Upload
others
View
1
Download
0
Embed Size (px)
Citation preview
Z seriesKawasaki Robot
Z series
Large payload robots up to 300kg
European Headquater, Sales and Service
Kawasaki Robotics GmbHhttp://robotics.kawasaki.comSperberweg 29, 41468 Neuss, GermanyPhone: +49-2131-3426-0 Fax: +49-2131-3426-22
Locale Office
Kawasaki Robotics (UK) Ltd.http://robotics.kawasaki.comUnit 4 Easter Court, Europa Boulevard, Westbrook Warrington Cheshire, WA5 7ZB, United KingdomPhone: +44-1925-71-3000 Fax: +44-1925-71-3001
Kawasaki Heavy Industries Russia LLC (KHI- Moscow)
http://robotics.kawasaki.com Office 1206, entrance 3, 12 Krasnopresnenskaya emb.,Moscow, Russian Federation 123610Phone: +7-495-258-2115 Fax:+7-495-258-2116
Kawasaki Heavy Industries Middle East FZE (KHI-ME)
http://robotics.kawasaki.com Dubai Aiport Free Zone, Bldg. W6, Block-A,Office No. 709, PO BOX 54878, Dubai UAEPhone: +971-(0)4-214-6730 Fax:+971-(0)4-214-6729
* Materials and specifications are subject to change without notice.
CAUTIONS TO BE TAKEN TO ENSURE SAFETY
l 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.
l 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.
l 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.
ISO certified in Akashi Works.
Printed in Germany December 2016 Catalogue No. GE140
Spot welding, material handling, sealing, ....by producing many different robots to suit various applications, Kawasaki has greatly contributed to automated production lines for automotive and general industries. Kawasaki is introducing the new “Z series” heavy-duty robot, which is developed using Kawaski’s advanced technology and extensive experience in robotics.The Z-series consists of eleven models and is available in floor mounting (ZX), shelf mounting (ZT) and compact (ZH) types.
FeaturesImproved cycle timeThe cycle time has been greatly improved by reduction of the mass and adoption of the E-controller.
Wide work envelopeThe Z-series has wide work envelope due to long reach and small dead space. Joint 1 travel is 360 degrees with mechanical hard stops.
UpgradabilityThe ZX165U can be upgraded to a faster robot or higher payload robot by adding simple hardware and software at the user site. The alteration at the production site is easier and economical. This means that an exact model selection at the design stage is not required.
Wide motion range, long reach and large motion angle of the wrist enable variousapplications in industrial fields.
ZT165U
ZX165U
2 3
Standard specifications
ZX130S ZX130L ZX165U ZX200S ZX300S ZH100U
Type Articulated type Articulated type
Degree of freedom (axes) 6 6
Max. payload (kg) 130 130 165 200 300 100
Max. reach (mm) 2.651 2.951 2.651 2.651 2.501 1.634,4
Positional repeatability (mm) ]1 ±0,3 ±0.3
Axis workenvelopeandMax. speed
Axis Max. stroke (°) Max. speed (°/s) Max. stroke (°) Max. speed (°/s) Max. stroke (°) Max. speed (°/s) Max. stroke (°) Max. speed (°/s) Max. stroke (°) Max. speed (°/s) Max. stroke (°) Max. speed (°/s)
Arm rotation (JT1) ±180 130 ±180 110 ±180 110 ±180 105 ±180 100 ±160 140
Arm out-in (JT2) +75 - –60 130 +75 - –60 110 +75 - –60 110 +75 - –60 110 +75 - –60 85 +120 - –60 100
Arm up-down (JT3) +250 - –120 130 +250 - –120 110 +250 - –120 115 +250 - –120 105 +250 - –120 85 +75 - –90 100
Wrist swivel (JT4) ±360 180 ±360 140 ±360 140 ±360 120 ±360 90 ±360 150
Wrist bend (JT5) ±130 180 ±130 135 ±130 155 ±120 120 ±120 90 ±130 150
Wrist twist (JT6) ±360 280 ±360 230 ±360 260 ±360 200 ±360 150 ±360 250
Moment(N·m) ]2
Wrist swivel (JT4) 735 735 911,4 1.274 1.715 874
Wrist bend (JT5) 735 735 911,4 1.274 1.715 874
Wrist twist (JT6) 421,4 421 450,8 686 862 392
Moment of Inertia(kg·m2) ]2
Wrist swivel (JT4) 51,9 51,9 78,4 117,6 166,6 90,0
Wrist bend (JT5) 51,9 51,9 78,4 117,6 166,6 90,0
Wrist twist (JT6) 27,4 27,4 40,2 63,7 107,8 20,0
Mass (kg) 1.350 1.400 1.350 1.400 1.400 750
Installation Floor Floor
Integrated function Pneumatic piping (12 mm dia. x 2) Pneumatic piping (12 mm dia. x 2) —
OptionsMechanical hard stop JT1/JT2/JT3, End stroke limit switch JT1/JT2/JT3, Special color, Traversing track,
Internal wiring for end effector,Double solenoid valve 1/2, Single solenoid valve 1/2, Double sol.1+single sol.1, FRL unit, Internal hoses of cooling water for welding gun, Wiring for solenoid valve for grippers (DC24V)
Mechanical hard stop JT1/JT2/JT3, End stroke limit switch JT1/JT2/JT3, Special color, Traversing track, Internal wiring for end effector,Double solenoid valve 1/2, Single solenoid valve 1/2, Double
sol.1+single sol.1, FRL unit, Internal hoses of cooling water for welding gun, Wiring for solenoid valve for grippers (DC24V)
Mechanical hard stop JT1/JT2/JT3, End stroke limit switch JT1/JT2/JT3,
Special color, Traversing track, Internal wiring for end effector,
Internal hoses of cooling water for welding gun, Wiring for solenoid valve for grippers (DC24V)
Color Munsell 10GY9/1 equivalent Munsell 10GY9/1 equivalent
Power requirements (kVA) ]3 7,5 7,5
Controller (America/Europe/Japan & Asia) E02 E02
ZT130S ZT165U ZT200S
Type Articulated type
Degree of freedom (axes) 6
Max. payload (kg) 130 165 200
Max. reach (mm) 3230 3230 3230
Positional repeatability (mm) ]1 ±0,3
Axis workenvelopeandMax. speed
Axis Max. stroke (°) Max. speed (°/s) Max. stroke (°) Max. speed (°/s) Max. stroke (°) Max. speed (°/s)
Arm rotation (JT1) ±180 130 ±180 105 ±180 100
Arm out-in (JT2) +60 - –75 130 +60 - –75 105 +60 - –75 100
Arm up-down (JT3) +165 - –95 130 +165 - –95 105 +165 - –95 90
Wrist swivel (JT4) ±360 180 ±360 135 ±360 120
Wrist bend (JT5) ±130 180 ±130 135 ±120 115
Wrist twist (JT6) ±360 280 ±360 210 ±360 180
Moment(N·m) ]2
Wrist swivel (JT4) 735 911,4 1.274
Wrist bend (JT5) 735 911,4 1.274
Wrist twist (JT6) 421 450,8 686
Moment of Inertia(kg·m2) ]2
Wrist swivel (JT4) 51,9 78,4 117,6
Wrist bend (JT5) 51,9 78,4 117,6
Wrist twist (JT6) 27,4 40,2 63,7
Mass (kg) 1.550 1.550 1.600
Installation Rack mounting
Integrated function Pneumatic piping (12 mm dia. x 2)
OptionsMechanical hard stop JT1/JT2/JT3, End stroke limit switch JT1/JT2/JT3, Special color, Traversing track,
Internal wiring for end effector,Double solenoid valve 1/2, Single solenoid valve 1/2, Double sol.1+single sol.1, FRL unit, Internal hoses of cooling water for welding gun, Wiring for solenoid valve for grippers (DC24V)
Color Munsell 10GY9/1 equivalent
Power requirements (kVA) ]3 7,5
Controller (America/Europe/Japan & Asia) E02
]1: conforms to ISO9283 ]3: In case of using the face plate which is supported by proper bolts and pins. ]4: depends on the payload and motion patterns
]1: conforms to ISO9283 ]2: In case of using the face plate which is supported by proper bolts and pins. ]3: depends on the payload and motion patterns
4 5
Motion range & dimensions
25
78
500
15
50
19
64
61
4
1062 572
1634
800 200
30
05
80
53
0
700
29
0
50
0
250 450
P
77075
37
0
77
0
2651
1300
1965
34
15
33
40
1199
14
90
288
Link H
27
011
00
67
0
210 597,5
P
Working rangebased on point P
77075
37
0
77
0
Dimesion 228 – ISO 9409-1 Series 2 (ø 125) for 130S/165U
Dimension 231 – ISO 9409-1 Series 1 (ø 160) for 200S
Dimension 244 – Conventional type (ø 92) for 130S/165U
Dimension 248 – Conventional type (ø 113) for 200S
Dimesion 228 – ISO 9409-1 Series 2 (ø 125)
Dimension 244 – Conventional type (ø 92)2
70
110
06
70
210 597,5
288
Link H
1199
149
0
2265 2951
1600
40
1536
40
P
Working rangebased on point P
77075
37
0
77
0
288
Link H
1199
14
90
27
011
00
67
0
210 597,5
311
5
1815
319
0
2501
1150
P
Working rangebased on point P
Working rangebased on point P
ZX130L
(mm)
ZH100U
(mm)
ZX300S
(mm)
Dimension 231 – ISO 9409-1 Series 1 (ø 160) Dimension 248 – Conventional type (ø 113)
Dimesion 228 – ISO 9409-1 Series 2 (ø 125)
Dimension 244 – Conventional type (ø 92)
5 6
ZX130S/ZX165U/ZX200S
(mm)
6 7
Hemming process of the car door
Releasing and loading / unloading of large-sized workpieces by vision system
Releasing work from resin molding machine
Motion range & dimensions
ø0.05
180°
180°
8-ø22
30
37
0
75
125
12
51
25
50
01
00
10
0
500 100100
770
77
0
125
2-ø25G8
300
30
03
00
530 1,000
1,6
00
60
0
3,130
1,7
66
3,2
00
4,9
66
1,570
1,630
10x2-M6-12/18
69
5
90 51
0
13
15
0
142
5x2-M10-20/25
R970
210
120°
50°
150°
65
°
59
7.5
JT5±130°
JT1
JT1
JT4±360°
JT6±360°
JT2
JT2
JT3
JT3
P
P
1,3
00
45
71
210
36
00
3001100530
323080
77
0
77075
37
0
17
31
Working rangebased on point P
P
Rear side interference area
Dimensions for base
ø0.05
2-ø25G8
ø55H7
59°
30°
30°
30°
6-M10 Depth 12
6-M10 Depth 12
2-ø9H7
ø80H72-ø10H7
X
Y
X
Y
65
°
150°
50°
120°
210
60
0.5
P
5x2-M10-20/25
142
15
0
13
51
0
90
39
5
10x2-M6-12/18
P
1,330
1,270
4,3
66
2,9
00
1,4
66
2,830
60
0
1,3
00
1,000530125
77
0
770
100 100500
10
01
00
50
012
51
25
125
75
37
0
30
JT3
JT3
JT2
JT2
JT1
JT1
8-ø22
300
300
300
JT6±360°
JT5±130°
JT4±360°
VIEW A
X Yø0.15
X Yø0.15
Xø0.04
Xø0.04
ø92
ø160
ø160
ø125
Depth 8
Depth 12
A
Dimension: 228
Dimension: 244
•Conventional type (ø92)
•ISO 9409-1 series 2 (ø125)
Working rangebased on point P
Dimensions for Base
Working rangebased on point P
Rear side interference area
Dimension: 228
Y
+0.015 02–ø10H7 Depth 12
Xø0.04
ø160
30 °30°
+0.030 0ø80H7
XDepth 8
6–M10 Depth 12
X Yø0.15
•ISO 9409-1 Series 2 (ø125): Unnecessary for standard spec.
ø125
Y30°
60 °
Dimension: 244Xø0.04
ø160
•Conventional type (ø92)+0.030 0ø55H7
XDepth 12
6–M10 Depth 16
X Yø0.15
ø92
VIEW A
+0.015 0ø9H7 Depth 122–
Dimesion 228 – ISO 9409-1 Series 2 (ø 125) for 130S/165U
Dimension 231 – ISO 9409-1 Series 1 (ø 160) for 200S
Dimension 244 – Conventional type (ø 92) for 130S/165U
Dimension 248 – Conventional type (ø 113) for 200S
ZT130S/ZT165U/ZT200S
(mm)
ZT165X
(mm)
ZT130Y/ZT165Y
(mm)
A
8 9
Rapid-feed checkmode switch
USB
RS-232C
DIO board
External-axis motor
Standard
Option
Optional board
Optional device
Ethernet
DeviceNet board, master/slave
CC-Link board, master/slave
PROFIBUS board, master/slave
PROFINET board, slave
Ethernet/IP board, master/slave
CAN open board, slave
EtherCAT board, slave
Cubic-S (area monitor/speed monitor)
Conveyor I/F board
Transformer unit
Teach pendant
Terminal software
Terminal software
Vision controller
USB Memory
Brake release switch
DIO board: 32 digital I/O’s
DIO board: max. 96 digital I/O’s
POWER
26
01
81
81
70
POWER100% CONTROL
REPEATTEACHOFF ON R
PS OT
EM CG
E YNE
580 550
580 550
Large, color LCD touch screen display.
The key arrangement has been optimised through extensive studies of operator hand movements.
Equipped with Enable switches.
Controller
System configuration diagram
Specifications
External view & dimensions
Teach pendant
E02 (mm)
Transformer unit ]
E seriesThe E-Controller, with unprecedented quality and compact size, was created in response to customer demand.Kawasaki’s collaboration of past achievements and experience has lead to the development of the most technically advanced controller available. This industry leading design provides increased performance and easy operation that exceeds expectations.
FeaturesCompactSmall footprint of the E controller makes it easy to achieve high-density layouts. And overall volume has been reduced greatly compared with the previous model. As a result, an upright-position installation or stacked installation is possible, in order to save installation space.
User-friendly operation systemThe operation system has now fully developed into a more user-friendly design. The operator can turn on the motors and activate the cycle start all from the teach pendant, thereby realizing a more convenient system control. The two information screens can be displayed simultaneously, enabling the operator to view different types of information easily (for example, positional and signal information).
Abundance of functionsThe large variety of unique functions makes it possible to support a wide range of applications. These functions can be combined and easily configured within a system to suit a particular application. Likewise, the built-in Kawasaki “AS Language” provides sophisticated robot motion and sequence controls.
Incorporating the latest technologiesThe enhanced CPU capacity allows for more accurate trajectory control, faster program execution, and quicker saving and loading of files, and countless other advantages. In addition, the memory has been expanded to answer the need for higher program storage capacity. A USB port is equipped as a external storage conduit.
Easier maintenanceWith modular components and fewer cables, Kawasaki has developed a controller that is compact and easy to maintain. A host of maintenance functions are available, including the DIAG function for self-diagnostics, a maintenance support function that can handle not only hardware errors but also application errors. In addition to the DIAG function, there are other additional functions, such as a Web server that enables engineers to perform remote diagnostics.
Highly expandableThis is expandable to up to three external axes with additional amplifiers.The system is compatible with a large number of field buses that are used for controlling peripheral devices.Users can combine the Kawasaki KLogic software sequencer function, which can be edited on the teach pendant, with the user-customizable interface panels to create a highly sophisticated system.
E02
]Option
Standard
OptionAmerica
E02Europe
Japan & Asia
Dimensions (mm)Controller: W550×D580×H278
Transformer unit: W580×D580×H178
Structure Enclosed structure / Indirect cooling system
Number of controlled axes 7 Max. 9
Drive system Full digital servo system
Coordinate systems Joint, Base, Tool Fixed tool point
Types of motion control Joint/Linear/Circular Interpolated motion
Programming Point to point teaching or language based programming
Memory capacity (MB) 8
Generalpurposesignals
External operation External Emergency Stop, Hold
Input (Channels) 32, Arm: 24 Max. 96
Output (Channels) 32, Arm: 8 Max. 96
Operation panelE-Stop switch, teach/repeat switch, control power light
(Cycle start, motor-on, hold/run, and error reset are activated from the teach pendant.)
Rapid-feed check mode switch
Cablelength
Teach pendant (m) 10 10, 15
Robot-controller (m) 10 10, 15
Mass (kg) 40 Transformer unit: 45
Power requirements
AC200-220V ±10%, 50/60Hz, 3 ~]Transformer unit: AC380-415V ±10%
Option: AC440-480V ±10%50/60Hz, 3 ~
Class-D earth connection (Earth connection dedicated to robots), leakage current: Maximum 100mA
Environmentalcondition
Ambient temperature (°C) 0 - 45 (0 - 40 for E7x in vertical use)
Relative humidity (%) 35 - 85 (no dew, nor frost allowed)
Body color Munsell 10GY9/1 equivalent
Teach pendantTFT color LCD display with touch-panel, E-Stop switch,
teach lock switch, Enable switch
Auxiliary storage unit — USB Memory
Interface USB, Ethernet (100BASE-TX), RS-232C
10 11