M-6iB Series ™

Basic Description

The M-6iB series is FANUC

Robotics’ latest-generation
family of small robots. The series
is offered in two sizes designed
to approximate the reach of an
operator. Feature-rich standard
capabilities and options provide
dexterity, reliability and high
speeds to make the M-6iB the
perfect solution for countless
applications and working
environments.

M-6iB Series, the

Solution for:

I Machine tending
I Material handling
I Assembly
I Picking and packing
I Pneumatic lines routed from I Color, graphical, network-
I Material removal J1 inlet to J3 outlet ready teach iPendant™
I Cleanroom operations I Compact size, slim wrist,
and small footprint permit
I Testing and sampling Reliability
operation in tight work spaces
I Dispensing
I Upright, angle, wall, or
invert mounting for I Latest generation of
Features and Benefits increased installation a proven design
flexibility I RV reducer, gear and
I 6 degrees of freedom harmonic drivetrains
I Robot can flip over
backwards for a larger eliminate unreliable belts,
I ±0.08 mm repeatability
work envelope pulleys and chains while
I Up to 10 kg payload at wrist providing rigidity and
I High joint speeds performance in a compact
I Large wrist moments and maximize throughput package
inertias for real-world EOATs
and workpieces I Fail-safe brakes and I Grease fittings on all
adjustable J1 hardstops lubrication points for quick
I Supplementary payload increase safety, functionality, and easy maintenance
mount on J3 casting and control
I Sealed bearings and
I Yoked wrist structure for I Absolute encoder positioning brushless, maintenance-
increased rigidity eliminates homing at free AC motors provide
I Pneumatic and electrical power-up protection and improve
(8 DI/8 DO) connections reliability
I Same footprint and wrist
for EOAT on J3 bolt pattern as previous
generation for easy
upgrades
Robot and Controller
Options

I Larger variant for greater

reach (M-6iB)

I Smaller variant for tight

installations (M-6iB/6S)

I Class 100 variant for cleanroom

use (M-6iB/6C; see Cleanroom
Robots datasheet)
I Higher-speed variant for
greater throughput (M-6iB/2HS)

I Solution arm variants minimize

EOAT dress-out complexity
and cost (M-6iB/2HS)

I Severe dust and liquid protection

package for harsh environments

I J1/J2 motor cooling fans for

sustained high-duty operation

I 360° J1 rotation eliminates Solution Arm features a hollow wrist flange and pre-
rear dead zone engineered EOAT cabling to reduce dress-out cost,
I Machine vision for guidance snag interference, and to increase durability.
and inspection

I Up to 16 axes (robot + auxiliary)

on same controller

I Extended communications
capabilities: FTP, DeviceNet,
A/B RIO, Profibus, Genius,
FANUC Model A I/O rack,
CC-Link, etc.

I Linear or circular conveyor

tracking

I CE-Mark

I 14 m or 21 m controller-to-
robot cables

Unique Software Options

I Singularity avoidance

I AccuDeflash™ for plastic

deflashing

I Internet connectivity

I KAREL® programming language

Class 100 option brings off-the-shelf FANUC reliability
I And over 40 other powerful
to electronics, pharmaceuticals and other cleanroom
software solutions
manufacturing operations. M-6iB/6C shown invert-
mounted.
M-6iB Series Dimensions
Top

R951
R273
170°

0°

–170° R1373

150 615 100 140

100
J5 AXIS
ROTATION
100 CENTER
600
430 172
360
100

450

Back Side Front

Footprint
308
260 23
153
(Mounting face)
150 150
23

150 153

260

150
Isometric
FRONT

(Mounting face)
Rotation Center 4-ø18 THRU
of J1 axis ø26 C' BORE DP5
10

10
M6iB
15

4-M6 Depth 10
Standard Wrist Equally spaced on
circumference ø40
ø50h7
ø 6H7 Depth 10
Circumference ø40
ø25H7

45°
53
M-6iB/6S and /2HS M-6iB
53

6 85 74
100 Note: Dimensions are shown in millimeters.
Detailed CAD data are available upon request.
M-6iB Series Specifications
Items M-6iB M-6iB/6C M-6iB/6S M-6iB/6S M-6iB/2HS M-6iB/2HS
Cleanroom 6 kg Payload 7 10 kg Payload 7 Solution Arm
Axes 6 6 6 6 6 6
Payload at Wrist (kg) 6 6 6 10 2 2
Supplementary Payload 12 12 12 6 12 12
on J3 Casting1 (kg)
Reach (mm) 1,373 1,373 951 951 951 951
Repeatability2 (mm) ± 0.08 ± 0.08 ± 0.08 ± 0.08 ± 0.08 ± 0.08
Interference Radius (mm) 273 350 273 273 273 273
Motion Range 3 J1 340 340 340 340 340 340
(degrees) J2 250 250 250 250 250 250
J3 315 315 310 310 310 310
J4 380 380 380 380 380 240
J5 280 280 280 280 280 110
J6 720 720 720 720 720 720
Motion Speed 4 J1 150 150 200 200 200 200
(degrees/s) J2 160 160 200 200 200 200
J3 170 170 260 200 260 260
J4 400 400 400 400 400 400
J5 400 400 400 400 400 400
J6 520 520 720 520 1,200 2,000
Wrist Moment J4 160 160 160 160 160 140
(kgf•cm) J5 100 100 100 160 100 80
J6 60 60 60 70 20 12
Wrist Inertia J4 6.4 6.4 6.4 6.4 6.4 6.2
(kgf•cm•s2) J5 2.2 2.2 2.2 3.7 2.2 2.0
J6 0.62 0.62 0.62 0.65 0.36 0.20
Mass (kg) 138 145 135 135 135 140
Mounting Positions Floor, angle5, Floor, Floor, angle, Floor, angle, Floor, angle, Floor
wall5, inverted inverted wall, inverted wall, inverted wall, inverted
Vibration (m/s2) ≤4.9 (0.5G) ≤4.9 (0.5G) ≤4.9 (0.5G) ≤4.9 (0.5G) ≤4.9 (0.5G) ≤4.9 (0.5G)
Special Application IP67 forearm and wrist / ISO Class 5 IP67 forearm and wrist / IP67 forearm and wrist / IP67 forearm and wrist / IP67 forearm and wrist /
Environments 6 IP54 lower body (Class 100 per U.S. IP54 lower body IP54 lower body IP54 lower body IP54 lower body
Federal Standard 209E) (No IP rating for
solenoid box)

Notes:
(1) Payload on J3 casting is in addition to wrist payload capacity.
(2) Repeatability per JISB8432.
(3) 360° J1 rotation optional.
(4) Higher sustained motion speeds available with High Duty option on all variants except M-6iB and M-6iB/6C.
(5) J1 and J2 motion range de-rated when M-6iB is angle- or wall-mounted.
(6) IP67 forearm and wrist / IP55 body optional. Organic solvents, acids, alkalis and chlorine/gasoline coolants or any chemicals which may harm NBR (nitrile rubber) must not be used.
See Cleanroom Robots datasheet for more information regarding M-6iB/6C.
(7) M-6iB/6S default wrist payload is 6 kg. Included software permits toggling between 6 kg and 10 kg with no mechanical alterations required to mechanical unit. No motion restrictions
in either mode.

Intelligent Robot Solutions

FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada
3900 W. Hamlin Road (704) 596-5121 (905) 812-2300
Rochester Hills, MI 48309-3253
(248) 377-7000 Chicago, IL Montréal, Canada
Fax (248) 377-7362 (847) 898-6000 (450) 492-9001

For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico

1-800-iQ-ROBOT • 1-800-47-ROBOT (513) 754-2400 52 (449) 922-8000

Los Angeles, CA Sao Paulo, Brazil

(949) 595-2700 (55) (11) 3619-0599

marketing@fanucrobotics.com Toledo, OH
fanucrobotics.com (419) 866-0788
©2007 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-6/07