Obviously, the system account you're using doesn't have this mapped drive. Before copying, try to map the drive through the Windows net use command. In Jenkins, you can run this in your build steps as a shell command before you execute your Ant script.
I don't have a Windows machine in front of me, but it should look something like this:
net use R: /delete
net use R: /persistent:yes \\windows\share\path
You want to do the net use R: /delete
first to remove any already existing mapping.
If this doesn't work, try this. This will help you create a mapped drive to your system account that always exist.