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Software Teach Pendant Vision  Force Sensor Training
Intelligent Robots with
FANUC Force Sensors

Basic Description
Until now, robotic assembly has
been dominated by 2-D applications
using SCARA robots. FANUC
Robotics' Intelligent Robots with
integrated FANUC Force Sensors
provide 3-D assembly with six
degrees of freedom. These robots
are engineered fpr precision
assembly applications and the most
demanding mechanical assembly
and material removal operations.
The Intelligent Robots include a
standard FANUC robot (LRMate
200iB, M-16iB/20, M-710iB/45 or
R-2000iAl165), a FANUC Force
Sensor (FS-30 or FS-60) and
advanced force control software.
Standard sensor setup schedules
and process specific force control
instructions make the Intelligent
Robots easy to program and
operate via the FANUC iPendant.

Intelligent Robots provide
process solutions for

Clutch insertion (intermediate,
forward, reverse and triple
Valve, bearing and shaft
3-D assembly applications
including spline matching
and gear assembly.
Flexible part feeding.
Material removal applications
including polishing, cutting,
grinding, deburring and
Spin welding, hotplate &
ultrasonic welding.
Product life cycle tests (e.g.
automotive door operation,
switching operation etc.)
requiring constant force

Features and Benefits

High reliability - Intelligent
Robots are built on standard
mechanical arms with a high
degree of reliability and proven
performance records.
Simple to use - Simple data
setup menus for force control
and standard teach pendant
programming for application
development make the Intelligent
Robots simple to operate.
iPendant with available touch
screen - Multiple color window
interface allows simultaneous
display of robot program, force
setup and real-time force!
moment (Fx, Fy,Fz, MX,My,Mz)
information during production
Force data chart on iPendant Allows
continuous display of actual
force variations during the force
control operation.

Safe to operate -Intelligent
Robots are compliant with RIA
15.06 safety standards. Low
speed teach mode switch and dual
channel E-STOP interface make
Intelligent Robots safe to operate
in a production environment.
Component Assembly Gear Assembly
Easy to communicate with
PC - Built-in Ethernet
communication capability
allows Intelligent Robots to
communicate relevant process
data to a PC via Ethernet.
Process Control Functions
Clutch insert ~ Provides
force and motion control to
insert a clutch unit into the
automatic transmission unit
of an automobile. Clutch
insert force schedule includes
insert direction, contact force,
approach velocity, push force,
rotation limits, search frequency
and search amplitude to
perform the insert operation.
Once the force schedule is set,
a simple force control instruction
is added to the robot program to
perform the insertion operation.
FANUC Force Sensor - Is
optimized for robotics, including"
small size and robust design.
Phase match - Performs
variable spline matching prior
to an insertion operation.
Phase match force schedule
includes initial contact force,
push force, phase match
torque, the rotation velocity,
phase match depth and
phase match time data.
Face match - Provides
uniform alignment between
a robot held component -and
contact surface of a subassembly.
It is useful for flexible machine loading,
hotplate welding and spin
welding applications.
Contouring - Applies a
constant force on the part
surface while the robot-held
tool moves along a path
during polishing, cutting,
grinding or deflashing
operations. Contouring force
schedules include approach
velocity,. contact force, push
force and push direction
information. Taught robot
positions are dynamically
shifted during the removal
operation to provide the
programmed force along
the specified direction.
Constant push - Provides
uniform pushing force while
assembling or welding (e.g.
hotplate or spin welding) a
work piece to a sub-assembly.
Built-in Diagnostics Monitors
sensor data and
provides an alarm message
to replace the sensor if the
sensor data is out of range