ARC Mate 120iC

& 120iC/10L
Basic Description

The ARC Mate 120iC series is

a six-axis, modular construction,
electric servo-driven family of robots
designed for precise, high-speed
welding and cutting. Based on its
simple and reliable construction,
the ARC Mate 120iC and ARC Mate
120iC/10L provide accurate and
consistent path performance. The
robot controller and easy-to-use
ArcTool software provide reliable
performance with high productivity.

The ARC Mate 120iC robot series

has a process specific design that
protects the weld torch cable from
the wire feeder to the torch goose
neck, reducing cable wear and
n Designed with integral utilities Options
minimizing wire feeder issues. This
simplified routing prevents cable including gas/air lines and a Lincoln
Electric wire feed motor cable n ServoTorch provides precise
interference with parts and tooling
and allows offline programs to routed inside the robot arm. This wire feed control for aluminum
be generated and tested without offers improved reliability, reduced and soft wire application.
setup time and eliminates external n Integrated weld power cable
compensating for the torch cable.
cabling requirements. n EMI shielding kits for TIG
n Wire feed motor (up to 12 kg) (GTAW), plasma (PAW)
Benefits
mounted behind the J4 hollow and plasma cutting (PAC)
n Process specific arm protects and opening, shortens welding torch allow operation in harsh EMI
minimizes wear of the torch cable. length which improves wire feed (electro-magnetic interference)
n Features highest motion speeds reliability and arc start capability. environments.
n Plug and play simplicity with n Multiple process I/O welding
in class for maximum performance
and productivity. Lincoln Electrics Power Wave boards integrate multi-channel
n Best in class reach versus stroke or STT (Surface Tension welding equipment such as 4
ratio. Transfer) power sources. channel TIG and 3 channel MIG.
n Arc welding teach pendant with n Various robot connection cable
n Compact base allows for close
operation to tooling and other application-specific hard keys lengths for flexible cabinet
robots. offers intuitive control over the placement and optional track
process. rated cables.
n The ARC Mate 120iC series offers
n Compatible with all major brands n J1 axis stroke modification kit.
an extremely large work envelope
of welding equipment. n Auxiliary axis packages
useful for large parts or complex
n 370 degree motion range on J1. for integration into welding
tooling.
n ARC Mate 120iC has 1,811 mm positioners.
n Extremely fast wrist axes reduces
reach and 1,407 mm stroke. n iRVision (Integrated Robot
aircut times, thus improving
n ARC Mate 120iC/10L has 2,009 Vision) system delivers high-
throughput.
mm reach and 1,506 mm stroke. performance 2-D and 3-D
n 20 kg payload on faceplate for machine vision capabilities with
Features
ARC Mate 120iC. FANUC reliability.
n 10 kg payload on faceplate for
n Slim wrist size enables the robot
to enter into smaller openings in ARC Mate 120iC/10L.
n Multiple mounting positions include
the work space.
n J3 flip-over capability provides
upright, inverted, wall or angle
large working envelope that is mount with no changes to the Note: ARC Mate and iRVision are
ideal for inverted applications. mechanical unit. registered trademarks of FANUC LTD.
 R2009
Top 120iC/10L

+185 0

-185 R2009
120iC/10L
Top R1811.0
+185 R2009 0
ARC Mate 120iC Dimensions
Isometric Top 120iC
120iC/10L
R317.0
-185
Top
J4 0
(400) +185 Top
Top
-185
Isometric
Isometric R2009
R1811.0
120iC
R1811.0120iC/10L
Isometric J3 120iC R2009 R317.0
J4
(458) R317.0
120iC/10L
J5 (400) +185 0
J6 J4 R2009
(280) (400) +185 R2009 0
(540) -185 120iC/10L
J2 1040 120iC/10L
(260) -185 0
+185
+185 150 835 0
R1811.0
Isometric -185 120iC
-185 R1811.0 103
Isometric J3 J3 R317.0 120iC
J4
(458)
J5 (400) (458) R317.0 R1811.0
J6 J5 J4 250 R1811.0
(540)J6 Isometric
(280)
Isometric 120iC
(280) (400) 120iC
(540) J2 J1 R317.0
1040 J5 AXIS
(260) J2 J4 R317.0 ROTATION
(370) J4
(400) CENTER
1040
(260) (400) 150 835
J3
790 150 835
(458) 103
J5 J3
J6 (280) (458) 276.7
(540) J5
J6 250
(280) J2 J3 1040
(540) (260) J3
(458) J5 AXIS
J5J1
J2 (458) 150 8351040 ROTATION
J6 J5(370)
(260)
(280) 250
J6
(540) (280) CENTER
(540) 150 835 J5 AXIS
J2 J1 790 1040 103
J2
(260) 1040 ROTATION
(260) (370) 150 835 103
150 835 CENTER
276.7 525 250
790 103
250 J5 AXIS
J1 15 103
ROTATION
(370) J5 AXIS
J1 CENTER
(370)
276.7 250 ROTATION
790
250 CENTER 170 173
J5 AXIS
J1 790 J5ROTATION
AXIS
J1
(370) ROTATION
(370) 276.7 CENTER
CENTER
Back 276.7 525 790
790 Front
15
276.7
276.7
MOTION RANGE 170 173
OF J5 AXIS
525 ROTATION CENTER (120iC)
525
Back Side
525 MOTION RANGE Front 15
Footprint OF J5 AXIS
ROTATION CENTER (120iC/10L) 15
525
300 525 170 173

Footprint 150 MOTION RANGE 170 15

173
OF J5 AXIS 15
ROTATION CENTER (120iC)
150 Back Back Side 170
170 Front
173
173
300
343
Footprint
300
Back
Back
Side
MOTION RANGE
OF J5 AXIS
Front Front
150 Back ROTATION CENTER (120iC/10L)
343
300 Back MOTION RANGE Front
4X 18.0 THRU OF J5 AXIS Front
150 26.0 FACING DEPTH 5.0 MOTION RANGE MOTION RANGE
(FOR ROBOT MOUNTING BOLT) ROTATION CENTER (120iC)
OF J5 AXIS OF J5 AXIS
Side
ROTATION CENTER (120iC)
MOTION RANGE ROTATION CENTER (12
150 150
MOTION MOTION
RANGE
OF RANGE
J5 AXIS
343
Footprint 300 Side OF J5 AXIS CENTER (120iC)
Side OF J5 AXIS
ROTATION
343 300 MOTION
ROTATION RANGE
ROTATION
CENTERCENTER (120iC)
(120iC/10L)
Footprint OF J5 AXIS MOTION RANGE
Footprint
300 Side ROTATION CENTER (120iC/10L) OF J5 AXIS
343 150 Side MOTION RANGE
Footprint
300 4X 18.0 THRU MOTION RANGE
OF J5 AXIS ROTATION CENTER (120iC/1
Footprint 26.0 FACING DEPTH 5.0
150 ROBOT Wrist 120iC OF J5 AXIS CENTER (120iC/10L)
(FOR300 MOUNTING BOLT) ROTATION
ROTATION CENTER (120iC/10L)
300 150 150
343 300 150300
343 150
150
343 300
4X 18.0 THRU +0.012
26.0 FACING DEPTH 5.0 150 150 22.5 -0.000
343
343 343 150 300 300 4.000 H7 DWL. x 6.0 DP.
4X R120
(FOR ROBOT MOUNTING
343 BOLT) 30018.0
26.0
THRU
FACING DEPTH 5.0 ON 56.0 DIA. B.C.
343
(FOR
4X ROBOT
18.0 THRUMOUNTING BOLT)
26.0 FACING DEPTH 5.0 Wrist 120iC
343
343
(FOR ROBOT MOUNTING BOLT)
4X 18.0 THRU
3434X26.0
120iC Wrist
75 62.5
18.0 THRU
FACING DEPTH 5.0
4XDEPTH
18.0 THRU
26.0
(FORFACING
ROBOT 5.0
MOUNTING BOLT)
(FOR ROBOT26.0 FACING
MOUNTING DEPTH
BOLT) 5.0
(FOR ROBOT MOUNTING BOLT) 100 +0.012
62.5
-0.000
75 22.5
ARC Mate 120iC Specifications 13.5
Wrist 120iC
R120 4.000 H7 DWL. x 6.0 DP.
ON 56.0 DIA. B.C.
M4x6.0 DP.
Wrist 120iC 119 56.5 TYP.(15) AS SHOWN
50 HOLLOW
+0.000 75 62.5 ON 56.0 DIA. B.C.
Items AM120iC AM120iC/10L -0.080
Wrist 120iC
62.000 h7Wrist 120iC +0.012
-0.000
100 22.5
Axes 6 6 75 R120 Wrist
62.5 4.000
120iC ON 56.0
22.5 -0.000
H7 DWL. x 6.0 DP.
+0.012
DIA. B.C.
4.000 H7 DWL. x 6.0 DP.
R120
Payload (kg) 20 10 ON 56.0
M4x6.0
DIA. B.C.
+0.012
DP.
-0.000
+0.012
13.5 22.5 -0.000
75 119 22.5 4.000
TYP.(15) ASH7 DWL. x 6.0 DP.
SHOWN
Payload (kg) on J3 casting 20 12 50 HOLLOW R120 56.5
ON
62.5
4.000
ON H7DIA.
56.056.0
DIA. DWL. x 6.0 DP.
B.C.B.C.
+0.000 75 R120 ON 56.0 DIA. B.C.
62.5
-0.080 +0.012
Reach (mm) 1811 2009 62.000 h7
100 62.5 22.5 -0.000
Wrist 120iC/10L 7575 62.5 4.000 H7 DWL. x 6.0 DP.
Repeatability (mm) 0.08 0.1 100 75 62.5
62.5 R120
ON 56.0 DIA. B.C.
120iC/10L Wrist119
75
M4x6.0 DP.
Interference radius (mm) 317 317 13.5 100
100 56.5 62.5
TYP.(15) AS SHOWN
50 HOLLOW 75 M4x6.0
13.5 75 ON 56.0DP.
62.5 DIA. B.C.
Motion range J1 370 370 +0.000
50 HOLLOW
-0.080 119 56.5 75 AS
TYP.(15) SHOWN 62.5
62.000 h7 ON 56.0 DIA. B.C.
13.5 +0.000 M4x6.0 DP.
(degrees) J2 260 260 13.5
-0.080
62.000 h7
50 HOLLOW 119
+0.012
56.5
M4x6.0 DP.
TYP.(15) AS SHOWN
22.5
119 -0.000
56.5 TYP.(15) AS
ON 56.0 DIA.SHOWN
B.C.
50 HOLLOW
Wrist120iC/10L
+0.000 100 4.000 H7 DWL. ONx 56.0
6.0 DP.
DIA. B.C.
J3 458 460 -0.080
+0.000 R110 ON 56.0 DIA. B.C. 62.5
62.000
-0.080 h7 75
62.000 h7
J4 400 400
13.5 50 45.5
M4x6.0 DP.
J5 380 / 280(1) 380 / 280(1) 100 50 HOLLOW 119 56.5 TYP.(15) AS SHOWN
ON 56.0 DIA. B.C.
J6 900 / 540(1) 900 / 540(1) Wrist 120iC/10L50 +0.000
22.5 -0.080
45.5
+0.012
-0.000
Wrist 120iC/10L 62.000 h7 4.000 H7 DWL. x 6.0 DP.
Motion speed J1 195 195 8.5 R110 ON 56.0 DIA. B.C.
50.0 HOLLOW 108.0 45.5 M4x6.0 DP.
(degrees/s) J2 175 175 +0.000 Wrist 120iC/10L
-0.080 Wrist 120iC/10L
TYP.(8) AS SHOWN
62.000 h7 ON 56.0 DIA. B.C.
50 45.5
J3 180 180 100 +0.012
22.5 45.5 -0.000
J4 360 400 50 4.000 H7 DWL. x 6.0 DP.
+0.012

Note: Dimensions are shown in millimeters.

R110 22.5 ON 56.0
-0.000DIA. B.C.
4.000 H7 DWL. x 6.0 DP.
J5 360 400 8.5 R110 ON 56.0 DIA. B.C.
+0.012
50.0 HOLLOW 108.0 45.5
22.5 M4x6.0 DP.
+0.012
-0.000
J6 550 600 Detailed CAD data are 62.000
available
h7
upon50R110
request.
22.5
R110 Wrist 120iC/10L
ON
ON56.0
+0.000
-0.080
DIA.
56.0 B.C.
DIA. B.C.
TYP.(8)
4.000
45.5
AS H7
-0.000
4.000
ON 56.0
SHOWN
DWL. x 6.0 DP.
H7DIA.
DWL.B.C.
x 6.0 DP.
100 50 45.5
Wrist moments N-m J4 44 (4.4) 22 (2.2)
(kgf-m) J5 44 (4.4) 22 (2.2) Intelligent Robot Solutions 8.5
100

100
50
5050
50
45.5
45.5
45.5
45.5

50.0 100
J6 22 (2.2) 9.8 (1.0) 8.5 HOLLOW
+0.000
50 108.0 45.5 M4x6.0 DP.
45.5
TYP.(8) AS SHOWN
45.5M4x6.0
50
FANUC Robotics America, Inc. 50.0-0.080
HOLLOW DP.
Wrist inertia J4 1.04 0.63 8.5
62.000
+0.000
-0.080
h7 Charlotte,
108.0
NC 45.5 ON 56.0AS
TYP.(8) DIA. B.C.
SHOWN Toronto, Canada
+0.012
8.5 ON 56.0 DIA. B.C.
3900 W. Hamlin Road 62.000 h7 -0.000
(kg-m2) J5 1.04 0.63
50.0 HOLLOW
50.0 +0.000
HOLLOW (704)
108.0 596-5121
108.0 45.5
45.5
M4x6.0 DP.
M4x6.0
TYP.(8)DP.
TYP.(8)
AS SHOWN
ASDIA.
SHOWN
22.5
(905) 812-2300
4.000 H7 DWL. x 6.0 DP.
-0.080
+0.000
ONR110 ON 56.0 DIA. B.C.
J6 0.28 0.15 Rochester Hills, MI 48309-3253 62.000
-0.080 h7
62.000 h7
56.0 B.C.
ON 56.0 DIA. B.C.

Mechanical brakes All axes All axes Chicago, IL Montral, Canada

50 45.5
Mechanical weight (kg) 250 255 (847)
100
898-6000 (450) 492-9001
Mounting method(2) 50 45.5
Floor, ceiling, angle, and wall
For sales or technical information,
8.5
call: Cincinnati, OH Aguascalientes, Mexico
Installation environment 1-800-iQ-ROBOT (513)
754-2400
50.0 HOLLOW 52 (449)
108.0 45.5922-8000
M4x6.0 DP.
+0.000 TYP.(8) AS SHOWN
Temperature (C) 0 to 45 0 to 45 -0.080
ON 56.0 DIA. B.C.
62.000 h7
Humidity Normally: 75% or less Los Angeles, CA Sao Paulo, Brazil
Short term (within a month): 95% or less
(949) 595-2700 (55) (11) 3619-0599
No condensation
Vibration (m/s2) 4.9 or less
marketing@fanucrobotics.com Toledo, OH
Notes:
(1) J5 and J6 motion range when internal torch cable is installed.
fanucrobotics.com (419) 866-0788
(2) Motion range is de-rated for wall and angle mount. 2008 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-6/08