2 kawasaki zx

EUROPE

100–300 kg Payload

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.

Cautions to be taken to ensure safety

Kawasaki Robotics GmbHSperberweg 29 · 41468 Neuss · Germany Tel.e-mail: [email protected] · www.kawasakirobot.de Fax

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

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

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

Inquiries

+49 -(0)21313426-0+49 -(0)21313426-22

+49 -(0)89 454591-30+49 -(0)89 454591-45

+44 -(0)1925 713000+44 -(0)1925 713001

+33 -(0)130 68 9522+33 -(0)130 68 9139

Agent

printed in Germany Feb. 2008 • Preliminary Version Materials and specifications are subject to change without notice.

Improved cycle timesA 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 consumptionThe 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 con- figuration by Kawasaki the power consumption during the robot movements could be reduced.

Space saving and easy installation through a small foot printMore 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.

Protective configurations IP65, IP67Protection 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.

ConvertabilitySimple 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 car-ried out at low cost

Automotive and General Industries, …

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.

Spot welding Paletizing Spot welding

Specifications Specifications

ZT130UZT165UZT200U

ZT130LZB150S ZX300SZX130UZX165UZX200U

ZX130LZB100L

TYP

1365 mm150 kg± 160°

+120°~-70°+100°~-150°

± 360°± 130°± 360°

standard 2,000 mm100°/s100°/s90°/s135°/s135°/s210°/s

1,000 mm/s

911.4 N·m911.4 N·m450.8 N·m78.4 kg/m²78.4 kg/m²40.18 kg/m²

900 kg1,500 mm/s

3530 mm130 kg± 180°

+60°~-75°+165°~-95°

± 360°± 130°± 360°


1,000 mm/s

735 N·m735 N·m421 N·m

51.9 kg/m²51.9 kg/m²27.4 kg/m²1,565 kg

2,500 mm/s

3230 mm130 kg± 180°

+60°~-75°+165°~-95°

± 360°± 130°± 360°


1,000 mm/s

735 N·m735 N·m

421,4 N·m51.9 kg/m²51.9 kg/m²

27.44 kg/m²1,550 kg

2,500 mm/s

3230 mm165 kg± 180°

+60°~-75°+165°~-95°

± 360°± 130°± 360°


1,000 mm/s

911,4 N·m911,4 N·m450,8 N·m78.4 kg/m²78.4 kg/m²40.18 kg/m²

1,550 kg2,500 mm/s

3230 mm200 kg± 180°

+60°~-75°+165°~-95°

± 360°± 130°± 360°


1,000 mm/s

980 N·m980 N·m490 N·m

93.1 kg/m²93.1 kg/m²46.1 kg/m²1,550 kg

2,500 mm/s

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

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

1655 mm100 kg± 160°

+120°~-70°+100°~-150°

± 360°± 130°± 360°


1,000 mm/s

0 N·m0 N·m0 N·m

78.4 kg/m²78.4 kg/m²40.18 kg/m²

915 kg1,500 mm/s

Articulated arm6 axes (optional 7 axes)

± 0,3mm

Air Line (12mm Ø)

Mechanical stopper JT1/JT2/JT3, special colour.

D42Floor

TYP

Type of arm Degrees of freedom Reach Maximum Payload JT1 JT2 JT3 JT4 JT5 JT6 JT7 JT1 JT2 JT3 JT4 JT5 JT6 JT7 Repeatability JT4 JT5 JT6 JT4 JT5 JT6 Weight

Recommended Controller Installation Integrated functions

Optional

Colour

2651 mm130 kg± 180°

+75°~-60°+250°~-120°

± 360°± 130°± 360°


1,000 mm/s

7.35 N·m7.35 N·m

221.4 N·m51.94 kg/m²51.94 kg/m²27.44 kg/m²

1,350 kg2,500 mm/s

2810 mm165 kg± 180°

+75°~-60°+250°~-120°

± 360°± 130°± 360°


1,000 mm/s


1,355 kg2,500 mm/s

2651 mm165 kg± 180°

+75°~-60°+250°~-120°

± 360°± 130°± 360°


1,000 mm/s


1,355 kg2,500 mm/s

2651 mm200 kg± 180°

+75°~-60°+250°~-120°

± 360°± 130°± 360°


1,000 mm/s

980 N·m980 N·m490 N·m

93.1 kg/m²93.1 kg/m²46.1 kg/m²1,350 kg

2,500 mm/s

2501 mm300 kg± 180°

+75°~-60°+250°~-120°

± 360°± 120°± 360°


1,000 mm/s

1.715 N·m1.715 N·m862.4 N·m

166.6 kg/m²166.6 kg/m²107.8 kg/m²

1,400 kg2,500 mm/s

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

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

2951 mm130 kg± 180°

+75°~-60°+250°~-120°

± 360°± 130°± 360°


1,000 mm/s

7.35 N·m7.35 N·m

221.4 N·m51.94 kg/m²51.94 kg/m²27.44 kg/m²

1,400 kg2,500 mm/s

Articulated arm

± 0,3mm

ZX130U ZX165L ZX165U ZX200U ZX300SZX130L

Maximumstroke

MaximumSpeed

D42Floor

6 axes (optional 7 axes)

ZB150S ZT130L ZT130U ZT165U ZT200UZB100L

Type of armDegrees of freedomReachMaximum Payload JT1 JT2 JT3 JT4 JT5 JT6 JT7 JT1 JT2 JT3 JT4 JT5 JT6 JT7Repeatability JT4 JT5 JT6 JT4 JT5 JT6Weight

Recommended ControllerInstallationIntegrated functions

Optional

Colour

Maximumstroke

Maximumspeed

Moment*

Momentof inertia

Munsell 10GY9/1 or equivalent Munsell 10GY9/1 or equivalent

Moment*

Momentof inertia

Motion Range & DimensionsMotion Range & Dimensions

:Unnecessaryto tighten bolts

Ø0.04 X

YXØ0.15

Y

X

ISO FLANGE

OPTION FLANGE

* Dimension:228

X YØ0.15

Ø0.04

X

YX

* Dimension:244

AVIEW

Ø9H7 Depth12

6–M10 Depth 16

60°

30°

Ø160

Ø55H7

Depth 12

Ø92

30°

30°

Ø160

6–M10 Depth 12

2–Ø10H7 Depth 12

Ø80H7

Depth 8

Ø125

JT5±130°

JT6±360°JT4±360°

A

JT1

JT3

JT1

JT3

JT3

ÇiÇs

JT2

Point P

Working rangebased on point P

Point P

100°

150°

300

410

50

50

5050

700

25

650

25

700

6557065

4-Ø22

4-Ø40

23

427195

1,315

565

474

545

565

545

* 850 250

70°

120°

150°

160°

160°

587.5

1,960

2,547.5

1,665 1,131

957 708

329

Installations Dinensions

ZB100L

:Unnecessaryto tighten bolts

Ø0.04 X

YXØ0.15

Y

X

ISO FLANGE

OPTION FLANGE

* Dimension:228

X YØ0.15

Ø0.04

X

YX

* Dimension:244

AVIEW

Ø9H7+0.015 0 Depth 12

6-M10 Depth 16

60°

30°

Ø160

Ø55H7 +0.030 0

Depth 12

Ø92

30°

30°

Ø160

6–M10 Depth 12

2-Ø10H7 +0.015 0 Depth 12

Ø80H7 +0.030 0

Depth 8

Ø125

* TOOL, HAND, etc. may interfere

with robot arm depending on

angle of wrist axes.

JT5±130°

JT6±360°JT4±360°

A

JT1

JT3

JT1

JT3

JT3

JT2

JT2

Installation Dimensions

Point P


Point P

100°

150°

30

0

410

50

50

5050

70

0

25

65

02

5

700

6557065

4–Ø22

4-Ø40

467

23

427195

1,3

15

56

5

28

7.5

474

539

21

6

1,9

47

.5

1,1

15

83

2.5

8311,365

54

5

56

55

45

* 550 250

70°

120°

150°

826

160°

160°

ZB150S

ZT130UZT165UZT200U

Ø0.05

JT1

180°

JT1

180°

A

JT3

JT3

JT2JT2

JT4±360° JT6±360°

JT5±130°

B

370

7.50

125

125125

500100 100

50.00

10.00

10.00

77.00

770

12.50

2–Ø25G8

300

300300

8–Ø22

30

173.05

4,571

530

1,100

300

600

78 1,300

2,103

80

3,2

30

24.40600.5210

00

90

90

80

58

95°

165°

60°75°

24.401,300

395510150

1.30

90

142

5 x 2–M10–20/25

10 x 2–M6–12/18

YXØ0.04

X

Ø0.15 YX

Depth 8X

Depth 12

Y

Ø0.15 YX

XØ0.04

Ø125

2–Ø10H7+0.015

0 Depth 12

6–M10 Depth 12

Ø150

30°

30°

Ø92

+0.030

0Ø55H7

Ø160

30°

60°

6–M10 Depth 16

Ø9H7+0.015

0 Depth 12

Unnecessary

for standard spec.

Ø80H7

+0.030

0

• ISO 9409-1 Series 2 (Ø125) for 130S/165U

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

ZX130UZX165UZX200U

Motion Range & DimensionsMotion Range & Dimensions

ZX130L ZX300S

Unnecessaryto tighten bolts

YXØ0.15

Y

X

ISO FLANGE

OPTION FLANGE

*Dimension:228

X YØ0.15

Ø0.04

X

YX

* Dimension:244

Ø0.04

VIEW A

2–Ø9H7

Depth 12

6–M10 Depth 16

60°

30°

Ø160

Ø55H7

Depth 12

Ø92

30°

30°

Ø16

6–M10 Depth 12

Ø55H7

Depth 12

Ø80H7

Depth 8

Ø125

JT3

JT2

JT3

JT2

Ø0.05

JT4±360° JT6±360°

JT5±130°

JT1

JT1

A

Interference radius aroundthe rotational axis

Rear sideInterference area

Installation Dimensions

Point P

Point P


ISO FLANGE

OPTION FLANGE

* Dimension

228

244

8–Ø22

30

*

288

60°

75°

70°

120°

1,4

90

1,459

27

01

10

67

0

395669150

13

90 14

2

37

0

75

125

12

51

25

500

10

10

500 1010

770

77

0

125

2–Ø25G8

300

300

300

10 x 2–M6–12/18

5 x 2–M10–20/25

90

90

80

58

R517

180°

180°

LINK H

1,199

R1,289

600.5210

3,4

99

3,7

33

1,2

25

2,124 2,810

LINK H

Ø0.05

JT4±360° JT6±360°

JT5±120°

JT1 180°

JT1

Interference radius aroundthe rotat ional axis

A

JT2

JT3

JT2

JT3

115.00 24.80

395360150

13

90

142

370

75

125

125

125

500

100

100

500 100100

770

77

0

125

2–Ø25G8

300

30

03

00

90

90

8058

5 x 2–M10–20/25

10 x 2–M6–12/18

8–Ø22

R517

Link H

Link H

1,199

30

288

250.05

3,1

90

1,4

90

1,2

25

70°

120°

75°60°

1,815

3,1

15

27

01

,10

06

70

600.5210

R1,289Rear side interference area

XØ0.15

X

Ø0.04XY Y

Depth 8

X

Ø0.15

Ø0.04

X

Y

Y

X

• Conventional Type (Ø113)

Unnecessaryfor standard spec.

VIEW A

6–M10 Depth 12

30°

30°

Ø160

2–Ø10H7+0.015

0 Depth 12

• ISO 9409-1 Series 1 (Ø160)

+0.035

0Ø100H7

Ø200

10–M10 Depth 17

30°

30°

2–Ø10H7+0.015

0 Depth 17

Ø200

Ø113

Depth 12

+0.030

0Ø65H7

180°

Dimensions for Base

ZX165L

JT3

JT2

JT3

JT2

Ø0.05

JT4±360° JT6±360°

JT5±130°

Dimensions for Base

JT1

180°

A

28.80

60°

75°

70°

120°

1,490

670

1,1

00

270

1,600

695510150

13

90

142

370

75

125125

125

500

100

100

500 100100

770

770

125

2–Ø25G8

300

300

300

90

90

80

58

5 x 2–M10–20/25

10 x 2–M6–12/18

8–Ø22

R517

180°

Link H

Link H

R1,289

1,199

Rear side interference area

600.5210

30

3,6

40

4,0

15

2,951

1,2

25

2,265

YXØ0.04

X

Ø0.15 YX

Depth 8

XDepth 12

Y

Ø0.15 YX

XØ0.04

Y

Ø125

2–Ø10H7 +0.0150 Depth 12

6–M10 Depth 12

Ø160

30°

30°

Ø92

+0.030 0Ø55H7

Ø160

30°

60°

6–M10 Depth 16

Ø9H7+0.015

0 Depth 12

Interference radius around

the rotational axis

JT1

Ø80H7

• ISO 9409-1 Series 2 (Ø125)Unnecessary

for standard spec.

• Conventional Type (Ø92)

SpecificationsErgonomic operation• Optimised work at the teach pendantThe Teach Pendant (TP) is a combination of control keyboard and an easy-read, 6.4 inch colour LCD touch-screen. 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 beco-mes 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 technologyA RISC, 64-bit high-speed dual processor provides the computing power. The use of a fully digitally controlled servo-system has significantly improved operating perfor-mance, 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 emer-gency stop.The controller is of course fully downwardly compatible. This means that the D controller can be integrated in exi-sting old systems with no problems.

Modular and flexible control design• Connection of peripheral equipmentStandard I/O connections and a number of field bus inter-faces 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 communicationThe 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 axesA further two axes can be integrated in the standard controller without any problems and without an additio-nal 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 designA 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.

• Large LCD colour monitor with touchscreen functions.

• Ergonomically arranged cursor keys.

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

• Deadman‘s switch with three positions on rear.

Teach Pendant

Controller

External View & DimensionsD42

SEITENANSICHTVORDERANSICHTSEITENANSICHT VORDERANSICHT SEITENANSICHT RÜCKANSICHT

600550

27236500

470

1,200

520

ÇqÇdÇoÇdÇ`ÇsÇsÇdÇ`ÇbÇg

ÇgÇnÇkÇcÇdÇqÇqÇnÇqÇqÇdÇrÇdÇs

ÇoÇnÇvÇdÇqÇlÇnÇsÇnÇq

ÇdÇqÇqÇnÇq

Å@ÇoÇnÇvÇdÇqÇbÇnÇmÇsÇqÇnÇk

ÇrÇsÇ`ÇqÇsÇbÇxÇbÇkÇd

ÇqÇtÇm

DesignNumber of controlled axesServomotorPosition detectionDrive systemProgrammingCoordinates SystemsTypes of motion control Ext. control signals Input signals Output signalsStorage capacityExternal memory PC, network, etc. Field bus

Teach pendant

Control panel

Teach Pendant Robot controllerDimensions (WxDxH)Weight

Necessary power supply

Own earthing of the robottemperature/humidityColour

D 42MODEL

STANDARD

6 axes

Axis, basis, tool

32 channels32 channels

1 MB: approx. 10,000 program stepsPCMCIA card slotRS232C, Ethernet

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.)

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

10m10m

600mm x 550mm x 1,200mm130 kg

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

< 100 Ω; maximum leakage current 100 mA0-45°C, 35-85% humidity without dew formation and frost

Munsell 10GY9/1 or equivalent

OPTIONAL

Maximum 16 axes*¹

Fixed tool point

64/96/128 channels64/96/128 channels

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

RS485CC-Link, DeviceNet, Profibus-DP,

ControlNET, AB Remote I/O, Interbus

5m, 15m, 20m, 25m, 30m5m, 15m, 20m, 25m, 30m, 35m, 40m

approx. 200 kg (with transformer)

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

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

Cable length

Standalone main housing

A.C. servomotorAbsolute encoder

Fully digitally controlled servo-systemBlock teaching or AS language

Movement with axis, linear and circle interpolationMotor voltage Off, HoldMulti-

purpose signals

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

Data com-munication interface

2 kawasaki zx

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