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