kawasaki robot z series · kawasaki robot z series materials and speci˜ cations are subject to...

....

Large payload robots - up to 300 kgZ seriesKawasaki Robot

Z series

MCat. No. ZS1807✽ Materials and speci� cations are subject to change without notice.

ISO certi� ed in Wixom, Michigan U.S.A.

CAUTIONS TO BE TAKEN TO ENSURE SAFETY

● 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.

Kawasaki RobotKawasaki Robotics (USA), Inc.Corporate Headquarters for Americas28140 Lakeview Drive, Wixom, MI 48393, U.S.A.Phone: +1-248-446-4100 Fax: +1-248-446-4200

Global Network

Kawasaki Heavy Industries, Ltd.Tokyo Head Of� ce/Robot Division1-14-5, Kaigan, Minato-ku, Tokyo 105-8315, JapanPhone: +81-3-3435-6852 Fax: +81-3-3437-9880

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

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

Kawasaki Robotics GmbHIm Taubental 32, 41468 Neuss, GermanyPhone: +49-2131-3426-0 Fax: +49-2131-3426-22

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

Kawasaki Robotics (Tianjin) Co., Ltd.Bldg 3, No.16, Xiang’an Road, TEDA, Tianjin 300457, ChinaPhone: +86-22-5983-1888 Fax: +86-22-5983-1889

Kawasaki Motors Enterprise (Thailand) Co., Ltd.Rayong Robot Center119/10 Moo 4 T. Pluak Daeng, A. Pluak Daeng, Rayong 21140, Thailand Phone: +66-38-955-040-58 Fax: +66-38-955-145

KawasakiRobotics.com

..

ZT165U

ZX165U

✻ 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.

FeaturesCycle time advantageThe Z series robots’ reduced footprint combined with the E Controller results in improved cycle times.

Wide work envelopeA long-reach arm combined with minimal dead space results in the widest work envelope in its class.

FlexibilityThe Z series line is manufactured using modular components and a common software platform. This design allows some models’ characteristics to be modi� ed, providing great � exibility to accommodate production and system changes. Both hardware and software alterations can easily be performed inthe � eld.

The Z series heavy-duty robots are the workhorses of the Kawasaki Robotics product line. The versatile and upgradeable designs are directly responsible for improved production line ef� ciencies in automotive and general industry applications. The robust low-maintenance Z series robots offer payload capacities from 100 to 300 kg and are available in � oor mount (ZX), shelf mount (ZT) and compact (ZH) models to best suit the application.

The large payload long reach Z series robots can perform a wide range of applications across diverse industries.

1 2

....

Standard speci� cations

ZX130U ZX130L ZX165U ZX200S ZX300S ZH100UType Articulated Articulated

Degrees of freedom (axes) 6 (Option: 7) 6 (Option: 7)

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

Max. reach (mm) 2,651 2,951 2,651 2,651 2,501 1,634

Positional repeatability (mm) ✽1 ±0.3 ±0.3

WorkenvelopeandMax. speed

Axis Motion range (°) Max. speed (°/s) Motion range (°) Max. speed (°/s) Motion range (°) Max. speed (°/s) Motion range (°) Max. speed (°/s) Motion range (°) Max. speed (°/s) Motion range (°) Max. speed (°/s)

Arm rotation (JT1) ±180 110 ±180 110 ±180 110 ±180 105 ±180 100 ±160 140

Arm out-in (JT2) +75 - –60 110 +75 - –60 110 +75 - –60 110 +75 - –60 110 +75 - –60 85 +120 - –60 100

Arm up-down (JT3) +250 - –120 110 +250 - –120 110 +250 - –120 115 +250 - –120 105 +250 - –120 85 +75 - –90 100

Wrist swivel (JT4) ±360 140 ±360 140 ±360 140 ±360 120 ±360 90 ±360 150

Wrist bend (JT5) ±130 135 ±130 135 ±130 155 ±120 120 ±120 90 ±130 150

Wrist twist (JT6) ±360 230 ±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) 107.8 51.9 78.4 117.6 166.6 90.0

Wrist bend (JT5) 107.8 51.9 78.4 117.6 166.6 90.0

Wrist twist (JT6) 45.9 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

ControllerAmerica & Europe

E02 E02Japan & 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

ZT130U ZT165U ZT200SType Articulated

Degrees of freedom (axes) 6 (Option: 7)

Max. payload (kg) 130 165 200

Max. reach (mm) 3,230

Positional repeatability (mm) ✽1 ±0.3

WorkenvelopeandMax. speed

Axis Motion range (°) Max. speed (°/s) Motion range (°) Max. speed (°/s) Motion range (°) Max. speed (°/s)

Arm rotation (JT1) ±180 105 ±180 105 ±180 100

Arm out-in (JT2) +60 - –75 105 +60 - –75 105 +60 - –75 100

Arm up-down (JT3) +165 - –95 105 +165 - –95 105 +165 - –95 90

Wrist swivel (JT4) ±360 140 ±360 135 ±360 120

Wrist bend (JT5) ±130 135 ±130 135 ±120 115

Wrist twist (JT6) ±360 230 ±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) 107.8 78.4 117.6

Wrist bend (JT5) 107.8 78.4 117.6

Wrist twist (JT6) 45.9 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

ControllerAmerica & Europe

E02Japan & 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

3 4

....

(mm)(mm)

(mm)(mm)

ZH100UZX130L

ZX300SZX130U / ZX165U / ZX200S

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

P

P

JT3

JT3

JT2

JT2

JT1

JT1

JT4±360°JT6±360°

JT5±130°

VIEW A

6−M16Dp30

16070 160

70

70

700

2-

29

0

30

50

0

250 450

205

32

0

41

0

Installation dimensions

ø0.05

2-ø22H9ø22

ø22

205

410

30°

30°

30°

60°

6-M10 Dp12

ø80H7 X Yø0.15

6-M10 Dp16

X Yø0.15

Xø0.04

Xø0.04

ø125

ø92

Dp8

ø55H7

Dp12

ø160

ø160

2-ø10H7

2-ø9H7

Y

A

Dimension: 228

• Conventional type (ø92)

• ISO 9409-1 series 2 (ø125)

Working rangebased on point P

125125500

770

100 100

75

37

0

77

0

12

512

5

30


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

Interference radius aroundthe rotational axis

Rear side interference area

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 Dp12

Xø0.04

ø160

30°30°

+0.030 0ø80H7

XDp8

6–M10 Dp12

X Yø0.15

• ISO 9409-1 Series 2 (ø125)Unnecessaryfor standard spec.

ø125

Y30°

60 °

Dimension: 244Xø0.04

ø160

• Conventional type (ø92)+0.030 0ø55H7

XDp12

6–M10 Dp16

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 Dp122–

P

P


125125500

770

100 100

75

37

0

77

0

12

512

5

30


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

Dp12X

+0.030 0ø68H7


30°

30 °

VIEW A

Dp17+0.015 02–ø10H7

Xø0.04 Dimension: 248

10–M10 Dp17

X Yø0.15

ø200

Y

ø113

Dp8X

+0.035 0ø100H7

• ISO 9409-1 series 1 (ø160)Unnecessaryfor standard spec.

30 °

30 °

Dp12+0.015 02–ø10H7


6–M10 Dp12

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


125125500

770

100 100

75

37

0

77

0

12

512

5

30


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



R1,289 Link H

14

2

90

10 x 2–M6–12/18

5 x 2–M10–20/25

YX

2–ø10H7 Dp12

Dimension: 228

Y

+0.015 0

Xø0.04

Y30°

60 °

Dimension: 244

+0.015 0ø9H7 Dp12

Xø0.04

ø160

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

+0.030 0ø55H7

XDp12

6–M10 Dp16

X Yø0.15

ø92

Dp8X

+0.035 0ø100H7

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

for standard spec.

30 °

30 °

Dp12+0.015 02–ø10H7


6–M10 Dp12

ø0.15Y

ø200

ø160

ø160

30°30°

+0.030 0ø80H7

XDp8

6–M10 Dp12

X Yø0.15

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

for standard spec.

ø125

Dp12X

+0.030 0ø68H7

• Conventional type (ø113) for 200S

30°

30 °

VIEW A

Dp17+0.015 0


10–M10 Dp17

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

ZX130UZX165U

2–

P

P

P


45.945.945.9

Motion range & dimensions

5 6

..

Releasing and loading / unloadingof large-sized workpieces by vision system

Hemming process of the car doorReleasing work from resin molding machine

(mm)

(mm)(mm)

ZT130Y/ZT165Y

ZT165XZT130U / ZT165U / ZT200S



ø0.05

2-ø25G8

ø55H7

59°

30°

30°

30°

6-M10 Dp12

6-M10 Dp12

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

Dp8

Dp12

A

Dimension: 228

Dimension: 244


• ISO 9409-1 series 2 (ø125)


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 B

JT5±

130°

JT6±360°

JT4

±36

0°

ZT20

0S:±

120°

95°

58

809090

1,3

00

78

2,1

03

60

03001,100530

3,23080

180°

210

60

0.5

30

125

77

0

770

100 100500

100

100

50

012

512

5

125

75

37

0

Installation dimensions 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


YX

2–ø10H7 Dp12

Dimension: 228

Y

+0.015 0

Xø0.04

Y30°

60 °

Dimension: 244

+0.015 0ø9H7 Dp12

Xø0.04

ø160

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

+0.030 0ø55H7

XDp12

6–M10 Dp16

X Yø0.15

ø92

Depth8X

+0.035 0ø100H7

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

for standard spec.

30 °

30 °

Dp12+0.015 02–ø10H7


6–M10 Dp12

ø0.15Y

ø200

ø160

ø160

30°30°

+0.030 0ø80H7

XDp8

6–M10 Dp12

X Yø0.15

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

for standard spec.

ø125

Dp12X

+0.030 0ø68H7

• Conventional type (ø113) for 200S

30°

30 °

VIEW A

Dp17+0.015 0


10–M10 Dp17

X Yø0.15

ø200

2–ø10H7 Y

ø113

2–

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

PInstallation dimensions



Dimension: 228

Y

+0.015 02–ø10H7 Dp12

Xø0.04

ø160

30 °30°

+0.030 0ø80H7

XDp8

6–M10 Dp12

X Yø0.15

• ISO 9409-1 Series 2 (ø125)Unnecessaryfor standard spec.

ø125

Y30°

60 °

Dimension: 244Xø0.04

ø160

• Conventional type (ø92)+0.030 0ø55H7

XDp12

6–M10 Dp16

X Yø0.15

ø92

VIEW A

+0.015 0ø9H7 Dp122–

A

Motion range & dimensions

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)

System con� guration diagram

Standard

OptionAmerica

E02Europe

Japan & Asia

Dimensions (mm) W550 × D580 × H278 Transformer unit: W580 × D580 × H178

Structure Enclosed structure with 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, 3øTransformer unit:

AC380-415V ±10% or AC440-480V ±10%50/60Hz, 3ø

Class-D earth connection (Earth connection dedicated to robots), Leakage current: Maximum 100mA

Environmentalconditions

Ambient temperature (°C) 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), RS-232C

Speci� cations

FeaturesCompactThe overall volume of the E Controller has been reduced compared with the previous model. The small footprint of this compact controller allows for installation in “high-density” applications. For further space saving options, an upright-position or stacked installation✽ is possible, without impeding performance.✽ E0X only

User-friendly operationThe easy-to-use teach pendant now incorporates motor power and cycle start at your � ngertips. Multiple information screens can be displayed simultaneously. The intuitive teaching interface is simple to use.

Programming ease & � exibilityA rich set of programming functions come standard with the E Controller to support a wide range of applications. Functions can be combined and easily con� gured within a system to suit a particular application. Also, the powerful Kawasaki AS Programming Language provides sophisticated robot motion and sequence controls.

Advanced technologiesThe enhanced CPU capacity allows for more accurate trajectory control, faster program execution, and quicker loading and saving of � les. In addition, memory has been expanded to meet the need for higher program storage capacity. The controller comes equipped with a USB port for external storage devices.

Easy maintenanceModular components with limited cables translate into easy diagnostics and maintenance. A host of maintenance functions are available, including self-diagnostics on hardware and application errors to minimize troubleshooting and reduce MTTR (Mean Time To Repair). Remote diagnostics via the web server function enables service support from anywhere in the world.

ExpandableTwo external axes can be added to the E0X controller for a total of nine controlled axes. Numerous communication � eldbuses are available for controlling peripheral devices. The Kawasaki K-Logic sequencer software can be combined with user customized interface panels on the teach pendant.

External view & dimensions

Equipped with Enable switches.

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

Large, color LCD touch screen display.

Teach pendant

E02✽ Option

✽

POWER

REPEATTEACH

420 500

25

0

26

01

81

81

70

9

ＰＯＷＥＲ100% ＣＯＮＴＲＯＬ

REPEATTEACHOFF ON Ｒ

ＰＳＯＴ

ＥＭＣＧ

ＥＹＮＥ

580 550

580 550

E02

(mm)

Transformer unit (option)

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.

E series

Controller

9 10

kawasaki robot z series · kawasaki robot z series materials and speci˜ cations are subject to...

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