EUROPE
100–300 kg Payload
For those persons involved with the operation/service of your system, including Kawasaki Robot, they must strictly observe all safety regulations at all times. They should carefully read the manuals and other related safety documents.
Products described in this catalogue are general industrial robots. Therefore, if a customer wishes to use the Robot for special purposes, which might endanger operators or if the robot has any problems, please contact us. We will be pleased to help you.
Be careful as photographs illustrated in this catalogue are frequently taken after removing safety fences and other safety devices stipulated in the safety regulations from the Robot operation system.
Cautions to be taken to ensure safety
Kawasaki Robotics GmbHSperberweg 29 · 41468 Neuss · Germany Tel.e-mail: [email protected] · www.kawasakirobot.de Fax
Munich Office:Konrad-Zuse-Platz 12 · 81829 München · Germany Tel.e-mail: [email protected] · www.kawasakirobot.de Fax
Kawasaki Robotics (UK) Ltd.Units 6&7 Easter Court, Europa Boulevard, WestbrookWarrington WA5 5ZB · United Kingdom Tel.e-mail: [email protected] · www.kawasakirobot.uk.com Fax
French Office:Parc d‘activites de la clef de Saint-Pierre Rond Point de l‘Epine des champs 78996 Elancourt Cedex, France Tel.e-mail: [email protected] · www.kawasakirobot.fr Fax
Inquiries
+49 -(0)21313426-0+49 -(0)21313426-22
+49 -(0)89 454591-30+49 -(0)89 454591-45
+44 -(0)1925 713000+44 -(0)1925 713001
+33 -(0)130 68 9522+33 -(0)130 68 9139
Agent
printed in Germany Feb. 2008 • Preliminary Version Materials and specifications are subject to change without notice.
Improved cycle timesA weight-optimised construction, the use of high-speed motors and high-efficiency gears permit an optimisation of the maximum speed and acceleration.
Large working range and low power consumptionThe Z Series has a broad working range thanks to the large reach and small blind angle. Axis 1 can be pivoted around 360° and has mechanical locks. Through the use of the patented hybrid link con- figuration by Kawasaki the power consumption during the robot movements could be reduced.
Space saving and easy installation through a small foot printMore space means higher costs. The small base sizes and slim arm profile of the Z Series robot arm allows a space-saving construction of working cells.
Protective configurations IP65, IP67Protection class IP65 applies for the robot arm and IP67 for the wrist part. This means that the Z Series can be used without problems in rough working environments.
ConvertabilitySimple hardware and software modifications allow an optimisation of the ZX165U in terms of reach or payload. A subsequent adjustment of the robot to different tasks poses no problems and can be car-ried out at low cost
Automotive and General Industries, …
The Kawasaki Z-Series high performance robots provide flexibility as well as the ability, at high payloads and long reach, to suit all applications, including welding, handling, tending and much more. With twelve different versions, divided into three distinct design groups the Z-series can provide the right model for all future applications. Whether it‘s the “ZX” for floor mounting, the “ZT” for shelf mounting or the “ZB” as a compact arm, the Z-series can do it all. All Z-Series robots are powered by the D-Controller, flexible Controller Unit.
Spot welding Paletizing Spot welding
Specifications Specifications
ZT130UZT165UZT200U
ZT130LZB150S ZX300SZX130UZX165UZX200U
ZX130LZB100L
TYP
1365 mm150 kg± 160°
+120°~-70°+100°~-150°
± 360°± 130°± 360°
standard 2,000 mm100°/s100°/s90°/s135°/s135°/s210°/s
1,000 mm/s
911.4 N·m911.4 N·m450.8 N·m78.4 kg/m²78.4 kg/m²40.18 kg/m²
900 kg1,500 mm/s
3530 mm130 kg± 180°
+60°~-75°+165°~-95°
± 360°± 130°± 360°
standard 2,000 mm105°/s105°/s105°/s140°/s135°/s230°/s
1,000 mm/s
735 N·m735 N·m421 N·m
51.9 kg/m²51.9 kg/m²27.4 kg/m²1,565 kg
2,500 mm/s
3230 mm130 kg± 180°
+60°~-75°+165°~-95°
± 360°± 130°± 360°
standard 2,000 mm105°/s105°/s105°/s140°/s135°/s230°/s
1,000 mm/s
735 N·m735 N·m
421,4 N·m51.9 kg/m²51.9 kg/m²
27.44 kg/m²1,550 kg
2,500 mm/s
3230 mm165 kg± 180°
+60°~-75°+165°~-95°
± 360°± 130°± 360°
standard 2,000 mm105°/s105°/s105°/s135°/s135°/s210°/s
1,000 mm/s
911,4 N·m911,4 N·m450,8 N·m78.4 kg/m²78.4 kg/m²40.18 kg/m²
1,550 kg2,500 mm/s
3230 mm200 kg± 180°
+60°~-75°+165°~-95°
± 360°± 130°± 360°
standard 2,000 mm90°/s90°/s90°/s120°/s115°/s180°/s
1,000 mm/s
980 N·m980 N·m490 N·m
93.1 kg/m²93.1 kg/m²46.1 kg/m²1,550 kg
2,500 mm/s
Air lines (12 mm Ø x 2), wiring for the solenoid valves of the grab (A.C. 24V)
Mechanical stopper JT1/JT2/JT3, special colour, internal wiring for end effector, twin solenoid valve 1/2, single solenoid valve 1/2, twin solenoid valve 1 + single
solenoid valve 1, 1 filter control unit, internal hoses for welding gun cooling water
1655 mm100 kg± 160°
+120°~-70°+100°~-150°
± 360°± 130°± 360°
standard 2,000 mm100°/s100°/s90°/s135°/s135°/s210°/s
1,000 mm/s
0 N·m0 N·m0 N·m
78.4 kg/m²78.4 kg/m²40.18 kg/m²
915 kg1,500 mm/s
Articulated arm6 axes (optional 7 axes)
± 0,3mm
Air Line (12mm Ø)
Mechanical stopper JT1/JT2/JT3, special colour.
D42Floor
TYP
Type of arm Degrees of freedom Reach Maximum Payload JT1 JT2 JT3 JT4 JT5 JT6 JT7 JT1 JT2 JT3 JT4 JT5 JT6 JT7 Repeatability JT4 JT5 JT6 JT4 JT5 JT6 Weight
Recommended Controller Installation Integrated functions
Optional
Colour
2651 mm130 kg± 180°
+75°~-60°+250°~-120°
± 360°± 130°± 360°
standard 2,000 mm110°/s110°/s110°/s140°/s135°/s230°/s
1,000 mm/s
7.35 N·m7.35 N·m
221.4 N·m51.94 kg/m²51.94 kg/m²27.44 kg/m²
1,350 kg2,500 mm/s
2810 mm165 kg± 180°
+75°~-60°+250°~-120°
± 360°± 130°± 360°
standard 2,000 mm100°/s105°/s95°/s135°/s135°/s210°/s
1,000 mm/s
911.4 N·m911.4 N·m450.8 N·m78.4 kg/m²78.4 kg/m²40.18 kg/m²
1,355 kg2,500 mm/s
2651 mm165 kg± 180°
+75°~-60°+250°~-120°
± 360°± 130°± 360°
standard 2,000 mm110°/s110°/s110°/s135°/s135°/s210°/s
1,000 mm/s
911.4 N·m911.4 N·m450.8 N·m78.4 kg/m²78.4 kg/m²40.18 kg/m²
1,355 kg2,500 mm/s
2651 mm200 kg± 180°
+75°~-60°+250°~-120°
± 360°± 130°± 360°
standard 2,000 mm95°/s95°/s95°/s120°/s115°/s180°/s
1,000 mm/s
980 N·m980 N·m490 N·m
93.1 kg/m²93.1 kg/m²46.1 kg/m²1,350 kg
2,500 mm/s
2501 mm300 kg± 180°
+75°~-60°+250°~-120°
± 360°± 120°± 360°
standard 2,000 mm100°/s85°/s85°/s90°/s90°/s150°/s
1,000 mm/s
1.715 N·m1.715 N·m862.4 N·m
166.6 kg/m²166.6 kg/m²107.8 kg/m²
1,400 kg2,500 mm/s
Air lines (12 mm Ø x 2), wiring for the solenoid valves of the grab (A.C. 24V)
Mechanical stopper JT1/JT2/JT3, special colour, internal wiring for end effector, twin solenoid valve 1/2, single solenoid valve 1/2, twin solenoid valve 1 + single solenoid valve 1,
1 filter control unit, internal hoses for welding gun cooling water
2951 mm130 kg± 180°
+75°~-60°+250°~-120°
± 360°± 130°± 360°
standard 2,000 mm110°/s110°/s110°/s140°/s135°/s230°/s
1,000 mm/s
7.35 N·m7.35 N·m
221.4 N·m51.94 kg/m²51.94 kg/m²27.44 kg/m²
1,400 kg2,500 mm/s
Articulated arm
± 0,3mm
ZX130U ZX165L ZX165U ZX200U ZX300SZX130L
Maximumstroke
MaximumSpeed
D42Floor
6 axes (optional 7 axes)
ZB150S ZT130L ZT130U ZT165U ZT200UZB100L
Type of armDegrees of freedomReachMaximum Payload JT1 JT2 JT3 JT4 JT5 JT6 JT7 JT1 JT2 JT3 JT4 JT5 JT6 JT7Repeatability JT4 JT5 JT6 JT4 JT5 JT6Weight
Recommended ControllerInstallationIntegrated functions
Optional
Colour
Maximumstroke
Maximumspeed
Moment*
Momentof inertia
Munsell 10GY9/1 or equivalent Munsell 10GY9/1 or equivalent
Moment*
Momentof inertia
Motion Range & DimensionsMotion Range & Dimensions
:Unnecessaryto tighten bolts
Ø0.04 X
YXØ0.15
Y
X
ISO FLANGE
OPTION FLANGE
* Dimension:228
X YØ0.15
Ø0.04
X
YX
* Dimension:244
AVIEW
Ø9H7 Depth12
6–M10 Depth 16
60°
30°
Ø160
Ø55H7
Depth 12
Ø92
30°
30°
Ø160
6–M10 Depth 12
2–Ø10H7 Depth 12
Ø80H7
Depth 8
Ø125
JT5±130°
JT6±360°JT4±360°
A
JT1
JT3
JT1
JT3
JT3
ÇiÇs
JT2
Point P
Working rangebased on point P
Point P
100°
150°
300
410
50
50
5050
700
25
650
25
700
6557065
4-Ø22
4-Ø40
23
427195
1,315
565
474
545
565
545
* 850 250
70°
120°
150°
160°
160°
587.5
1,960
2,547.5
1,665 1,131
957 708
329
Installations Dinensions
ZB100L
:Unnecessaryto tighten bolts
Ø0.04 X
YXØ0.15
Y
X
ISO FLANGE
OPTION FLANGE
* Dimension:228
X YØ0.15
Ø0.04
X
YX
* Dimension:244
AVIEW
Ø9H7+0.015 0 Depth 12
6-M10 Depth 16
60°
30°
Ø160
Ø55H7 +0.030 0
Depth 12
Ø92
30°
30°
Ø160
6–M10 Depth 12
2-Ø10H7 +0.015 0 Depth 12
Ø80H7 +0.030 0
Depth 8
Ø125
* TOOL, HAND, etc. may interfere
with robot arm depending on
angle of wrist axes.
JT5±130°
JT6±360°JT4±360°
A
JT1
JT3
JT1
JT3
JT3
JT2
JT2
Installation Dimensions
Point P
Working rangebased on point P
Point P
100°
150°
30
0
410
50
50
5050
70
0
25
65
02
5
700
6557065
4–Ø22
4-Ø40
467
23
427195
1,3
15
56
5
28
7.5
474
539
21
6
1,9
47
.5
1,1
15
83
2.5
8311,365
54
5
56
55
45
* 550 250
70°
120°
150°
826
160°
160°
ZB150S
ZT130UZT165UZT200U
Ø0.05
JT1
180°
JT1
180°
A
JT3
JT3
JT2JT2
JT4±360° JT6±360°
JT5±130°
B
370
7.50
125
125125
500100 100
50.00
10.00
10.00
77.00
770
12.50
2–Ø25G8
300
300300
8–Ø22
30
173.05
4,571
530
1,100
300
600
78 1,300
2,103
80
3,2
30
24.40600.5210
00
90
90
80
58
95°
165°
60°75°
24.401,300
395510150
1.30
90
142
5 x 2–M10–20/25
10 x 2–M6–12/18
YXØ0.04
X
Ø0.15 YX
Depth 8X
Depth 12
Y
Ø0.15 YX
XØ0.04
Ø125
2–Ø10H7+0.015
0 Depth 12
6–M10 Depth 12
Ø150
30°
30°
Ø92
+0.030
0Ø55H7
Ø160
30°
60°
6–M10 Depth 16
Ø9H7+0.015
0 Depth 12
Unnecessary
for standard spec.
Ø80H7
+0.030
0
• ISO 9409-1 Series 2 (Ø125) for 130S/165U
• Conventional Type (Ø92) for 130S/165U
ZX130UZX165UZX200U
Motion Range & DimensionsMotion Range & Dimensions
ZX130L ZX300S
Unnecessaryto tighten bolts
YXØ0.15
Y
X
ISO FLANGE
OPTION FLANGE
*Dimension:228
X YØ0.15
Ø0.04
X
YX
* Dimension:244
Ø0.04
VIEW A
2–Ø9H7
Depth 12
6–M10 Depth 16
60°
30°
Ø160
Ø55H7
Depth 12
Ø92
30°
30°
Ø16
6–M10 Depth 12
Ø55H7
Depth 12
Ø80H7
Depth 8
Ø125
JT3
JT2
JT3
JT2
Ø0.05
JT4±360° JT6±360°
JT5±130°
JT1
JT1
A
Interference radius aroundthe rotational axis
Rear sideInterference area
Installation Dimensions
Point P
Point P
Working rangebased on point P
ISO FLANGE
OPTION FLANGE
* Dimension
228
244
8–Ø22
30
*
288
60°
75°
70°
120°
1,4
90
1,459
27
01
10
67
0
395669150
13
90 14
2
37
0
75
125
12
51
25
500
10
10
500 1010
770
77
0
125
2–Ø25G8
300
300
300
10 x 2–M6–12/18
5 x 2–M10–20/25
90
90
80
58
R517
180°
180°
LINK H
1,199
R1,289
600.5210
3,4
99
3,7
33
1,2
25
2,124 2,810
LINK H
Ø0.05
JT4±360° JT6±360°
JT5±120°
JT1 180°
JT1
Interference radius aroundthe rotat ional axis
A
JT2
JT3
JT2
JT3
115.00 24.80
395360150
13
90
142
370
75
125
125
125
500
100
100
500 100100
770
77
0
125
2–Ø25G8
300
30
03
00
90
90
8058
5 x 2–M10–20/25
10 x 2–M6–12/18
8–Ø22
R517
Link H
Link H
1,199
30
288
250.05
3,1
90
1,4
90
1,2
25
70°
120°
75°60°
1,815
3,1
15
27
01
,10
06
70
600.5210
R1,289Rear side interference area
XØ0.15
X
Ø0.04XY Y
Depth 8
X
Ø0.15
Ø0.04
X
Y
Y
X
• Conventional Type (Ø113)
Unnecessaryfor standard spec.
VIEW A
6–M10 Depth 12
30°
30°
Ø160
2–Ø10H7+0.015
0 Depth 12
• ISO 9409-1 Series 1 (Ø160)
+0.035
0Ø100H7
Ø200
10–M10 Depth 17
30°
30°
2–Ø10H7+0.015
0 Depth 17
Ø200
Ø113
Depth 12
+0.030
0Ø65H7
180°
Dimensions for Base
ZX165L
JT3
JT2
JT3
JT2
Ø0.05
JT4±360° JT6±360°
JT5±130°
Dimensions for Base
JT1
180°
A
28.80
60°
75°
70°
120°
1,490
670
1,1
00
270
1,600
695510150
13
90
142
370
75
125125
125
500
100
100
500 100100
770
770
125
2–Ø25G8
300
300
300
90
90
80
58
5 x 2–M10–20/25
10 x 2–M6–12/18
8–Ø22
R517
180°
Link H
Link H
R1,289
1,199
Rear side interference area
600.5210
30
3,6
40
4,0
15
2,951
1,2
25
2,265
YXØ0.04
X
Ø0.15 YX
Depth 8
XDepth 12
Y
Ø0.15 YX
XØ0.04
Y
Ø125
2–Ø10H7 +0.0150 Depth 12
6–M10 Depth 12
Ø160
30°
30°
Ø92
+0.030 0Ø55H7
Ø160
30°
60°
6–M10 Depth 16
Ø9H7+0.015
0 Depth 12
Interference radius around
the rotational axis
JT1
Ø80H7
• ISO 9409-1 Series 2 (Ø125)Unnecessary
for standard spec.
• Conventional Type (Ø92)
SpecificationsErgonomic operation• Optimised work at the teach pendantThe Teach Pendant (TP) is a combination of control keyboard and an easy-read, 6.4 inch colour LCD touch-screen. A new hardware structure for the TP reduces the key response time and the ergonomic arrangement of the keys helps the operator achieve optimised inputs and programming. The workflow is optimised and the TP beco-mes an ergonomic user platform for operating the robot.
Special software combined with standards Applications Software Modules facilitate programming for a wide range of applications such as palletising, handling, spot welding, bonding and arc welding. The simplified block programming and Kawasaki‘s high level robot language (AS-language) provide enormous possibilities for innovative movement- and process control. Using the available options - such as servo-welding, network support and a high-performance visualisation system - a platform is created to find flexible solutions for even the most complex of applications.
High performance through modern control technologyA RISC, 64-bit high-speed dual processor provides the computing power. The use of a fully digitally controlled servo-system has significantly improved operating perfor-mance, cycle time and path accuracy. In addition, system errors have been reduced to a minimum through collision detection/automatic stop and path recovery after an emer-gency stop.The controller is of course fully downwardly compatible. This means that the D controller can be integrated in exi-sting old systems with no problems.
Modular and flexible control design• Connection of peripheral equipmentStandard I/O connections and a number of field bus inter-faces such as Interbus, CC-Link and DeviceNet etc. are available as interfaces to the peripheral equipment. The peripheral equipment is connected directly and permits the system‘s high flexibility.Furthermore, K-Logic (integrated software PLC) allows the creation of a highly complex Integrated system at a minimum cost.
• Network communicationThe controller also supports network communication via Ethernet to communicate with a host computer and for an easy upload and download of the programs to be run. Furthermore, the status of the robot can be monitored per remote access via an Intranet/Internet connection.
• Extension with aditional axesA further two axes can be integrated in the standard controller without any problems and without an additio-nal housing. Three or more additional axes are available by selecting SSCNET-compatible motors. This allows multi-axial systems to be easily configured to match the customer‘s requirements.
User-friendly designA reduction of the robot‘s internal wiring and the use of modular assemblies facilitates servicing and ensures shorter working times when repairing or replacing parts with no long and costly downtimes. What‘s more, supporting service functions such as data storage help the user locate the causes of existing problems. The service software includes restoration procedures* in the event of system errors (Z Series) and an Ethernet interface allows a remote system diagnosis. * In the event of system errors the service and support function of the Z Series offers procedures to display: possible sources of errors and probabilities as well as diagnosis, replacement instructions and times to remedy faults.
• Large LCD colour monitor with touchscreen functions.
• Ergonomically arranged cursor keys.
• The key layout has been optimised with respect to the frequency of use by the operator.
• Deadman‘s switch with three positions on rear.
Teach Pendant
Controller
External View & DimensionsD42
SEITENANSICHTVORDERANSICHTSEITENANSICHT VORDERANSICHT SEITENANSICHT RÜCKANSICHT
600550
27236500
470
1,200
520
ÇqÇdÇoÇdÇ`ÇsÇsÇdÇ`ÇbÇg
ÇgÇnÇkÇcÇdÇqÇqÇnÇqÇqÇdÇrÇdÇs
ÇoÇnÇvÇdÇqÇlÇnÇsÇnÇq
ÇdÇqÇqÇnÇq
Å@ÇoÇnÇvÇdÇqÇbÇnÇmÇsÇqÇnÇk
ÇrÇsÇ`ÇqÇsÇbÇxÇbÇkÇd
ÇqÇtÇm
DesignNumber of controlled axesServomotorPosition detectionDrive systemProgrammingCoordinates SystemsTypes of motion control Ext. control signals Input signals Output signalsStorage capacityExternal memory PC, network, etc. Field bus
Teach pendant
Control panel
Teach Pendant Robot controllerDimensions (WxDxH)Weight
Necessary power supply
Own earthing of the robottemperature/humidityColour
D 42MODEL
STANDARD
6 axes
Axis, basis, tool
32 channels32 channels
1 MB: approx. 10,000 program stepsPCMCIA card slotRS232C, Ethernet
6.4 inch TFT LCD touchscreen, 640x480 VGA, „E-Stop“, teach lock switch, deadman‘s switch, 58 hardware keys
(keys for manual operation of the robot, cursor keys, etc.)
Basic switch: motor voltage on, cycle start, error reset, „E-Stop“, run/hold, teach/repeat, etc.
10m10m
600mm x 550mm x 1,200mm130 kg
A.C. 380/400/415/440/460/480 V ± 10%, 50/60 Hz, 3 phases, 11,4 KVA
< 100 Ω; maximum leakage current 100 mA0-45°C, 35-85% humidity without dew formation and frost
Munsell 10GY9/1 or equivalent
OPTIONAL
Maximum 16 axes*¹
Fixed tool point
64/96/128 channels64/96/128 channels
2/4/8 MB: approx. 20,000/40,000/80,000 program steps
RS485CC-Link, DeviceNet, Profibus-DP,
ControlNET, AB Remote I/O, Interbus
5m, 15m, 20m, 25m, 30m5m, 15m, 20m, 25m, 30m, 35m, 40m
approx. 200 kg (with transformer)
A.C. 200/220V ± 10%, 50/60 Hz, 3 phases, 11,4 KVA
< 100 Ω; max. leakage current 100 mA (with transformer)
Cable length
Standalone main housing
A.C. servomotorAbsolute encoder
Fully digitally controlled servo-systemBlock teaching or AS language
Movement with axis, linear and circle interpolationMotor voltage Off, HoldMulti-
purpose signals
*¹ Please contact us if you use 7 axes or more.
Data com-munication interface
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