FACTORY AUTOMATION NUMERICAL CONTROL

FANUC Collaborative Robots CR-35iA CR-7iA CR-7iA/L CR-4iA 2

Everybody talks about collaborative robots The field of collaborative robots is currently the hottest area of interest within the robotics industry Collaborative robots help workers achieve their day to day jobs. humans can now work safely, side by side with a robot without risk for the worker. Applications that are dangerous for the worker are then done by the robot Quotes from multiple sources from the internet 3

What is the task of a collaborative robot? Collaborative robots should help human workers, not replace them - Diversified work - Complex operations - Analytical tasks Dexterity Strength - Dull work - Repetitive tasks - Handling dangerous goods - Lifting heavy parts Flexibility Endurance Problem- Solving Precision Human Worker Collaborative Robot 4

No need of safety fences What are the main reasons for using a collaborative robot? Safety fences are inflexible and lead to increased costs Enter new areas where the use of safety fences is not possible Reduced floor space Reduce ergonomic issues Lifting of part that have 20kg and more Dirty work Handling dangerous (e.g. hot, chemical, ) materials Reduce chronic injuries Repeatability Robots work precise and repeat processes accurately Reproducible accuracy leading to constant quality 5

FANUC robots Strictly speaking: all FANUC robots using DCS (dual check safety) can be programmed to be a collaborative robot No person close Robot at full speed Person close Speed is reduced Human interacts with robot Robot stops DCS position/speed check functionality is described as Safety rated monitored stop in chapter 5.10 Collaborative operation requirements in ISO 10218. 6

FANUC Collaborative Robots The CR family offers additional features to reduce potential risks and increase productivity 7

Product Introduction First (pre-production) unit in Europe shown at the Hannover Messe in Germany (April 2015) At EMO in Milan (Italy, October 2015) three CR-35iA robots were displayed 8

Product Introduction First (pre-production) unit in Europe shown at the Hannover Messe in Germany (April 2015) At EMO in Milan (Italy, October 2015) three CR-35iA robots were displayed Tire Loading DCS Demo. Bin Picking. Hand Guidance. 9

CR products - Features Contact stop The robot stops sensitively when an operator contacts at any portion of the robot, gripper or part Area in which the contact stop works Stop Sensitivity of Contact Stop : Maximum 150N Robot stops when the external force exceeds 150N (or lower, can be changed in software) 10

CR products - Features Push to escape & Retreat motion Push to escape Retreat motion 11

CR products - Features Green soft cover 5mm Prevent any fingers from being pinched between the joints 12

CR products - Features Standard FANUC robot and controller 13 Reliability This robot is designed with the same high reliability as our other standard robots. Global Service Known and proven technology Spare parts availability Vast amount of options Latest intelligent functions such as irvision (Integrated vision) are available. Many other options available (I/O units, Interfaces like ProfiBus or DeviceNet, ) Easy to learn Safety functions are ready to use and easy to fine-tune Safety functions are based on proven and known DCS (Dual check Safety) Programming and servicing is the same as any other FANUC robot No re-education necessary for operators familiar with FANUC robots

CR-35iA Specification Item CR-35iA Controlled axes 6 axes (J1, J2, J3, J4, J5, J6) Reach 1,813 mm Installation Only Floor Max. load capacity at wrist 35 kg Max. load capacity on J3 casing 2 kg Maximum speed Note 1) 250 mm/s (Max 750 mm/s Note 2) Repeatability ± 0.08 mm Mass Note 3) 990 kg Note 1) In case of short distance motion, the speed may not reach the maximum value stated. Note 2) If the area is monitored by a safety sensor (located separately). Note 3) Without controller. 14

CR-7iA/L CR-7iA CR-4iA Specification Item CR-7iA/L CR-7iA CR-4iA Controlled axes 6 axes 6 axes 6 axes Reach 911mm 717mm 550mm Installation Floor, wall, invert Floor, wall, invert Floor, wall, invert Max. load capacity at wrist 7 kg 7 kg 4 kg Max. load capacity on J3 casing 1 kg 1 kg 1 kg Maximum speed 250 mm/s (Max 1000 mm/s) 250 mm/s (Max 1000 mm/s) 250 mm/s (Max 1000 mm/s) Repeatability Mass 55 kg 53 kg 48kg 15

CR products - Features High Speed Mode (750mm/s) Requires additional safety sensors Robot speed can be up to 750mm/s Contact stop is deactivated Behaviour of standard robot Working Range Protective Zone Operator far away from robot Reduced Speed Zone 16

CR products - Features High Speed Mode Requires additional safety sensors Robot gets reduced to 250mm/s Contact stop is deactivated Behaviour of standard robot Operator walks towards robot Reduced Speed Zone Necessary to give the robot the time to reduce the speed Typically ~1m larger than protective zone 17

CR products - Features High Speed Mode Requires additional safety sensors DCS monitors reduced speed Contact stop is activated Collaborative robot Protective Zone Operator walks close enough that he could reach in the working area of the robot 18 Necessary to give the robot the time to activate contact stop and because human could reach into the working area Typically ~2.5m larger than working area

CR products - Features High Speed Mode Requires additional safety sensors DCS monitors reduced speed Contact stop is activated Collaborative robot Working Range Operator close to the robot 19

CR-35iA Feature Hand guidance (option) Handling during production - Full control of the robot (3-axis or 6- axis mode) - Customizable buttons for gripper control Teaching function - Saves positions (on button press or continuous) in generated TP program 20

CR products - Safety Certification CR-35iA is safety certified according to ISO 10218-1:2011 and ISO 13849-1:2008 (Category 3, PL=d) Correct setup and use is inevitable for safe operation Risk assessments are necessary during application planning All potential harmful risks need to be identified Countermeasures for all risks needs to be developed Iterative process until all risks are negligible 21

CR products - Safety Typical risks Typical likely risks: Crushing situation between human arm/fingers with gripper/part Impact with workpiece (sharp edges or pointy part) Fingers being pinched by closing gripper 22

CR products - Safety Example of risk reduction Countermeasure for risks As soon as the gripper moves into the DCS zone the force limit and speed is lowered to reduce crushing forces (monitored by DCS Cat.3 PLd) 23 DCS zone close to fixtures DCS Signal (Cat.3 PLd) is outputted to safety relay that allows gripper opening and closing

CR products - Safety Example of risk reduction Countermeasure for risks Round surface / no sharp edges. Camera (Sensors) integrated. Finger protection. Rubber tube. Rubber protection cover. 24

CR-35iA Experience ISO/TS 15066 tests in Fanuc Italy Multiple measurements made with the PILZ force measurement device PILZ provided report indicating compliance with ISO/TS 15066 25

Application Example Reducing ergonomic issues 26

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