to 45
Protection Class IP67
Robot Mountable Yes
Connectable Number Up to 27
3
Force Sensor
Key Functions
¡Detects both force and torque applied to a robot end effecter in
Fx, Fy, Fz, Mx, My and Mz simultaneously.
¡Realizes H7/h7 JIS tolerance insertion. Force Sensor
¡Robotizes various application requiring an intentional contact
Mx
of two objects, such as face matching and contouring. Fy
Precise Insertion Face matching / Constant pushing Fx My
Fz
Mz
Part Mass measurement in motion
Force Sensor
（Raw material grinding with belt sander）
Insertion with position searching
and phase matching Contouring
Thread fastening
screw
Auxiliary axis
（thread fastening with torque control）
* Force control performance of a robot depends on the robot type, gripper design/weight,
parts shape/weight to be handled as well as parts fixing method. The feasibility and applicability of a force sensor
should be determined through testing with the actual production conditions.
Specifications
for a mini robot for a mini robot for a small robot for a medium robot for a large robot
（3-axis）
FS-15iAe FS-15iA FS-40iA FS-100iA FS-250iA
Specifications
Specification
Items
FS-15iAe FS-15iA FS-40iA FS-100iA FS-250iA
Dimensions φ90 × 36 mm φ94 × 43 mm φ105 × 47 mm φ155 × 59 mm φ198 × 85 mm
Mass 0.31 kg 0.57 kg 0.87 kg 3.2 kg 6.9 kg
Fx, Fy, Fz 147 N （Fz） 147 N 392 N 980 N 2500 N
Rated load
Mx, My, Mz 11.8 Nm （Mx,My） 11.8 Nm 39.2 Nm 156 Nm 500 Nm
Static Fx, Fy, Fz 1570 N （Fz） 1570 N 3920 N 9800 N 25000 N
overload Mx, My, Mz 125 Nm （Mx, My） 125 Nm 392 Nm 1560 Nm 5000 Nm
Fx, Fy, Fz 0.39 N （Fz） 0.39 N 1.0 N 2.0 N 4.9 N
Resolution
Mx, My, Mz 0.016 Nm （Mx, My） 0.016 Nm 0.029 Nm 0.08 Nm 0.25 Nm
Accuracy 3% or less 2% or less of the rated load
Applicable robot M-1iA, M-3iA, LR Mate 200iD, M-10iA M-20iA, M-20iB M-710iC R-2000iC
Operating Temperature 0 to 45℃
Protection Class IP67
* A part of the above list includes design specifications.
4
Robot Accuracy Product Suites iRCalibration®
Outline
Functions to improve robot accuracy using the integrated vision
iRCalibration Outline
Vision Mastering Robot positioning accuracy improvement
Vision Axis Master Automatic one-axis mastering with vision
Vision TCP Set Automatic setting of a tool center point
Vision Frame Set Automatic setting of a user frame
Vision Multi-Cal Automatic calibration of a multi-arm system
Vision Shift Man-hours reduction for robot teaching
Mastering condition recovery after maintenance
Mastering Recovery
operation as mechanical part replacement
Key Functions
Vision Mastering Vision TCP Set
The function calibrates the robot mechanics. It improves The function allows you to set a tool frame automatically
the positioning accuracy of a robot, contributing to an which was conventionally done by manual operation of the
accuracy improvement of TCP setting, vision application robot. It helps to set TCP accurately.
and easy utilization of offline programs.
Vision Shift / Vision Frame Set Vision Multi-Cal
Reference point
The function guides the robot to measure reference points The function calibrates relations between multi-group
on a part or its fixture automatically and adjusts robots which are under coordinated control. Both two-arm
programmed points. It helps to save both time and configuration and one-arm and one-positioner configuration
manpower for robot system relocation and offline program are supported. It helps to improve the coordinated motion
utilization. accuracy.
It can also be used to set a user frame automatically by
the measured reference points data.
5
Basic Configurations
iRVision ®
iPendant
Camera Package
3D Laser Vision Sensor R-30iB Plus
3D Vision Sensor
Force Sensor iPendant
Force Sensor
R-30iB Plus
iRCalibration ®
iPendant
USB Camera
（Temporary usage during
measurement） R-30iB Plus
＊ iRVision® is a registered trade mark of FANUC CORPORATION
Headquarters Oshino-mura, Yamanashi 401-0597, Japan
Phone: 81-555-84-5555 Fax: 81-555-84-5512 [Link]
●Overseas Affiliated Companies
FANUC America Corporation 3900 West Hamlin Road, Rochester Hills, MI 48309-3253, U.S.A. Phone: 1-248-377-7000 Fax: 1-855-774-7051
FANUC Europe Corporation, S.A. 7, rue Benedikt Zender, L-6468 Echternach, Grand-Duché de Luxembourg Phone: 352-727777-1 Fax: 352-727777-403
SHANGHAI-FANUC Robotics CO., LTD. No. 1500 Fulian Road, Baoshan Area, Shanghai, China Phone: 86-21-5032-7700 Fax: 86-21-5032-7711
KOREA FANUC CORPORATION 101, Wanam-ro(st), Seongsan-gu, Changwon-si, Gyeongsangnam-do, 642-290 Republic of Korea Phone: 82-55-278-1200 Fax: 82-55-284-9826
TAIWAN FANUC CORPORATION No.10, 16th Road, Taichung Industrial Park, Taichung, Taiwan Phone: 886-4-2359-0522 Fax: 886-4-2359-0771
FANUC INDIA PRIVATE LIMITED 41-A, Electronics City, Bangalore, 560 100, India Phone: 91-80-2852-0057 Fax: 91-80-2852-0051
FANUC SINGAPORE PTE. LTD. No.1 Teban Gardens Crescent, Singapore 608919, Singapore Phone: 65-6567-8566 Fax: 65-6566-5937
FANUC THAI LIMITED 1301 Pattanakarn Road, Kwaeng Suanluang, Khet Suanluang, Bangkok 10250 Thailand Phone: 66-2-714-6111 Fax: 66-2-714-6120
FANUC MECHATRONICS (MALAYSIA) SDN. BHD. No.32, Jalan Pengacara U1/48, Temasya Industrial Park, Section U1, Glenmarie,
40150 Shah Alam, Selangor Darul Ehsan, Malaysia Phone: 60-3-7628-0110 Fax: 60-3-7628-0220
PT. FANUC INDONESIA JL. Boulevard Bukit Gading Raya Blok R, Jakarta 14240 Indonesia Phone: 62-21-4584-7285 Fax: 62-21-4584-7288
FANUC OCEANIA PTY. LIMITED 10 Healey Circuit, Huntingwood, NSW 2148, Australia Phone: 61-2-8822-4600 Fax: 61-2-8822-4666
FANUC SOUTH AFRICA (PROPRIETARY) LIMITED 17 Loper Ave. Aeroport Industrial Ests, Spartan Ext.2 [Link] 219, Isando 1600, Republic of South Africa Phone: 27-11-392-3610 Fax: 27-11-392-3615
●All specifications are subject to change without notice.
●No part of this catalog may be reproduced in any form.
●The products in this catalog are controlled based on Japan's“Foreign Exchange and Foreign Trade Law". The
export from Japan may be subject to an export license by the government of Japan. Further, re-export to
another country may be subject to the license of the government of the country from where the product is
re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States 2012
government. Should you wish to export or re-export these products, please contact FANUC for advice.
Intelligent(E)-06, 2020.4, Printed in Japan