Kawasaki Robot Z series€¦ · 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

Z seriesKawasaki Robot

Z series

Large payload robots up to 300 kg

Cat. No. 3L1731 Sep. ’16 S

Printed in Japan

Kawasaki Robot

] Materials and specifications are subject to change without notice.

CAUTIONS TO BE TAKEN TO ENSURE SAFETY

lFor 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.

lProducts 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.

lBe 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.

ROBOT DIVISION

Tokyo Head Office/Robot Division1-14-5, Kaigan, Minato-ku, Tokyo 105-8315, JapanPhone: +81-3-3435-2501 Fax: +81-3-3437-9880

Akashi Works/Robot Division1-1, Kawasaki-cho, Akashi, Hyogo 673-8666, JapanPhone: +81-78-921-2946 Fax: +81-78-923-6548

Global Network

Kawasaki Robotics (USA), Inc.28140 Lakeview Drive, Wixom, MI 48393, U.S.A.Phone: +1-248-446-4100 Fax: +1-248-446-4200

Kawasaki Robotics (UK) Ltd.Unit 4 Easter Court, Europa Boulevard, Westbrook Warrington Cheshire, WA5 7ZB, United KingdomPhone: +44-1925-71-3000 Fax: +44-1925-71-3001

Kawasaki Robotics GmbH29 Sperberweg, 41468 Neuss, GermanyPhone: +49-2131-34260 Fax: +49-2131-3426-22

Kawasaki Robotics Korea, Ltd.43, Namdong-daero 215beon-gil, Namdong-gu, Incheon, 21633, KoreaPhone: +82-32-821-6941 Fax: +82-32-821-6947

Kawasaki Robotics (Tianjin) Co., Ltd.1·2/F, Building 6, No.19 Xinhuan Road, TEDA, China Phone: +86-22-5983-1888 Fax: +86-22-5983-1889

Kawasaki Motors Enterprise (Thailand) Co., Ltd.(Rayong Robot Center)119/10 Moo 4 T.Pluak Daeng, A.Pluak Daeng, Rayong 21140 Thailand Phone: +66-38-955-040-58 Fax: +66-38-955-145

https://robotics.kawasaki.com/ ISO certified in Akashi Works and Nishi-Kobe Works.

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.

[ Under dusty working environment, oil-sealing wears off rapidly. Under water-sprayed condition, there are some possibilities to cause metal-rust or weaken the water resistance.

ZT165U

ZX165U

1 2

Standard specifications

ZX130S ZX130L ZX165U ZX200S ZX300S ZH100U

Arm type Articulated type Articulated type

Degree of freedom (axes) 6 (7 : option) 6 (7 : option)

Max. payload (kg) 130 130 165 200 300 100

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

Arm traverse (JT7) ]2 standard 2,000 mm 1,000 mm/s standard 2,000 mm 1,000 mm/s standard 2,000 mm 1,000 mm/s standard 2,000 mm 1,000 mm/s standard 2,000 mm 1,000 mm/s standard 2,000 mm 1,000 mm/s

Moment(N·m) ]3

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) 421.4 421.4 450.8 686 862 392

Moment of Inertia(kg·m2) ]3

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

Mounting Floor Floor

Integrated function Air piping (12 mm dia. x 2) Air piping (12 mm dia. x 2) —

OptionMechanical 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) ]4 7.5 7.5

Controller

America

E02 E02Europe

Japan & Asia

]1: conforms to ISO9283 ]2: Option ]3: In case of using the face plate which is supported by proper bolts and pins. ]4: depends on the payload and motion patterns

ZT130S ZT165U ZT200S

Arm type Articulated type

Degree of freedom (axes) 6 (7 : option)

Max. payload (kg) 130 165 200

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

Arm traverse (JT7) ]2 standard 2,000 mm 1,000 mm/s standard 2,000 mm 1,000 mm/s standard 2,000 mm 1,000 mm/s

Moment(N·m) ]3

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) ]3

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

Mounting Shelf

Integrated function Air piping (12 mm dia. x 2)

OptionMechanical 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) ]4 7.5

Controller

America

E02Europe

Japan & Asia

]1: conforms to ISO9283 ]2: Option ]3: In case of using the face plate which is supported by proper bolts and pins. ]4: depends on the payload and motion patterns3 4

Motion range & dimensions

X

X

Y

2,5

78

.8

160°

160°

500

1,5

50

90°

60°

120°

75°

1,9

64

.46

14

.4

1,062.4 572

1,634.4

379

800 200

30

05

80

53

0

6−M16Depth 30

16070 160

70

70

700

2-

29

0

30

50

0

250 450

205

32

0

41

0

P

P

JT3

JT3

JT2

JT2

JT1

JT1

JT4±360°JT6±360°

JT5±130°

125125500

770

100 100

75

37

0

77

0

12

512

5

30

Dimensions for base

8-ø22

ø0.052-ø25G8

300

300

300

100

100

50

0

JT4±360°

JT5

JT6±360°13

150 510 395

1,300

180°JT1

180°

JT1

R517

Interference radius aroundthe rotational axis

Rear side interference area

R1,289 Link H

14

2

90

10 x 2–M6–12/18

5 x 2–M10–20/25

YX

2–ø10H7 Depth 12

Dimension: 228

Y

+0.015 0

Xø0.04

Y30°

60 °

Dimension: 244

+0.015 0ø9H7 Depth 12

Xø0.04

ø160

•Conventional type (ø92) for 130S/165U

+0.030 0ø55H7

XDepth 12

6–M10 Depth 16

X Yø0.15

ø92

Depth8X

+0.035 0ø100H7

•ISO 9409-1 series 1 (ø160) for 200S : Unnecessary

for standard spec.

30 °

30 °

Depth 12+0.015 02–ø10H7

Xø0.04 Dimension: 231

6–M10 Depth 12

ø0.15Y

ø200

ø160

ø160

30°30°

+0.030 0ø80H7

XDepth 8

6–M10 Depth 12

X Yø0.15

•ISO 9409-1 series 2 (ø125) for 130S/165U : Unnecessary

for standard spec.

ø125

Depth12X

+0.030 0ø68H7

•Conventional type (ø113) for 200S

30°

30 °

VIEW A

Depth 17+0.015 0


10–M10 Depth 17

X Yø0.15

ø200

2–ø10H7 Y

ø113

A

A

JT275°

2,6511,965

3,4

15

3,3

40

ZX200S

1,2

25

1,199

1,4

90

288

JT260°

Link H 58

8090

90

JT3

70°

JT3120°

27

01,

10

06

70

210 600.5

±130°

±120°ZX200S

ZX130SZX165U

2–

P

P

P

Working rangebased on point P

125125500

770

100 100

75

37

0

77

0

12

512

5

30

Dimensions for base

8-ø22

ø0.052-ø25G8

300

300

300

100

100

50

0

JT4±360°

JT5 ±130°

JT6±360°13

150 510 695

1,600

180°

JT1

180°JT1

R517



R1,289 Link H

14

2

90

10 x 2–M6–12/185 x 2–M10–20/25

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

27

01,

10

06

70

210 600.5JT275°

288

JT260°

Link H

1,199

1,4

90

JT3

70°

JT3120°

58

80909

0

1,2

25

2,265 2,951

4,0

153,6

40

+0.015 0ø9H7 Depth 122–

P

P


125125500

770

100 100

75

37

0

77

0

12

512

5

30

Dimensions for base

8-ø22

ø0.052-ø25G8

300

300

300

100

100

50

0

180°JT1

JT4±360°

JT5±120°

JT6±360°13

150 360 395

1,150

180°JT1R517



R1,289 Link H

14

2

90

10 x 2–M6–12/185 x 2–M10–20/25

Depth12X

+0.030 0ø68H7

•Conventional type (ø113)

30°

30 °

VIEW A

Depth 17+0.015 02–ø10H7


10–M10 Depth 17

X Yø0.15

ø200

Y

ø113

Depth8X

+0.035 0ø100H7

•ISO 9409-1 series 1 (ø160): Unnecessary for standard spec.

30 °

30 °

Depth 12+0.015 02–ø10H7


6–M10 Depth 12

ø0.15Y

ø200

ø160

YX

A

58

8090

90

JT3120°

JT275°

288

JT260°

Link H

1,199

1,4

90

JT3

70°

1,2

25

27

01,

10

06

70

210 600.5

3,1

15

1,815

3,1

90

2,501

P

P


Dimensions for base

VIEW Aø0.05

2-ø22H9ø22

ø22

205

410

30°

30°

30°

60°

6-M10 Depth 12

ø80H7 X Yø0.15

6-M10 Depth 16

X Yø0.15

Xø0.04

Xø0.04

ø125

ø92

Depth 8

ø55H7

Depth 12

ø160

ø160

2-ø10H7

2-ø9H7

Y

A

Dimension: 228


•ISO 9409-1 series 2 (ø125)


ZX130L

(mm)

ZH100U

(mm)

ZX300S

(mm)

5 6

ZX130S/ZX165U/ZX200S

(mm)

5 6

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

10 x

2–M

6–12

/18

5 x

2–M

10–2

0/25

142

1315

051

039

5

1,3

00

4,5

71

VIEW BJT

5±13

0°

JT6±360°

JT4

±36

0°

ZT20

0S:±

120°

95°

58

809090

1,3

00

78

2,1

03

60

0

3001,100530

3,23080

180°

210

60

0.5

30

125

77

0

770

100 100500

100

100

50

012

512

5

125

75

37

0

Dimensions for base A

B

A

ZT200S

58

809090

1,7

31

JT1

180°JT1

ø0.05

8-ø22

2-ø25G8

JT3

JT2

JT2

60°

75°

90

300

300

300

JT3

16

5°

PP



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


•ISO 9409-1 series 2 (ø125)


Dimensions for Base



YX

2–ø10H7 Depth 12

Dimension: 228

Y

+0.015 0

Xø0.04

Y30°

60 °

Dimension: 244

+0.015 0ø9H7 Depth 12

Xø0.04

ø160

•Conventional type (ø92) for 130S/165U

+0.030 0ø55H7

XDepth 12

6–M10 Depth 16

X Yø0.15

ø92

Depth8X

+0.035 0ø100H7

•ISO 9409-1 series 1 (ø160) for 200S : Unnecessary

for standard spec.

30 °

30 °

Depth 12+0.015 02–ø10H7


6–M10 Depth 12

ø0.15Y

ø200

ø160

ø160

30°30°

+0.030 0ø80H7

XDepth 8

6–M10 Depth 12

X Yø0.15

•ISO 9409-1 series 2 (ø125) for 130S/165U : Unnecessary

for standard spec.

ø125

Depth12X

+0.030 0ø68H7

•Conventional type (ø113) for 200S

30°

30 °

VIEW A

Depth 17+0.015 0


10–M10 Depth 17

X Yø0.15

ø200

2–ø10H7 Y

ø113

2–

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–

ZT130S/ZT165U/ZT200S

(mm)

ZT165X

(mm)

ZT130Y/ZT165Y

(mm)

A

7 8

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, master/slave

Ethernet/IP board, master/slave

CAN open board, slave

EtherCAT board, master/slave

Cubic-S (area monitor/speed monitor)

Conveyor I/F board

Rapid-feed checkmode switch

Transformer unit

Teach pendant

Terminal software

Terminal software

Vision controller

USB Memory

Brake release switch

DIO board: 32 points eachmax. 3 boards (96 points)

POWER

26

01

81

81

70

ＰＯＷＥＲ100% ＣＯＮＴＲＯＬ

REPEATTEACHOFF ON Ｒ

ＰＳＯＴ

ＥＭＣＧ

ＥＹＮＥ

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

＊

]Option

Standard

OptionAmerica

E02Europe

Japan & Asia

Dimensions (mm) 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 Motor power off, Hold

Input (Channels) 32 Max. 96

Output (Channels) 32 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) 5 10, 15

Robot-controller (m) 5 10, 15

Mass (kg) 40 Transformer unit: 45

Power requirements

AC200-220V ±10%, 50/60Hz, 3ø]Transformer unitAC380-415V ±10% or AC440-480V ±10%

50/60Hz, 3ø

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

9 10

Documents

Kawasaki Robot Z series€¦ · 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