2 Kawasaki Zx

EUROPE

Cautions to be taken to ensure safety 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.

Inquiries Kawasaki Robotics GmbH Sperberweg 29 · 41468 Neuss · Germany e-mail: [email protected] · www.kawasakirobot.de

Tel. +49 -(0) 2131 3426-0 Fax +49 -(0) 2131 3426-22

Munich Office: Konrad-Zuse-Platz 12 · 81829 München · Germany e-mail: [email protected] · www.kawasakirobot.de

Tel. +49 -(0) 89 454591-30 Fax +49 -(0) 89 454591-45

Kawasaki Robotics (UK) Ltd. Units 6&7 Easter Court, Europa Boulevard, Westbrook Warrington WA5 5ZB · United Kingdom e-mail: [email protected] · www.kawasakirobot.uk.com

Tel. Fax

+44 -(0)1925 71 3000 +44 -(0)1925 71 3001

French Office: Parc d‘activites de la clef de Saint-Pierre Rond Point de l‘Epine des champs 78996 Elancourt Cedex, France e-mail: [email protected] · www.kawasakirobot.fr

Tel. Fax

+33 -(0)1 30 68 9522 +33 -(0)1 30 68 9139

Agent

printed in Germany Feb. 2008 • Preliminary Version

Materials and specifications are subject to change without notice.

100 – 300 kg Payload

Automotive and General Industries, …

Improved cycle times

A 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 consumption

The 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 configuration by Kawasaki the power consumption during the robot movements could be reduced.

Space saving and easy installation through a small foot print

More 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.

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.

Protective configurations IP65, IP67

Protection 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.

Convertability

Simple 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 carried out at low cost

Spot welding

Paletizing

Spot welding

Specifications

Specifications

ZB100L

TYP

ZB150S

Type of arm Degrees of freedom Reach Maximum Payload

ZT130L

ZT130U

ZT165U

ZT200U

ZX130L

ZX130U

Articulated arm 6 axes (optional 7 axes) 1655 mm 100 kg

1365 mm 150 kg

3530 mm 130 kg

3230 mm 130 kg

ZX165L

ZX165U

ZX200U

ZX300S

Articulated arm 6 axes (optional 7 axes) 3230 mm 165 kg

3230 mm 200 kg

2951 mm 130 kg

2651 mm 130 kg

2810 mm 165 kg

2651 mm 165 kg

TYP Type of arm

2651 mm 200 kg

2501 mm 300 kg

Degrees of freedom Reach Maximum Payload



JT1

± 160°

± 160°

± 180°

± 180°

± 180°

± 180°

± 180°

± 180°

± 180°

± 180°

± 180°

± 180°

JT1



JT2

+120°~-70°

+120°~-70°

+60°~-75°

+60°~-75°

+60°~-75°

+60°~-75°

+75°~-60°

+75°~-60°

+75°~-60°

+75°~-60°

+75°~-60°

+75°~-60°

JT2

Maximum stroke

JT3

+100°~-150°

+100°~-150°

+165°~-95°

+165°~-95°

+165°~-95°

+165°~-95°

+250°~-120°

+250°~-120°

+250°~-120°

+250°~-120°

+250°~-120°

+250°~-120°

JT3

JT4

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

JT4

JT5

± 130°

± 130°

± 130°

± 130°

± 130°

± 130°

± 130°

± 130°

± 130°

± 130°

± 130°

± 120°

JT5



JT6

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

± 360°

JT6



JT7 standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm



JT1

100°/s

100°/s

105°/s

105°/s

105°/s

90°/s

110°/s

110°/s

100°/s

110°/s

95°/s

100°/s

JT1



JT2

100°/s

100°/s

105°/s

105°/s

105°/s

90°/s

110°/s

110°/s

105°/s

110°/s

95°/s

85°/s

JT2

Maximum speed

JT3

90°/s

90°/s

105°/s

105°/s

105°/s

90°/s

110°/s

110°/s

95°/s

110°/s

95°/s

85°/s

JT3

JT4

135°/s

135°/s

140°/s

140°/s

135°/s

120°/s

140°/s

140°/s

135°/s

135°/s

120°/s

90°/s

JT4

JT5

135°/s

135°/s

135°/s

135°/s

135°/s

115°/s

135°/s

135°/s

135°/s

135°/s

115°/s

90°/s

JT5



JT6

210°/s

210°/s

230°/s

230°/s

210°/s

180°/s

230°/s

230°/s

210°/s

210°/s

180°/s

150°/s

JT6



JT7

1,000 mm/s

1,000 mm/s

1,000 mm/s

1,000 mm/s

1,000 mm/s

1,000 mm/s

1,000 mm/s

1,000 mm/s

1,000 mm/s

1,000 mm/s

1,000 mm/s

1,000 mm/s

JT7

± 0,3mm

JT4

0 N·m

911.4 N·m

735 N·m

735 N·m

911,4 N·m

980 N·m

7.35 N·m

7.35 N·m

911.4 N·m

911.4 N·m

980 N·m

1.715 N·m

JT4

Moment*

JT5

0 N·m

911.4 N·m

735 N·m

735 N·m

911,4 N·m

980 N·m

7.35 N·m

7.35 N·m

911.4 N·m

911.4 N·m

980 N·m

1.715 N·m

JT5



JT6

0 N·m

450.8 N·m

421 N·m

421,4 N·m

450,8 N·m

490 N·m

221.4 N·m

221.4 N·m

450.8 N·m

450.8 N·m

490 N·m

862.4 N·m

JT6

Moment of inertia

JT4

78.4 kg/m²

78.4 kg/m²

51.9 kg/m²

51.9 kg/m²

78.4 kg/m²

93.1 kg/m²

51.94 kg/m²

51.94 kg/m²

78.4 kg/m²

78.4 kg/m²

93.1 kg/m²

166.6 kg/m²

JT4

JT5

78.4 kg/m²

78.4 kg/m²

51.9 kg/m²

51.9 kg/m²

78.4 kg/m²

93.1 kg/m²

51.94 kg/m²

51.94 kg/m²

78.4 kg/m²

78.4 kg/m²

93.1 kg/m²

166.6 kg/m²

JT5

JT6

40.18 kg/m²

40.18 kg/m²

27.4 kg/m²

27.44 kg/m²

40.18 kg/m²

46.1 kg/m²

27.44 kg/m²

27.44 kg/m²

40.18 kg/m²

40.18 kg/m²

46.1 kg/m²

107.8 kg/m²

JT6

915 kg

900 kg

1,565 kg

1,550 kg

1,550 kg

1,550 kg

1,400 kg

1,350 kg

1,355 kg

1,355 kg

1,350 kg

1,400 kg

1,500 mm/s

1,500 mm/s

2,500 mm/s

2,500 mm/s

2,500 mm/s

2,500 mm/s

2,500 mm/s

2,500 mm/s

2,500 mm/s

2,500 mm/s

2,500 mm/s

2,500 mm/s

Recommended Controller Installation Integrated functions Optional

D42 Floor

ZB100L

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

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

Optional

Munsell 10GY9/1 or equivalent

ZT130U ZT165U ZT200U

ZX130L

Weight

Installation Integrated functions

Mechanical stopper JT1/JT2/JT3, special colour.

ZT130L

Moment of inertia

Floor Air lines (12 mm Ø x 2), wiring for the solenoid valves of the grab (A.C. 24V)

ZB150S

Moment*

Recommended Controller

Air lines (12 mm Ø x 2), wiring for the solenoid valves of the grab (A.C. 24V)

Munsell 10GY9/1 or equivalent

Speed

D42

Air Line (12mm Ø)

Colour

Maximum

Repeatability



Weight

stroke

standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm JT7

± 0,3mm

Repeatability

Maximum

ZX130U ZX165U ZX200U

Colour

ZX300S

Motion Range & Dimensions

Motion Range & Dimensions 150

700 65

25

50

50

50

:Unnecessary to tighten bolts

6–M10 Depth 12 JT5±130°

Ø0.15

X Y

Ø80H7 Depth 8

JT4±360°

Ø160

300

700

Ø125

395 1.30

JT4±360°

Ø0.15

6–M10 Depth 16

+0.030

X Y

Ø0.15 X Y

Ø80H7 0

Ø55H7

X

Depth 8

Ø150

+0.030 0

X

Depth 12

Ø160

Ø125

10 x 2–M6–12/18 5 x 2–M10–20/25

Ø92

JT5±130°

1,300

+0.015 2–Ø10H7 0

30

4-Ø40

Depth 12

Ø9H7

° 30°

Ø0.04 X

Y

JT6±360°

• Conventional Type (Ø92) for 130S/165U

• ISO 9409-1 Series 2 (Ø125) for 130S/165U Unnecessary 6–M10 Depth 12 for standard spec.

24.40

° 60

650

JT6±360°

X

ZT130U ZT165U ZT200U

510

90

570

142

ZB100L

65

JT1 160°

30°

Y

+0.015 0

Depth 12

4,571

Ø0.04 X 173.05

25

30°

4-Ø22

50

JT1 160°

2–Ø10H7 Depth 12

° 30

23

Point P

Ø0.04

Y

X

410

ISO FLANGE * Dimension:228

Installations Dinensions

Working range based on point P 1,665

6–M10 Depth 16

1,131

Ø0.15

Ø55H7 Depth 12

X 210

600.5

78

1,300

24.40

250

100

500

100

A

125

°

3,230

90

300

125 125

60

10.00

2–Ø25G8

90

770

Ø0.05

80

Ø92

Ø160

427

195

58

850

*

B

X Y

Ø9H7 Depth12 300

JT3 JT2

50.00

JT2 °

60

°

1,100

75

VIEW A 7.50

1,315

JT3 10.00

0° 10

JT3

77.00

565

* Dimension:244

0° 12

2,547.5

165°

X 300

ÇiÇs

Point P

Ø0.04

OPTION FLANGE

°

565

1,960

70

Y

150°

300

30°

JT3 JT2

95

°

12.50

A

370

545

30

80

JT1 180°

JT1 180°

150°

530

JT3

545

329

8–Ø22

587.5

474 957

0

708

600 2,103

ZB150S

700 65

JT1 160°

570

65 50 :Unnecessary to tighten bolts

6–M10 Depth 12

50

25

50

Ø0.15

X Y

Ø80H7 Depth 8

JT5±130° JT4±360°

X

300

700

Ø160 650

JT6±360°

+0.030 0

Ø125

4-Ø40

2-Ø10H7

30

+0.015 0

Depth 12

°

JT1 160°

30°

4–Ø22

50

25

23

Point P

* Dimension:228

Installation Dimensions

6-M10 Depth 16 Ø0.15

X Y

Ø55H7 +0.030 0 Depth 12

1,365

831

195

X

Ø92

Ø160 550

X

ISO FLANGE

410

Working range based on point P

*

Ø0.04

Y

427

250

60 °

1,115

Ø9H7 30°

A JT3 150°

OPTION FLANGE VIEW A 1,315 216

10

JT3

0°

12

1,947.5

JT2

0°

Point P

565

* Dimension:244

565

JT2 70 °

Y

832.5

with robot arm depending on angle of wrist axes.

JT3

287.5

150°

474 826

545

545

* TOOL, HAND, etc. may interfere

539

467

+0.015 0

Ø0.04

Depth 12 X

ZX130U ZX165U ZX200U

Motion Range & Dimensions

Motion Range & Dimensions • ISO 9409-1 Series 2 (Ø125) 6–M10 Depth 12 Ø0.15 X Y

180°

125

125

2–Ø25G8

R5 17

Ø0.05

Unnecessary for standard spec. Ø80H7

X

Depth 8

150

510

695

Ø160

13

• ISO 9409-1 Series 1 (Ø160) 75

770

100

JT6±360°

500

100

125

2–Ø25G8

125

X

Interference radius around the rotational axis

Ø0.05

R5 17

360

Rear side interference area

0 Ø20

142

90

500

770

300

370

16

Ø 2–Ø10H7

+0.015 0

6–M10 Depth 12

Depth 12

Ø0.15 X Y

Y

Ø0.04 X

JT5±120°

1,600

8 1,2

125

• Conventional Type (Ø92)

R

6–M10 Depth 16 8–Ø22

Ø0.15 X

100

100

125

180°

JT6±360°

JT4±360°

300

90

142

770

500 300

Link H

JT1

13

0

JT5±130°

10 x 2–M6–12/18

9

Ø0.04 X Y

Y

Unnecessary for standard spec.

+0.035 0

Depth 8

395

125

150

Depth 12

°

370

30 30°

5 x 2–M10–20/25

300

+0.015 0

2–Ø10H7

Ø100H7

JT1 180°

30°

300

JT4±360°

ZX300S

Ø125

100

100

100

125

JT1

Interference radius around the rotational axis

770 500

° 30

ZX130L

75 100

Link H JT1

300

Y

Ø55H7

10 x 2–M6–12/18

180°

+0.030 0

X

Depth 12

115.00

Rear side interference area

9

• Conventional Type (Ø113)

24.80

8 1,2

8–Ø22

X

R

+0.030 0

Ø65H7

° 30

Depth 12

Ø92

Ø160

30

5 x 2–M10–20/25

30

1,815

250.05

30°

Dimensions for Base ° 60 Ø9H7 2,265

30°

2,951

Y

+0.015 0

Depth 12

Ø0.04

Dimensions for Base

0 Ø20

X

3 11

10–M10 Depth 17

Ø

2–Ø10H7

28.80

+0.015 0

Ø0.04 X

600.5 288

° 600.5

A

JT2 75

° 60

Link H

°

A

3,115

1,100

70

1,100

JT3

JT3

670

670

JT3

1,199

1,199

10

150

7

Interference radius around the rotational axis

Ø0.05

395 Ø0.15 X Y

Ø80H7 Depth 8

JT6±360°

770

500

8–Ø22

JT5±130°

10 x 2–M6–12/18

10

Ø55H7 Depth 12

°

30

JT1 180°

89

,2 R1

LINK H Rear side Interference area

X

5 Ø12

Ø16

30

300

Unnecessary to tighten bolts

6–M10 Depth 12

Point P

13 JT4±360°

125

370

300

669

125

300

10

125

5 x 2–M10–20/25

180°

51

2–Ø25G8

142

500

90

770

10 125

JT1

R

75

ISO FLANGE OPTION FLANGE

*

1,459

* Dimension 228 244

30°

Y

Ø0.04 X

ISO FLANGE

Installation Dimensions

*Dimension:228

2,124

2,810

6–M10 Depth 16 Ø0.15 X Y

Working range based on point P

Ø55H7 Depth 12 Ø92

Ø160

60 °

288

30° °

LINK H 58

60

JT2 75 °

Point P

2–Ø9H7 Depth 12

OPTION FLANGE * Dimension:244

VIEW A

110

JT3

70 0°

12

1,199

1,225

° JT3

3,733

3,499

90

270

A

1,490

Y

Ø0.04

JT2

80

600.5

670

210

90

ZX165L

X

0° 12

1,225

1,490

°

0° 12

70

1,225

1,490

° JT3

3,190

90

270

4,015

90

3,640

270

JT2

80

210

58

75

90 90

Link H

Y

VIEW A

JT2

° 60 80

JT2

58

210

Ø0.15 X

Depth 17

Y

Controller

• Optimised work at the teach pendant The Teach Pendant (TP) is a combination of control keyboard and an easy-read, 6.4 inch colour LCD touchscreen. 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 becomes 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 technology A RISC, 64-bit high-speed dual processor provides the computing power. The use of a fully digitally controlled servo-system has significantly improved operating performance, 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 emergency stop. The controller is of course fully downwardly compatible. This means that the D controller can be integrated in existing old systems with no problems.

Teach Pendant • Large LCD colour monitor with touchscreen functions.

Modular and flexible control design • Connection of peripheral equipment Standard I/O connections and a number of field bus interfaces 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 communication The 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 axes A further two axes can be integrated in the standard controller without any problems and without an additional 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 design A 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.

Specifications D 42

MODEL STANDARD Design

OPTIONAL

Standalone main housing

Number of controlled axes

6 axes

Servomotor

Maximum 16 axes*¹

A.C. servomotor

Position detection

Absolute encoder

Drive system

Fully digitally controlled servo-system

Programming

Block teaching or AS language

Coordinates Systems

Axis, basis, tool

Types of motion control

Fixed tool point

Movement with axis, linear and circle interpolation

Multi- Ext. control signals purpose Input signals signals Output signals

Motor voltage Off, Hold 32 channels

Storage capacity

64/96/128 channels

32 channels

64/96/128 channels

1 MB: approx. 10,000 program steps

2/4/8 MB: approx. 20,000/40,000/80,000 program steps

External memory

PCMCIA card slot

Data com- PC, network, etc.

RS232C, Ethernet

RS485 CC-Link, DeviceNet, Profibus-DP, ControlNET, AB Remote I/O, Interbus

munication Field bus interface

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.)

Teach pendant

Basic switch: motor voltage on, cycle start, error reset, „E-Stop“, run/hold, teach/repeat, etc.

Control panel Cable length

Teach Pendant Robot controller

Dimensions (WxDxH)

10m

5m, 15m, 20m, 25m, 30m

10m

5m, 15m, 20m, 25m, 30m, 35m, 40m

600mm x 550mm x 1,200mm

Weight

approx. 200 kg (with transformer)

130 kg

Necessary power supply Own earthing of the robot temperature/humidity

A.C. 380/400/415/440/460/480 V ± 10%, 50/60 Hz, 3 phases, 11,4 KVA

A.C. 200/220V ± 10%, 50/60 Hz, 3 phases, 11,4 KVA

< 100 Ω; maximum leakage current 100 mA

< 100 Ω; max. leakage current 100 mA (with transformer)

0-45°C, 35-85% humidity without dew formation and frost

Colour

Munsell 10GY9/1 or equivalent

* ¹ Please contact us if you use 7 axes or more.

External View & Dimensions D42 500

36

272

550

600

470

Ergonomic operation

ÇbÇnÇmÇsÇqÇnÇk Å@ÇoÇnÇvÇdÇq

ÇlÇnÇsÇnÇq ÇoÇnÇvÇdÇq

ÇbÇxÇbÇkÇd ÇrÇsÇ`ÇqÇs

ÇsÇdÇ`ÇbÇg ÇqÇdÇoÇdÇ`Çs

ÇdÇqÇqÇnÇq

ÇdÇqÇqÇnÇq ÇqÇtÇm ÇqÇdÇrÇdÇs ÇgÇnÇkÇc

• Deadman‘s switch with three positions on rear.

520

• The key layout has been optimised with respect to the frequency of use by the operator.

1,200

• Ergonomically arranged cursor keys.

SEITENANSICHT

VORDERANSICHT

SEITENANSICHT

VORDERANSICHT

SEITENANSICHT

RÜCKANSICHT