kawasaki robot b series · b series kawasaki robot b series spot welding robots cat. no. 3l1777...

B seriesKawasaki Robot

B series

Spot welding robots

Cat. No. 3L1777 Mar. ’18 M

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 GmbHIm Taubental 32, 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.

The B series is a line of spot welding robots that perfectly embodies the expertise we have cultivated in the field of spot welding, effectively taking performance to the next level.

FeaturesHigh-speed spot weldingThe B series robots come with lightweight arms and high-output, high-revolution motors, and utilize the latest in anti-vibration control technology. These features help to reduce the time needed for short-pitch movements, which constitute the main part of spot welding. The improved sequence of axial operations performed by the servo welding guns also leads to a significant reduction in cycle time.

Integrated dress packageExposed cable harnesses on conventionally dressed robots present a number of drawbacks, such as interference caused by adjacent robots or peripheral devices during in-field teaching or while executing playback after offline programming. The B series eliminates this problem by housing the cable harness within the robot arm. The arm and wrist of the B series robot are hollow, allowing the cable harness for spot welding to be internally routed between the base and wrist. This greatly boosts the efficiency of both offline programming and in-field teaching.

Higher density installationCompared to conventional robots, the B series robots have a much smaller footprint and an even thinner body. Coupled with the cable harnesses housed within the robot arm, these features make it possible to install a large number of BX series robots within a confined space.

Our advanced robotics technologies streamline the spot welding process.

BX100NBX100S BX130XBX100L BX250L / BX300LBX165L / BX200LBX165N BX200X

BT165L / BT200L

1 2

Standard specifications

BX100S BX100N BX100L BX130X BX165N BX165L BX200L BX200X BX250L BX300L BT165L BT200L

Type Articulated robot Articulated robot

Degree of freedom (axes) 6 6

Max. payload (kg) 100 100 100 130 165 165 200 200 250 300 165 200

Max. reach (mm) 1,634 2,200 2,597 2,991 2,325 2,597 2,597 3,412 2,812 2,812 3,151 3,151

Positional repeatability (mm) ]1 ±0.06 ±0.06 ±0.06 ±0.06 ±0.06 ±0.06 ±0.06 ±0.07 ±0.07 ±0.07 ±0.08 ±0.08

Motion range(°)

Arm rotation (JT1) ±160 ±160 ±160 ±160 ±160 ±160 ±160 ±180 ±180 ±180 ±160 ±160

Arm out-in (JT2) +120 - −65 +120 - −65 +76 - −60 +76 - −60 +76 - −60 +76 - −60 +76 - −60 +76 - −60 +76 - −60 +76 - −60 +80 - −130 +80 - −130

Arm up-down (JT3) +90 - −81 +90 - −77 +90 - −75 +90 - −75 +90 - −75 +90 - −75 +90 - −75 +90 - −110 +90 - −120 +90 - −120 +90 - −75 +90 - −75

Wrist swivel (JT4) ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210

Wrist bend (JT5) ±125 ±125 ±125 ±125 ±125 ±125 ±125 ±125 ±125 ±125 ±125 ±125

Wrist twist (JT6) ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210

Max. speed(°/s)

Arm rotation (JT1) 135 135 105 105 105 120 105 125 125 125 120 105

Arm out-in (JT2) 125 110 130 90 130 110 90 102 120 102 110 85

Arm up-down (JT3) 155 140 130 130 130 130 100 85 100 85 130 100

Wrist swivel (JT4) 200 200 200 200 120 170 120 105 140 105 170 120

Wrist bend (JT5) 160 200 160 160 160 170 120 120 140 110 170 120

Wrist twist (JT6) 300 300 300 300 300 280 200 200 200 180 280 200

Moment(N·m)

Wrist swivel (JT4) 830 588.4 830 830 930 952 1,334 1,334 1,800 2,300 952 1,334

Wrist bend (JT5) 830 588.4 830 830 930 952 1,334 1,334 1,800 2,300 952 1,334

Wrist twist (JT6) 441 294.2 441 441 490 491 588 588 750 1,000 491 588

Moment of Inertia(kg·m2)

Wrist swivel (JT4) 85 60 85 85 99 99 199.8 199.8 200 240 99 199.8

Wrist bend (JT5) 85 60 85 85 99 99 199.8 199.8 200 240 99 199.8

Wrist twist (JT6) 45 30 45 45 49.5 49.5 154.9 154.9 165 200 49.5 154.9

Mass (kg) 720 740 890 920 875 890 890 1,450 1,460 1,460 1,100 1,100

Body color Munsell 10GY9/1 equivalent Munsell 10GY9/1 equivalent

Installation Floor Floor Shelf

Environmentalcondition

Ambient temperature (°C) 0 - 45 0 - 45

Relative humidity (%) 35 - 85 (No dew, nor frost allowed) 35 - 85 (No dew, nor frost allowed)

Power requirements (kVA) ]2 5.0 7.5 7.5

Degree of protection Wrist : IP67 Base axis : IP54 Wrist : IP67 Base axis : IP54

Controller E02 E02

]1: conforms to ISO9283 ]2: depends on the payload and motion patterns

Dimensions of the wrist

(mm)

☆：Unnecessary to tighten bolts

✽ ：There are two available speci�cations for the tool-mounting tap holes in the adapter bracket: 1) combination of 125 PCD (pitch circle diameter) and 160 PCD and 2) combination of 92 PCD and 125 PCD.

X

Xø0.15

ø0.15 X

18

71

58

R228

363

138

ø125✽

ø160✽

30°

30°

6-M10 Dp12

6-M10 Dp12

2-ø10H7 Dp12

2-ø10H7 Dp12

225

ø2

10

オプション

X ø0.15 X

ø160

ø100

H7

R270

30°

30°2-ø10H7 Dp1210-M10 Dp13

23

71

96

ø2

00

343

Dp11

BX100SBX100NBX100LBX130XBX165NBX165LBX200LBX200XBT200L

BX250LBX300L

:

3 4

Motion range & dimensions

(mm)

A

ø0.05

ø0.05

36

4

410

32

07

07

0

160 160 70

205

230

205

250390

50

0

2-ø22H9

2-ø16H9

6-M16 Dp30

2-ø22

30

ø22

JT2JT2

JT3

JT3

81°

90°

JT1

JT1

JT5±125°

JT4±210°

JT6±210°

65°

120

°

160°

160°

652

67

91

,89

9

2,5

78

626 1,634

2,260

46

55

80

30

0

200 800 ✽

P

Installation dimensions

Standard

✽ Dimension : 245

✽ Dimension : 225

Option

VIEW A

Working rangebased on point P

X

Xø0.3

Xø0.3

X

:

2-ø10H7 Dp1230

°

30°

6-M10 Dp19

30°

60°

ø1906-M10 Dp20

ø100

2-ø10H7 Dp14

ø125

ø63

(hollow diam

eter)

(hollow diameter)

Unnecessary to tighten bolts

ø63

ø160

ø190

(mm)

30

ø22ø0.06

8-ø22

34050 50

250390

34

05

05

0

39

0

195

50

0

2-ø16G8

A

JT6±210°

JT4±210°

JT5±125°

JT1

JT1

JT3

JT2JT2

JT3

76°60°

75°

90°

160°

160°

3,3

56

85

5

4,2

11

1,035 2,991

4,026

949

53

01

,16

02

30

200 1,650 ✽

P

Standard

✽ Dimension : 245

✽ Dimension : 225

Option


VIEW A


X

Xø0.3

Xø0.3

X

2-ø10H7 Dp12

ø63

30°

30°

ø160

6-M10 Dp19

30°

60°

ø1906-M10 Dp20

ø100

2-ø10H7 Dp14

ø125

ø190

ø63

(hollow diameter)

(hollow diameter)


:

(mm)

90°

77°

JT6±210°

JT4±210°

JT5±125°

JT2

JT2

JT3

JT3

JT1

JT1

A

1,0

95

2,4

65

3,5

60

2,200807

3,007

675

200 1100 ✽

46

58

80

210

160°

160°

120°

65°

P

ø0.06

8-ø22

34050 50

250390

34

05

05

0

39

0

195

50

0

2-ø16G8

30

ø22Standard

✽ Dimension : 245

✽ Dimension : 225

Option


VIEW A


X

Xø0.3

Xø0.3

X

:

2-ø10H7 Dp1230

°

30°

6-M10 Dp19

30°

60°

ø1906-M10 Dp20

ø100

2-ø10H7 Dp14

ø125

ø63

(hollow diam

eter)

(hollow diameter)


ø63

ø160

ø190

(mm)

ø22

30

ø0.06

8-ø22

34050 50

250390

34

05

05

0

39

0

195

50

0

2-ø16G8

A

JT6±210°

JT4±210°

JT5±125°

JT1

JT1

JT3

JT3

JT2

JT276°60°

75°

90°

160°

160°

2,325792

2,6

81

52

8

3,2

09

808

3,117

53

08

80

23

0

200 1,250 ✽

P

Standard

✽ Dimension : 225


✽ Dimension : 245

Option

VIEW A


X

Xø0.3

Xø0.3

X

2-ø10H7 Dp12

ø63

30°

30°

ø160

6-M10 Dp19

30°

60°

ø1906-M10 Dp20

ø100

2-ø10H7 Dp14

ø125

ø190

ø63

(hollow diameter)

(hollow diameter)


:

BX100S BX130X

BX100N BX165N

5 6

Motion range & dimensions

(mm)

JT6±210°

JT4±210°

JT5±125°

JT2

JT2

JT3

JT3

A

JT1

JT1

53

01

,16

02

30

200 1250 ✽

76°

60°

75°

2,9

60

46

0

3,4

20

1,035 2,597

3,631

746

90°

160°

160°

ø0.06

8-ø22

34050 50

250390

34

05

05

0

39

0

195

50

0

2-ø16G8

ø22

30

P

Standard

✽ Dimension : 225Installation dimensions

✽ Dimension : 245

Option

VIEW A


X

Xø0.3

Xø0.3

X

2-ø10H7 Dp12

ø63

30°

30°

ø160

6-M10 Dp19

30°

60°

ø1906-M10 Dp20

ø100

2-ø10H7 Dp14

ø125

ø190

ø63

(hollow diameter)

(hollow diameter)

: Unnecessary to tighten bolts

(mm)

GUN BRACKET 160JT2

JT2

JT3

JT3

JT1

180°

180°

JT1

JT4±210°

JT6±210°

JT5±125°

60°

90°

76°

120°

A

X

Xø0.15

Dp11

10-M10 Dp13

30°2-ø10H7 Dp12

ø160

30°

ø100H7

(ø22)

30

ø0.05

8-ø22

75

0

875

100100

2-ø25G8

500

300

30

0

10

0

30

0

10

05

00

1,1

00

67

02

70

210 185 1,350543408 343

P

3,5

36

558

3,370

2,812

3,3

93

144


VIEW A


(mm)



30

(ø22)

ø0.05

8-ø22

75

0

875

100100

2-ø25G8

500

300

30

0

10

0

30

0

10

05

00

X

Xø0.3

Xø0.3

X

2-ø10H7 Dp12

ø63

(hollow diam

eter)

30°

30°

ø160

6-M10　Dp19

30°

60°

ø190

ø1906-M10　Dp20

ø100

2-ø10H7　Dp14

ø125

ø63

(hollow diameter)

A

JT5±125°

JT4±210°

JT6±210°

JT1

180°

180°

JT1

JT2JT2

JT3

JT3

76°60°

90°

110°

74

43

,99

0

4,7

34

558 3,412

3,970

543394

67

01

,10

02

70

210 185 1,950 ✽

1,192

P

：

Standard

✽ Dimension : 225

✽ Dimension : 245

Option

VIEW A

(mm)

P

A

ø0.06

8-ø2234050 50

250390

34

05

05

0

39

0

195

50

0

2-ø16G8

ø22

30

256 3,1513,407

2,8

81

1,9

63

1,266350

4,8

44

JT1

JT1

JT2

JT2

JT5±125°

JT4±210°

JT6±210°

160°

160°

80°

JT3

JT3

130°

90°

75°

45

0

720 1,160 230

1,2

50

✽

Standard

✽ Dimension : 225


✽ Dimension : 245

Option

VIEW A


X

Xø0.3

X

ø0.3 X

ø63

30°

30°

ø160

6-M10 Dp19

ø190

2-ø10H7 Dp12

30°

60°

ø190

ø100

2-ø10H7 Dp14

6-M10 Dp20

(hollow diameter)

(hollow diam

eter)

ø125

ø63

: Unnecessary to tighten bolts

BX100L / BX165L / BX200L BX250L / BX300L

BX200X BT165L / BT200L

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

StandardOption

E02

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.)

Fast 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

kawasaki robot b series · b series kawasaki robot b series spot welding robots cat. no. 3l1777...

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