kawasaki robot k series painting robots explosion-proof ... · k series painting robots...

K series

Kawasaki Robot

K series Painting robots explosion-proofand painting package cells

A selection of robots is available to match your painting application.

Kawasaki K series robots are explosion-proof painting robots developed on Kawasaki’s concept of “Simple and Friendly.” This range of robots covers all painting applications from small to large, and the fully integrated hose system provides maximum protection against external dust and dirt.

KF121 KF193KF192 KF194 KF262

Features

A broad range of robotsKawasaki offers five basic types of painting robot from the KF121 for small workpieces to the KJ314 for inner and outer bodies of automobiles. We provide a range of robots that covers the requirements of all applications and installations.

Built-in hosesThe hollow wrist (3R) prevents paint mist from adhering on tubes and cables and can minimize the chance of painting defects. The inner diameter of the hollow wrist is either 40 or 70 mm.

Enhanced peripheral unitsA control panel is provided to enhance the ease of system development and to interface with the robot traveling unit, workpiece transfer unit, rotation unit, and other devices.

Significant painting experienceGathering painting robot experience has enabled Kawasaki to put together a robot that will match your every need. The K series has used this information and is now equipped with more advanced functions than ever, resulting in a robot of great capability.

Customer supportOur professional staff will be available for support from the initial planning stage right up to system start up. This service will be of great benefit to those new to painting applications.

Arm with internal hose

2

KF263 KG264KF264 KJ264

KJ314

3

KF121 KF192 / KF262

KF193 / KF263 KF194 / KF264 / KG264 / KJ264 / KJ314

3R (ø70mm)

RBR BBR

3R (ø40mm)

JT6(Roll)

JT6(Roll)

JT5 (Bent)JT4 (Roll)

JT6(Roll)

JT5 (Bent)

JT4 (Bent)

JT6(Roll)

JT5(Roll)

JT4 (Roll)

JT5 (Roll)

JT4 (Roll)

Model KF121 KF192 KF193 KF194 KF262 KF263 KF264 KG264 KJ264 (Floor) KJ264 (Shelf) KJ264 (Wall) KJ314

Degree of freedom (axes) 6 6 7

Max. payload (kg) 5 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 20 Arm : 30 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25

Wrist type RBR BBR 3Rø40*5 3Rø70*5 BBR 3Rø40*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5

Motion range(°)

Arm rotation (JT1) ±160 ±150 ±150 ±150 ±150 ±150 ±150 ±120 ±120 ±120 +30 - –120*4 ±120

Arm out-in (JT2) ±90 +110 - –60 +110 - –60 +110 - –60 +110 - –60 +110 - –60 +110 - –60 +120 - –60 +130 - –80 +130 - –80 +130 - –80 +130 - –80

Arm up-down (JT3) +150 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –65 +90 - –65 +90 - –65 +90 - –65 +90 - –65

Wrist swivel (JT4) ±270 ±360 ±720 ±720 ±360 ±720 ±720 ±720 ±720 ±720 ±720 ±720

Wrist bend (JT5) ±145 ±360 ±720 ±720 ±360 ±720 ±720 ±720 ±720 ±720 ±720 ±720

Wrist twist (JT6) ±360 ±360 ±410 ±410 ±360 ±410 ±410 ±410 ±410 ±410 ±410 ±410

Arm swing (JT7) — — — — — — — — — — — ±90

Moment(N·m)

Wrist swivel (JT4) 7.8 33.3 33.2 35.3 33.3 33.2 35.4 79.9 56.2 56.2 56.2 56.2

Wrist bend (JT5) 7.8 28.8 26.7 27.7 28.8 26.7 27.7 61.3 43.4 43.4 43.4 43.4

Wrist twist (JT6) 2.9 7.9 7.9 7.9 7.9 7.9 7.9 15.6 22.0 22.0 22.0 22.0

Moment of Inertia(kg·m2)

Wrist swivel (JT4) 0.17 1.28 1.27 1.44 1.28 1.27 1.45 3.33 2.19 2.19 2.19 2.19

Wrist bend (JT5) 0.17 0.96 0.82 0.89 0.96 0.82 0.89 1.95 1.31 1.31 1.31 1.31

Wrist twist (JT6) 0.06 0.11 0.11 0.10 0.11 0.11 0.11 0.12 0.33 0.33 0.33 0.33

Positional repeatability (mm)*1 ±0.2 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5

Max. reach (mm)*2 1,240 1,973 1,973 1,978 2,665 2,665 2,668 2,665 2,640 2,640 2,640 3,100

Max. speed (mm/s) 1.5 2.0 2.0 2.0 2.0 2.0 2.0 1.5 1.5 1.5 1.5 1.5

Mass (kg) 140 690 720 750 720 740 770 795 540 530 530 720

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

Installation Floor, Wall Floor, Wall Floor Shelf Wall

Explosion protection

America*6 Combination of pressurized type and intrinsically safety type (CLI ZN1 AExpxib IIB T4 / AExib IIB T4) Combination of pressurized type and intrinsically safety type (CLI ZN1 AExpxib IIB T4 / AExib IIB T4)

Canada*6 Combination of pressurized type and intrinsically safety type (CLI ZN1 Expxib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (CLI ZN1 Expxib IIB T4 / Exib IIB T4)

Europe, China, Korea Combination of pressurized type and intrinsically safety type (II2G Expxib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (II2G Expxib IIB T4 / Exib IIB T4)

Japan & Asia*7 Combination of pressurized type and intrinsically safety type (Expib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (Expib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (f2G4 / Exib IIB T4)

Ambient temperature (°C) 0 – 40 0 – 40

Power requirements (kVA)*3 1.5 5 5

Controller

America E37 E35 E35

Europe E47 E45 E45

Japan & Asia E27 E25 E25

*1 conforms to ISO9283*2 Maximum reach : The RBR (Roll Bend Roll) wrist refers to the distance from the center of JT1 to the center of JT5. The BBR (Bend Bend Roll) wrist is the distance from the top arm center line

to the JT4 axis. The 3R (Roll Roll Roll) wrist is the distance from JT1 to the axis cross-point between JT4 and JT5.*3 Depends on the payload and motion patterns*4 Operating range of JT1 is depend on the side of mounting surface. The range is “+120 - −30” in the case of the left side. The range is “+30 - −120” in the case of the right side.*5 Hose Built-in*6 The KF19/26-series devices are not compliant with the explosion-proof standards of the U.S. and Canada.*7 Other than China and Korea

Standard specifications

Variation of Wrists

4

KF121 KF192 / KF262

KF193 / KF263 KF194 / KF264 / KG264 / KJ264 / KJ314

3R (ø70mm)

RBR BBR

3R (ø40mm)

JT6(Roll)

JT6(Roll)

JT5 (Bent)JT4 (Roll)

JT6(Roll)

JT5 (Bent)

JT4 (Bent)

JT6(Roll)

JT5(Roll)

JT4 (Roll)

JT5 (Roll)

JT4 (Roll)

Model KF121 KF192 KF193 KF194 KF262 KF263 KF264 KG264 KJ264 (Floor) KJ264 (Shelf) KJ264 (Wall) KJ314

Degree of freedom (axes) 6 6 7

Max. payload (kg) 5 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 20 Arm : 30 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25

Wrist type RBR BBR 3Rø40*5 3Rø70*5 BBR 3Rø40*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5

Motion range(°)

Arm rotation (JT1) ±160 ±150 ±150 ±150 ±150 ±150 ±150 ±120 ±120 ±120 +30 - –120*4 ±120

Arm out-in (JT2) ±90 +110 - –60 +110 - –60 +110 - –60 +110 - –60 +110 - –60 +110 - –60 +120 - –60 +130 - –80 +130 - –80 +130 - –80 +130 - –80

Arm up-down (JT3) +150 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –65 +90 - –65 +90 - –65 +90 - –65 +90 - –65

Wrist swivel (JT4) ±270 ±360 ±720 ±720 ±360 ±720 ±720 ±720 ±720 ±720 ±720 ±720

Wrist bend (JT5) ±145 ±360 ±720 ±720 ±360 ±720 ±720 ±720 ±720 ±720 ±720 ±720

Wrist twist (JT6) ±360 ±360 ±410 ±410 ±360 ±410 ±410 ±410 ±410 ±410 ±410 ±410

Arm swing (JT7) — — — — — — — — — — — ±90

Moment(N·m)

Wrist swivel (JT4) 7.8 33.3 33.2 35.3 33.3 33.2 35.4 79.9 56.2 56.2 56.2 56.2

Wrist bend (JT5) 7.8 28.8 26.7 27.7 28.8 26.7 27.7 61.3 43.4 43.4 43.4 43.4

Wrist twist (JT6) 2.9 7.9 7.9 7.9 7.9 7.9 7.9 15.6 22.0 22.0 22.0 22.0

Moment of Inertia(kg·m2)

Wrist swivel (JT4) 0.17 1.28 1.27 1.44 1.28 1.27 1.45 3.33 2.19 2.19 2.19 2.19

Wrist bend (JT5) 0.17 0.96 0.82 0.89 0.96 0.82 0.89 1.95 1.31 1.31 1.31 1.31

Wrist twist (JT6) 0.06 0.11 0.11 0.10 0.11 0.11 0.11 0.12 0.33 0.33 0.33 0.33

Positional repeatability (mm)*1 ±0.2 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5

Max. reach (mm)*2 1,240 1,973 1,973 1,978 2,665 2,665 2,668 2,665 2,640 2,640 2,640 3,100

Max. speed (mm/s) 1.5 2.0 2.0 2.0 2.0 2.0 2.0 1.5 1.5 1.5 1.5 1.5

Mass (kg) 140 690 720 750 720 740 770 795 540 530 530 720

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

Installation Floor, Wall Floor, Wall Floor Shelf Wall


America*6 Combination of pressurized type and intrinsically safety type (CLI ZN1 AExpxib IIB T4 / AExib IIB T4) Combination of pressurized type and intrinsically safety type (CLI ZN1 AExpxib IIB T4 / AExib IIB T4)

Canada*6 Combination of pressurized type and intrinsically safety type (CLI ZN1 Expxib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (CLI ZN1 Expxib IIB T4 / Exib IIB T4)

Europe, China, Korea Combination of pressurized type and intrinsically safety type (II2G Expxib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (II2G Expxib IIB T4 / Exib IIB T4)

Japan & Asia*7 Combination of pressurized type and intrinsically safety type (Expib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (Expib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (f2G4 / Exib IIB T4)

Ambient temperature (°C) 0 – 40 0 – 40

Power requirements (kVA)*3 1.5 5 5

Controller

America E37 E35 E35

Europe E47 E45 E45

Japan & Asia E27 E25 E25

*1 conforms to ISO9283*2 Maximum reach : The RBR (Roll Bend Roll) wrist refers to the distance from the center of JT1 to the center of JT5. The BBR (Bend Bend Roll) wrist is the distance from the top arm center line

to the JT4 axis. The 3R (Roll Roll Roll) wrist is the distance from JT1 to the axis cross-point between JT4 and JT5.*3 Depends on the payload and motion patterns*4 Operating range of JT1 is depend on the side of mounting surface. The range is “+120 - −30” in the case of the left side. The range is “+30 - −120” in the case of the right side.*5 Hose Built-in*6 The KF19/26-series devices are not compliant with the explosion-proof standards of the U.S. and Canada.*7 Other than China and Korea

5

Motion Range & Dimensions

(mm)

JT6:720°

JT5:290°

JT4:540°

JT3:480°

JT1:320°

JT2:180°

150°150°

90°90°

160°

160°

R550

R302

R550

R1,150

2-M6-10/16

M6-10/16

4-M6-10/16

299.

666

±0.0

3

±0.3

2– ø13G10+0.076+0.006

65

13

5

135

1,6

30

55

06

00

40

0

18

154

100

80

117

109

64

142

249.5 329.5

50

15

47

3

234.5

13

5

65

YY

X

Z

A

X

ø2

5H

7+0

.021

0

2-ø6H7+0.012 0ø6

0

±0.2ø40

7-ø14

ø300

330

Dimensions for Base

VIEW A SECTION B-B

base

1,240

off-set : 90

CO.5

2.5

4-M6THROUGH

B

B

(Divide into 8 equal parts)

2-M10 Eye Bolts

Purging air inlet port(Tube diameter ø12)

KF121

(mm)

100

280 150

140

13

0

JT5

JT3

JT2

JT1

JT6

JT4

±0.1

4040

40

40

39

0

52

5

390

525

23

258 240

143

197

143

309

598

267

±0

.12

67B

B

A

C

8-ø18

6-M6-9/12

20

+0.012+0.004

R521

1,973

598

557

45

42

,43

3

850 250

200

85

0710

7.5

5

6

ø2

5H

7+0

.021

0

+360°

+360°

+360°

150°

150°

–360°

–360°

–360°

+90°

+110°

+150°

–150°

–80°

–60°

2x2-M6-13/18

ø6m6ø0.02

ø40

8-ø32

4550

ø5

0h8

0

−0

.03

8

VIEW A

SECTION B-B Dimensions for Base

Detail C

KF192

6

(mm)

23

8-ø32

137.5

95

(73

.61

)

JT5

JT4JT3

JT2

JT1

JT6

±0.1

4040

40

40

39

0

52

5

390

525

258 240

225 211

197

309

598

267

±0

.12

67

A

C

ø102

6-M6-14/17

51

R521

Dimensions for BaseVIEW A

Detail C

SECTION B-B

1,973 557

598

45

42

,43

3

850 250

200

85

0710

7

7.5

+0

.03

5

0

0

−0

.03

5

+410°

150°

150°

–410°

–720°

60° 85

+720°

+720°

–720°

+90°

+110°

+150°

–150°

–80°

–60°

B

B

ø0.048-ø18ø5m6

+0.012+0.004

ø116

h7

ø90

H7

ø4

0

KF193

(mm)

40

40

39

0

52

5

R521

150°

150°

4040

525

390

23

108.5

100

(86

.6)

158.5

JT5

JT4

JT6

309

598

197

228248

240258

1,978

618

557

2,4

38

45

9

850

710

C

85

0

250

22

0

JT1

JT3

JT2

±0.1267

±0

.12

67

Dimensions for Base

8-ø32

8-ø18

Detail C

+410°

60°–410°

+720°

+720°

–720°

–720°

+110°+150°

+90°

–150°

–60°

–80°

A

7.5

8

ø102

6-M6-14/17

51

VIEW A

B

B

ø5m6+0.012+0.004

SECTION B-B

ø116

h7

+0.0

35

0ø9

0H

7 ø70

0

−0

.03

5

KF194

7


(mm)

JT3

JT2

JT1

258 240

143 143

197

309

598

A

C

6-M6-9/12

R521

2,665

697

557

1,300 250

200

1,1

00

710

98

23

,12

5

7.5

5

6

ø2

5H

7+0

.021

0

150°

150°

+90°

+110°

+150°

–150°

–80°

–60°

+0.012+0.004

20

100

4550

280 150

140

13

0

JT5

JT6

JT4

+360°

+360°

–360°

–360°

+360° –360°

3x2-M6-13/18

23

±0.1

4040

40

40

39

0

52

5

390

525

267

±0

.12

67B

B

300

ø40

0 −0

.03

8ø5

0h8

ø6m6ø0.02

8-ø32

8-ø18

VIEW ASECTION B-B

Dimensions for Base

Detail C

KF262

(mm)

23

8-ø32

137.5

95

85

(73

.61

)

JT5

JT4

JT3

JT2

JT1

JT6

±0.1

4040

40

40

39

0

52

5

390

525

258 240

225 211

197

309

598

267

±0

.12

67

A

C

ø102

6-M6-14/17

R521

2,665

697

557

1,300 250

200

1,10

0710

98

23

,12

5

7

7.5

ø4

0

+410°

150°

150°

–410°

–720°

60°

+720°

+720°

–720°

+90°

+110°

+150°

–150°

–80°

–60°

ø5m6+0.012+0.00451

B

B

ø116

h70

−0

.03

5

ø9

0H

7+0

.03

5 0

ø0.048-ø18

VIEW A SECTION B-B Dimensions for Base

Detail C

KF263

8

(mm)

23

8-ø32

158.5

108.5

100

(86

.6)

JT5

JT4

JT3

JT2

JT1

JT6

±0.1

4040

40

40

39

0

52

5

390

525

258 240

248 228

197

309

598

267

±0

.12

67

A

Cø1

02

6-M6-14/17

R521

2,668

715

557

1,300 250

22

01,

100

710

98

53,

128

8

7.5

+410°

150°

150°

–410°

–720°

60°

+720°

+720°

–720°

+90°

+110°

+150°

–150°

–80°

–60°

ø5m6+0.012+0.004

ø0.0451

B

B

ø70

ø116

h70

−0

.03

5

ø9

0H

7+0

.03

5 0

8-ø18

VIEW A SECTION B-B Dimensions for Base

Detail C

KF264

(mm)

R500

120°

120°

A

D

C

C

E E

B

1,400

90

01

,10

0 3,4

00

1,0

50

2,665

+90°

+120°

+120°

+120°

–65°

–60°

165

456

JT6

150 150 609

JT4

JT5

18

0

456 377

218

114

780

JT3

JT2

JT1

8-ø20

8-ø20

51

150

115

40

40

40

19

51

95

65 325 40

ø102

ø5m6+0.012

±0.12

85

±0

.1

+0.004

+0.02 8

ø70

25

ø116

h70

−0

.03

5

+410°

+720°

+720°

60°

–410°

–720°

–720°

SECTION E-E

6-M6 Depth14

6-M6 Depth14

Dimensions for Base

VIEW B

VIEW D

SECTION C-C

Detail A

KG264

9


(mm)

E

F

B

+90°

−65°

JT3

+130

°

−80°

JT2

−120°

+120°JT1

G H

R444120°

120°

316

255380

188375

6

2,1

07

2,5

00

2,640

755

1401,400

1,1

00

A

P

90

0

260 260 425(655)

D D

75 7525

265 100

85

23

52

35

85

40

24

02

40

40

10

40

35

5

12-ø20

26

52

65

475

50

35

0

655

(ø34)

27

(ø20)

−720°

+720°

JT4

+720°

−410°

+410°

JT6

JT5 −720°

60°

105

100

C

C

ø7

0

ø1

16

h7

0 −0.0

35

851}±0.02

ø5m6 +0.012−0.004

ø102

37

23

00

30 30 269240286

59

59

10 4510

01

00

10

01

00

45 10

90

Parallel Pin

6-M6 Depth14

8-M6 Depth12

Working rangebased on point P

Counterbore ø34(Ref. SECTION D-D)

JT1 Center

4-M8 Depth22

4-M8 Depth25 4-M8 Depth25

VIEW G

VIEW E

VIEW F

VIEW H

VIEW B

SECTION D-D

SECTION C-C

Dimensions for Base

Detail A

KJ264 (Floor)

(mm)

JT1

+120° −120°

JT2

−80°

+130°JT3−65°+90°

B

E

F

G H14

01

,40

0

39

0

(945)1,100

75

5

2,6

40

2,500 2,107

(550)

R444

408

25

53

80

18

83

75

P A

261261

316

6

120°

120°

D D

75 75 260 75

40

24

524

54

0

40

35

10-ø20

605

945

32

5

29

02

90

395 550

32

0

(ø34)

27

(ø20)

−720°+720°

JT4

+720°

−410°+410°JT6

JT5

−720°

60°

10

5

100

C

C

ø70

ø116h7 0−0.035

851

}±0

.02

ø5m6 +0.012+0.004

ø102

372300

30

30

26

924

02

86

59 59

335100 335 100

50

50

50

50

90



4-M8 Depth22

8-M6 Depth12

6-M6 Depth14

Parallel Pin


Mounting Surface

JT2 Center

VIEW E

VIEW F

VIEW G VIEW H

VIEW B

SECTION D-DSECTION C-C

Dimensions for Base

Detail A

KJ264 (Shelf)

10

(mm)

JT1

+30° −120°

JT2

−80°

+130°JT3−65°+90°

B

E

FG

H

14

01

,40

0(945)1,100

75

5

2,6

40

2,500 2,107

(550)

R444

40

8

25

53

80

18

83

75

P A

26

12

61

31

6

6

39

0

30°

120°

D D

75 75 260 75

40

24

52

45

40

40

35

10-ø20

605

945

32

5

29

02

90

395 550

32

0

(ø34)

27

(ø20)

−720°+720°

JT4

+720°

−410°+410°JT6

JT5

−720°

60°

10

5

100

C

C

ø70

ø116h7 0−0.035

85

1}±

0.0

2

ø5m6 +0.012+0.004

ø102

372300

30

30

26

92

40

28

6

59 59

335100

335100

50

50

50

50

90

Parallel Pin



4-M8 Depth22

8-M6 Depth12

6-M6 Depth14

4-M8 Depth22

4-M8 Depth22

Mounting Surface

JT2 Center

VIEW E

VIEW F

VIEW B

VIEW H

VIEW G

SECTION D-D

SECTION C-C

Dimensions for BaseDetail A

KJ264 (Wall)

(mm)

JT1

+120°−120°

JT2

−80°

+130°JT3−65°

+90°

B

E

F

G H

JT7+90°

−90°

14

01

,40

0

1,100

75

5

2,6

40

2,1072,500

R444

25

53

80

18

83

75

P A

261261

31

6

6

600 450

37

5(5

20

)

385

120°

120°

90°

90°

R365

D

D

22540

310

12-ø20

13

01

95

13

0

150 125 125 150

115 160 160 115

225 40

35

40

60

0

89

5

305

52

0

(ø3

4)

27

(ø2

0)

−720°+720°

JT4

+720°

−410°+410°JT6

JT5

−720°

60°

10

5

100

C

C

ø70

ø116h7 0−0.035

85

1}±

0.0

2

ø5m6 +0.012+0.004

ø102

372300

30

30

26

92

40

28

6

59 59

50

50

90 10 9010

90



Parallel Pin

4-M8 Depth22

8-M6 Depth12

6-M6 Depth14


JT1 Center

VIEW E

VIEW F

VIEW B

SECTION D-DSECTION C-C

Dimensions for Base

Detail A

VIEW HVIEW G

KJ314

11

550 500

1,4

00

Equipped with Enable switches.

The arrangement of keys has been optimised through extensive studies of operator hand movements.

Explosion-proof feature on the color LCD with a large-sized and easy-to-see touch panel display

Controller

External view & dimensions

Explosion-proof teach pendant

(mm)

E series

The E-controller, delivering unprecedented quality with a compact

size, was developed to respond to the requirements of our customers.

Kawasaki's past achievements and experience have led to the

development of the most technically advanced controller available.

This industry-leading design provides improved performance and

easy operation that surpasses all expectations.

FeaturesCompactWe have reduced the controller’s foot print and overall volume to make high-density layouts easy to achieve.

Explosion-proof teach pendantThe explosion-proof color LCD with its large touch panel allows users to teach, edit, and monitor information such as current position and I/O signals in the explosion-proof area. The interface panel can be customized to meet user preferences, while the backlit screen is easy to read in dark locations.

User-friendly operation systemThe operating system has now fully matured into a more user-friendly design. The operator can switch on the motors and activate the cycle start all from the teach pendant, providing more convenient system control. Two information screens can be displayed simultaneously to provide access to different types of information (for example, positional and signal information).

Painting unit control functions (option)By controlling the CCV, the electro-pneumatic regulator, and the rotation of the discharge control gear pump from the robot controller’s CPU board, this low cost, flexible system is compatible with a range of painting devices. You can also set up painting conditions and conduct discharge rate calibration on the teach pendant screen.

Using the latest technologiesThe enhanced CPU capacity has resulted in more accurate trajectory control, faster program execution, and quicker saving and loading of files, as well as other advantages. In addition the memory has been expanded to provide greater program storage capacity, while a USB port is also provided as standard for connecting external storage devices.

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, a Web server that allows remote diagnostics, and more.

Highly expandableBy installing an additional amplifier, and adding workpiece transfer devices (tombow, shuttle, turntable, etc.), travel unit and gear pump, etc., the system can accept up to three external axes. The system is compatible with a large number of field buses for controlling peripheral devices. Combination with software sequencer function (KLogic), which can be edited on the teach pendant, allows easy structuring of a highly sophisticated system.

12

Standard

Option

External axis

USB

*2 For details, see the “Option” field for Operation panel in the Specifications.

*3 Standard for the E45/E47

*4 Standard for the E35/E37 and E45/E47

Optional board

Optional device

RS-232C

Ethernet

DIO board, 32 I/O points each, max. four boards (128 points)

DeviceNET board, master/slave

CC-Link board, slave

PROFIBUS board, master/slave

EthernetIP board, master/slave

CAN open board, slave

Conveyor I/F board

Option switch*2

100Vpower outlet*3

Teach pendant

Terminalsoftware

Terminal software

USB Memory

Key board

Brake releaseswitch*4

External axis motor •Workpiece transfer/rotation

devices (tombow, shuttle, turntable)

•Travel unit •Gear pump

System configuration diagram

Specifications

Standard

OptionAmerica E35/E37

Europe E45/E47

Japan & Asia E25/E27

Dimensions (mm) W500×D550×H1,400

Structure Enclosed structure/Indirect cooling system

Number of controlled axes 6 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. 128

Output (Channels) 32 Max. 128

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.)

Cycle start switch, motor-on switch, hold/run switch, error light,

error reset switch

lengthCable

Robot-controller (m) 5 Possible to extend up to 40

Teach pendant (m) 5 5, 15, 20, 25

Mass (kg) 120 (E25/E27), 170 (E35/E37, E45/E47)

Power requirements

E35/E37AC440–480V±10%, 60 Hz, 3ø 7.3 kVA (E35)/5.1 kVA (E37)

Protective ground, leakage current: 10 mA at maximum

E45/E47AC380–415V±10%, 50/60 Hz, 3ø 7.3 kVA (E45)/5.1 kVA (E47)

Protective ground, leakage current: 10 mA at maximum

E25/E27AC200–220V±10%, 50/60 Hz, 3ø 10 kVA (E25)/5.6 kVA (E27)

Class-D ground (standard for robots), leakage current: 100 mA at maximumClass-A ground (for intrinsic explosion-proof safety circuits)

Environmental condition

Ambient temperature (ºC) 0 - 45

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), RS232C

*1 The E45/E47 comes with three switches to change between teach/teach 100%/repeat, as standard equipment.

13

Painting robots form Kawasaki´s K series fulfill nearly every painting application and process. Robots from the K series are reliable, rugged and service reduced.

14

K-ROSEt

In the painting sector the offline creation of automated paint movements guarantees ideal painting results.

K-ROSET is Kawasaki's offline robot simulation software. This tool allows the user to add 3D models of Kawasaki robots, peripheral equipment, robot tools, and workpieces into a virtual environment and build multi-robot automation work cells.

The software emulates the processes of the actual Kawasaki robot controller and allows the user to interact with the 3D robot model through the teach pendant screens and button layout.

The user can build a complete 3D representation of a work cell, write application-specific robot code, then run the robot code while viewing the robot motion and logic from the comfort of a laptop screen.

K-ROSET has several built-in tools to maximize the effectiveness of the simulation such as collision detection, cycle time analysis, and installation position analysis.

The collision detection function alerts the user if objects collide during program operation. As the simulation is processed by the virtual robot controller, the trajectories and cycle time analysis tool produces highly accurate results.

The user can output a video file of the 3D virtual work cell to use for design reviews and sales presentations.

K-ROSEt, Kawasaki Simulationstool, is a powerful PC-Programm, that contains all of the functions of Kawasaki Robot Families and simulate them in a real time.

K-ROSEt has the access to kinematic models of the robot and software structure of Kawasaki control system, which are implemented into the program.

K-ROSEt on the basis of practical experience presents the results, which correspond to real requirements.

Planning reliability for Automation•Simple 3D Simulation •Offline Programming•Useful for different applications•Working out the system beforehand•Cycle time Analysis and examination of interference

contour on PC•Automatic availability survey•Robot training on PC•And much more

15

Package cell

Robotcontroller

Painting booth

Servo Tombow

Manual operation box

Air panel

Safety fence

About 1,000, 1,400

About

50

0

About

70

0

4-M8Depth 15

Table shaft details

(mm)

ø80

ø63

600

60

0

External View and Dimensions

Small sized painting applications

Servo TombowSpace saving and easy-to-install

1. Smooth movement Servo motion control provides smooth movement to

eliminate work slippage.

2. Higher painting quality For small cubical boxes (electronic appliances such as TV

cabinets, etc.), the spray gun can be oriented to each surface at a right angle. The distance between the gun and the surface can also be adjusted simply by entering a value. These features enable easy operation and enhance the painting quality.

3. Synchronous operation with the robot The Servo Tombow’s table rotation is synchronized with

the robot movements, assuring a uniform paint finish for cylindrical shaped components such as hot plates, wooden trays, automobile hubs etc. The Tombow table offers 360 degrees of rotation.

4. Preventing paint mist accumulation To reduce the problem of paint mist accumulation,

workpieces can be positioned above a water tank when spraying.

Specifications

Standard Heavy load carrying

Table load 20 kg x 2 Table 40 kg x 2 Table

No. of control axes Robot 6+Servo tombow 2

Control method Servo control

Teaching playback method PTP teaching+CP control

Position detection method Absolute encoder

Arm

Diameter (mm) 1,000, 1,200, 1,400, 1,600

Operation angle (°) 180

Indexing time (sec) 2/180°

Table

Operation angle Infinite revolution

Indexing angle (°) 90-deg and arbitrary angle

Indexing time (sec) 0.8/90° 1.2/90°

Uninterrupted rotary speed (rpm) Max. 90 Max. 45

Rotary direction Normal/reverse rotation

Explosion protectionAir pressurized explosion protection and intrinsically safe. Explosion-proof composite type (Expib II BT4 / Exib II BT4)

Mass (kg) 110 (Diameter: 1,000 mm), 150 (Diameter: 1,400 mm)

Color Munsell 10GY9/1 equivalent

Note: The standard arm lengths are 1,000 mm and 1,400 mm. The work loading table and loading fixtures to be prepared by the purchaser.

16

Robotcontroller

Painting booth

Servo Tombow - R


Air panel

Safety fence

4-M8Depth 15/20

Table shaft details

600ø63

ø80

1,0

00

(mm)

About 2,200

About

89

0

About

71

0



Servo Tombow - REnhanced space efficiency

1. Space efficient The paint robot is installed at the center of the Servo Tombow

painting system, thereby achieving greater space efficiency.

2. Adaptability to different painting conditions The tables and arm can be positioned and speed-controlled with

a high level of precision. The tables can also be continuously rotated and fixed at any desired angle, making it possible to select the best painting method for the workpiece.

3. Enhanced paint quality There are few obstacles surrounding the tables, allowing the

paint robot to freely change its posture. The lack of obstacles also means that the airflow inside the booth does not become too turbulent. These advantages lead to an improved level of paint quality.

4. Ideal for automated transportation equipment This system attaches and removes workpieces behind the paint

robot. As a result, this system can be easily combined with automated transportation equipment that uses conveyors or delivery robots.

Specifications



No. of control axes Robot 6+Servo tombow 2




Arm

Diameter (mm) 1,000, 1,200, 1,400, 1,600 1,800, 2,000, 2,200


Indexing time (sec) 4/180°

Table







Mass (kg) Approx. 550–690 (excluding the manipulator base)


Note : A set of work loading tables and loading fixtures are necessary. Install the Manipulator KF121 onto a tombow-R with an arm length of 1,800 mm or 2,000 mm. Install the Manipulator KF192/193/194 onto a tombow-R with an arm length of 2,200 mm or 2,600 mm.

17

Package cell


Servo TwisterA compact but sophisticated system

1. Small installation space The minimum installation space required for this system is

2,200 mm wide x 1,966 mm long for a 600 x 600 mm table. Such compactness allows you to install this system in a narrow hand-blowing booth.

2. Rotary table functions In spite of its small size the Servo Twister provides rotary

coating, indexed coating and rotary synchronization functions.

3. 6-axis robots The Servo Twister installation uses a 6-axis, articulated robot.

4. Shared coating program The integration of the robot and painting table into one unit

allows for programs to be shared by more than one robot.

5. Short installation time The servo twister cell can be built before delivery, so that the

installation time is as shortened and in production as soon as possible.

Robotcontroller

Painting booth

Servo Twister

Manual operation boxAir panel

Safety fence

135°

135°

ø80

ø63

(mm)

500 (Arm Length 650)600 (Arm Length 800)

50

0 (

Arm

Len

gth

65

0)

60

0 (

Arm

Len

gth

80

0)

About 650, 800

Ab

out

70

0

Ab

out

50

0

4-M8 Depth 15Table shaft details

External View and DimensionsSpecifications

Standard

Table load 20 kg x 2 Table

No. of control axes Robot 6+Servo twister 2


Teaching playback method PTP teaching + CP control


Arm

Length (mm) 650, 800


Indexing time (sec) 1.8/135°

Table




Uninterrupted rotary speed (rpm) Max. 90



Air pressurized explosion protectionand intrinsically safe.

Explosion-proof composite type(Expib II BT4 / Exib II BT4)

Mass (kg) 120


Note : The work loading table and loading fixtures to be prepared by the purchaser.

18

Painting booth

Robotcontroller

Air panel

Safety fence

Manipulator base Manual operation box

Servo Shuttle

Servo Shuttle

4-M10Depth 20

Table shaft details

(mm)

4772,000, 2,700, 3,200, 4,000

55

2

240520

710

188

ø90

ø74

600

60

0


Medium sized work-piece painting cell

Servo ShuttleUltimate “table painting” type

1. Improvement in productivity Servo motion provides high speed work transfer and table

rotation with shock-less smooth start and stop motion, and also enables continuous rotation tracking with robot and any stand-by position of feeder.

2. Higher coating quality Controlling the position of the table provides the optimum

painting position. This combined with the high-speed, high-precision robot with the servo shuttle enables high-quality painting.

3. Simple teaching The simple teaching function provided by the KF series

painting robot eliminates time-consuming program teaching.

4. Increased table load The system can be used for painting large TV cabinets,

sanitary ware, automobile instrument panels etc.

5. Simple installation This complete package is simple to install, but will provide

for the painting of the most complex of components.

Specifications



No. of control axes Robot 6+Servo shuttle 2


Teaching playback method PTP teaching + CP control


ShuttleStroke (mm) 2,000, 2,700, 3,200, 4,000

Max. speed (mm/sec) 1,000

Table






Intermediate stop function The intermediate stop function and multiple coating control function are available.


Mass (kg) One side: 230 to 310 One side: 350 to 405


Note : The work loading table and loading fixtures to be prepared by the purchaser.

19

Painting booth

Servo Wing


Robotcontroller

Air panel

Safety fence

(mm)

30° 1,300

30

06

80

672

2,6

70

500

1,300

ø82

ø160

ø104

ø10H7 +0.015 0

ø65H8 +0.04 05

(ø6

5H

8)

4-M8 Depth16/22

Depth15

Table shaft details

Pin hole for positioning



Servo WingThe installation space for “Table Painting” was made even smaller.

1. Space Saving While suitable for workpieces of a larger size than in the

Servo Shuttle, the installation space is made smaller. Because the left and right workpieces are closer together, loading and unloading work is reduced.

2. Even Small-sized Robots Cope with Large Work-pieces.

Because there is one painting position, the distance between the workpiece and the robot becomes closer, making the robot possibly smaller than that in Servo Shuttle.

3. Less teaching work Because the left and right arms can be set for the same

painting positions (one position), a single program can be used, thus making the teaching time shorter.

4. Preventing paint mist accumulation Because the arms are slim with no fixed rails, painting can

be conducted above the water, reducing soiling of the booth. In addition, the airflow turbulence inside the paint booth can be minimized.

5. Short Construction Period This device is delivered pre-assembled. So, it can be

installed in as little as one day and you can start production immediately.

Specifications

Standard

Table load 30 kg x 2 Table

No. of control axes Robot 6+Servo wing 2


Teaching playback method Servo control


ArmStroke (mm) 2,670

Indexing time (sec) 3.2

Table




Uninterrupted rotary speed (rpm) Max. 90


Intermediate stop functionThe intermediate stop function and multiple

coating control function are available.


Mass (kg) 970


Note: The arm index time indicates the time of arm movement from the intermediate stop position to the painting position.

The arm index time varies depending on the intermediate stop position.

Package cell

20

Floorconveyor

Servo Spinner

Safety fence

RobotcontrollerAir panel

Painting booth



Servo SpinnerA new dimension in “line coating”

1. Flexible component placement Choose the optimum painting posture for the workpiece,

and reduce contamination of the paint booth.

2. Uninterrupted painting Painting can be performed with the table rotating, thus

minimizing the robot’s wait time.

Specifications


Table load (kg) 20 60

No. of control axes Robot 6+Servo Spinner 1




Table






Explosion protectionAir pressurized explosion protection and intrinsically safe.

Explosion-proof composite type (Expib II BT4 / Exib II BT4)

Mass (kg) 60


(mm)

610

27

82

33

4-M10Depth 20

Table shaft details

ø134

ø134

ø88

21

Package cell

Servo Turntable

Loading/unloadingof work-piece

Safety fence

Painting booth

RobotcontrollerAir panel


Large sized work-piece painting cell

Servo TurntableComplete surface painting is possible with uninterrupted turntable rotation

1. The integrated control of the robot and table allows any painting position to be achieved according to the work shape.

2. The system can be applied to various types of painting such as synchronous control, arbitrary-angle indexing, paint spraying with continuous rotation of the table.

Specifications


Table load (kg) Max. 500 Max. 1,000

No. of control axes Robot 6+Servo Turntable 1




Table


Indexing angle (°) 90-deg and arbitrary angle 45-deg., 90-deg., 180-deg and arbitrary angle

Indexing time (sec) 2.5/90° 5/90°



Explosion protectionAir pressurized explosion protection and intrinsically safe.

Explosion-proof composite type (Expib II BT4 / Exib II BT4)

Mass (kg) 510 560

TableDiameter (mm) ø650, ø1,000, ø1,500, ø2,000

High (mm) 450


Foot switch function(Option)

Uninterrupted normal rotation, rotation stop

Uninterrupted rotation, 45-deg., 90-deg., 180-deg.,indexing

(changeable indexing angle), rotation stop

45

0

(mm)

ø650, ø1,000, ø1,500, ø2,000

ø640

22

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 January 2016 Catalogue No. 3L1543

European Headquater, Sales and Service

Kawasaki Robotics GmbHwww.kawasakirobot.deSperberweg 29, 41468 Neuss, GermanyPhone: +49-2131-3426-0 Fax: +49-2131-3426-22

Locale Office

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

* Materials and specifications are subject to change without notice.

kawasaki robot k series painting robots explosion-proof ... · k series painting robots...

Documents