3 Kawasaki Zd Md

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 Robots for palletising and handling applications

printed in Germany Feb. 2008 • Preliminary Version

Materials and specifications are subject to change without notice.

50 – 400 kg Payload

From speed to power:

The Kawasaki palletizing robot group

Large working range and high payload

The FD50N, the most compact model with payload of 50kg, covers a vertical working range of 1,944 mm, the ZD130S/250S 2,200 mm and the MD400N 2,710 mm. The flexible processing of several pallets with a centrally arranged robot can be easily realised.

Performance optimised for cycle time

In standardised tests the FD50N achieved a maximum performance of 2,400 cycles per hour, the ZD130S 1,800 cycles per hour and the MD400N 400 cycles per hour*¹.

Compact design

The design of the FD50N and MD400N with a compensating fifth axis that replaces the more complicated parallelogram and the smaller footprint of all models as well as the omission of a projecting counterweight enormously reduce the space requirements of the robot arm. This permits the design and realisation of space-saving and thus lower-cost concepts. *¹ FD50N Test: 75mm vertical 900mm horizontal 75mm vertical / linear 50kg ZD130S Test: 400mm vertical 2000mm horizontal 400mm vertical / linear 60kg MD400N Test: 400mm vertical 2000mm horizontal 400mm vertical / linear 400kg

In all branches of industry, from pharmaceuticals to foods, specialists from the automation branch encounter permanently changing requirements. High quality demands combined with smaller numbers of pieces or changing products on a production line challenge the flexibility of concepts and plants as well as the creativity of design engineers. Kawasaki also faces up to these challenges in the field of palletising applications. The group of palletizing robots offers all possibilities for implementing the required flexibility in automation and production. Small weights with a high cycle time or high parts weight. The Kawasaki palletizing robots face up to every challenge from 50kg to 400kg.

Applications for palletizing

Motion Range & Dimensions

+140°~-95°

+90°~-50°

+90°~-45°

JT3

+30°~-205°

+15°~-120°

+14°~-125°

JT4

± 360°

± 360°

± 360°



JT5

± 10°*¹

—

± 10°*¹

Max.

JT1

180°/s

135°/s

95°/s

80°/s

JT2

150°/s

110°/s

95°/s

70°/s

JT3

180°/s

130°/s

95°/s

70°/s

JT4

350°/s

400°/s

190°/s

180°/s

100 125 125

JT2

P

±360°

JT4 A

JT3 0˚

12

2,650 kg

125

125 10 300

125

430

pth 6

Y

10

R6

JT1 180°

VIEW A

Interference radius around swivel arm

28

65

1,175

1,967

2,065

8-Ø22

80

150

off-set:90

30°

165

325

Base Installation Dimensions

10

1,740

62

250

105

105 2–M16 Depth 25

°

2,043

2–M16 Depth 25 95

62

950

200

A

420

160

78

222

JT3:235°

210

1,630

30°

210

140

°

JT2:235°

11

JT4±360°

JT2

JT2

45°

A

90

R5

14°

JT3

B 110

JT4:720°

°

Fork-pocket JT3

1,160

Fork-pocket

277

5°

12

205°

R1,0 0

4

3,521

2,510

680

VIEW B

272

150

322

600 623

588

598

Note: 1. Fork-pocket is optional. 600

185

.5

th 8

Dep

X

6–M6 Depth 9

Point P

5H 7

Ø250

8–Ø40

JT1:314°

20 65

0 +0.04 0

Ø12

180°

300

275

00

JT1

30°

2,104

JT5:±10°

X Y

Ø2

Ø0.05

°

De

Base Installation Dimensions

Z

Working range based on point P

Ø0.2

2–Ø25G8

10

60

430

8–Ø18

H7

1

500

770

0 Ø5

VIEW A

57°

770 10

40

Ø80

210

218 ±0.2

6–M8 Depth 14

Y

Point P

135

40

°

40

1,000

40

300

157

300

6–M12 Depth 29

MD400N

218 ±0.2

Ø0.02

500

FD50N

X

Ø8H7 +0.015 Depth 8 0

40

1,217

770

500

300 300 8–Ø22 Base Installation Dimensions

*2: Total weight without optional extras.

X

Y

JT3

200 kg/m²

1,350 kg

*1: Operating angle axis 5: ± 10 degrees perpendicular to the ground.

8–Ø22

50˚

± 0.5 mm 100 kg/m²

580 kg

Weight*²

255 Motion range of point P

‚i‚s‚Q

740 Zyklen/Std. (mit 400 kg Last)

± 0.5 mm 50 kg/m²

4.4 kg/m² (JT4)

Wrist joint moment of inertia

2,257 1,450

W 1,300 x D 1,300 x H 2,710.4

850 Zyklen/Std. (250 kg, 60°)

1500 Zyklen/Std. (130 kg, 60°)

± 0.15 mm

Repeatability

300

998 300

300

FD vertical: 75 mm, horizontal: 900 mm ZD/MD vertical: 400 mm, horizontal: 2.000 mm

1,600

3,075.3

1800 Zyklen/Std. (60 kg, 60°)

2.400 Zyklen/Std. (mit 50 kg Last)

1,130.9

370

Palletising performance data

W 1,800 x D 1,600 x H 2,200

180˚

JT1

VIEW A

338.2

W 1,100 x D 1,100 x H 1,944.7

5.3

Ø0.05

100

JT2

Working range in mm

R2,87

˚

Max. stroke

2–Ø25G8

100 125

8–Ø11

90

± 180°

Ø150

15˚

± 180°



0

400 kg

± 157°

speed

Ø18

30

250 kg

JT1

500 125

2,200

130 kg



770 100

810

50 kg

Max. payload

75

370

3142 mm

0

300

3255 mm

180˚

51

15 (Width of an installed flange)

5 axes (option: 6 axes)

2100 mm

JT1

R

1,800

5 axes

Articulated arm 4 axes (option: 5 axes)

ZD130S ZD250S

125

Degrees of freedom Reach *¹

MD400N

270

Type of arm

ZD250S

1,250

ZD130S

670

FD50N

MODEL

25˚

Specifications

2. Operating angle of the JT5 is more or less than 10 degrees perpendicular to the ground

2–Ø12H7

+0.018 0

Ø0.04

Depth 12 X

Controller

Special software combined with standards Application Software Modules facilitate programming for a wide range of applications such as palletising, handling, spot welding, gluing and arc welding. The simplified block programming and Kawasaki‘s high level robot language (AS-language) provides 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. The controller is of course fully downwardly compatible. This means that the D controller can be integrated in existing old systems with no problems.

• Connection of peripheral equipment Standard I/O connections and a number of field bus interfaces such as Interbus, Profibus, 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 additional 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.

Specifications STANDARD Design Number of controlled axes

A reduction of the controller‘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.

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

Maximum 16 axes*²

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 Storage capacity

Motor voltage Off, Hold 32 channels

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

Cable length

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

Teach Pendant Robot controller

Dimensions (WxDxH) Necessary power supply Own earthing of the robot temperature/humidity

10m

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

10m

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

600mm x 550mm x 1,200mm

Weight

Colour

• Large LCD colour monitor with touchscreen functions.

4 axes ( 5 axes*¹ )

Servomotor

Control panel

User-friendly design

OPTIONAL

Standalone main housing

* ¹ MD, FD ± 10 degrees axe JT5.

Teach Pendant

D 42 / D43 / D44

MODEL

approx. 200 kg (with transformer)

130 kg 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 Munsell 10GY9/1 or equivalent * ² Please contact us if you use 8 axes or more.

External View & Dimensions D42 D43 D44

160

550

600

470

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

Modular and flexible control design

‚b‚n‚m‚s‚q‚n‚k ?@‚o‚n‚v‚d‚q

‚s‚d‚`‚b‚g

‚l‚n‚s‚n‚q ‚o‚n‚v‚d‚q

‚b‚x‚b‚k‚d ‚r‚s‚`‚q‚s

‚q‚d‚o‚d‚`‚s

‚d‚q‚q‚n‚q

‚d‚q‚q‚n‚q ‚q‚d‚r‚d‚s

‚g‚n‚k‚c

‚q‚t‚m

1,200

Ergonomic operation

• Deadman‘s switch with three positions on rear. SIDE VIEW

FRONT VIEW

SIDE VIEW

REAR VIEW