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Kawasaki Robot
Palletizing robots
Palletizing robot
ISO certi�ed in Akashi Works.
Cat. No. 3L1712 Jun. ’17 S
Printed in Japan
Kawasaki RobotCAUTIONS 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/
] Materials and specifications are subject to change without notice.
Kawasaki’s high-speed palletizing robots
meet the demands for flexibility and speed.
1 2
RD080N ZD130S/250S
CP180L/300L CP700LCP500L
In today’s highly competitive marketplace, meeting the demand for just-in-time deliveries,
flexible packaging, the freshest products, or the highest production line efficiencies can be crucial
to a company’s success. Efforts to meet these demands have led to the development of
automation systems for the end-of-line and distribution processes of palletizing and depalletizing.
Kawasaki’s robotic palletizing solutions provide the pallet pattern flexibility, tooling flexibility,
and cycle times needed to deal with multi-variety and small-batch production, and reduce process
change costs.
Kawasaki Robotics offers three different lines of palletizing robots with a wide range of payload
options to suit most needs, including model RD80N with a maximum payload of 80 kg, models
ZD130S/250S with maximum payloads of 130/250 kg and models CP180L/300L/500L/700L with
maximum payloads of 180/300/500/700 kg. Each has industry leading reach, speed and quality
to deliver high-performance automation technology for most any palletizing application.
Kawasaki can provide a solution to give your production line the palletizing flexibility and
product rate it needs to compete in today's economy.
Features
Palletizing capacity worthy of our high-speed age
Kawasaki palletizing robots deliver the high-speed operation needed for distribution. Based on a robot stroke of 400 mm upward-downward and 2,000 mm in the left-right direction, the RD080N can perform 900 cycles per hour with loads of 80 kg, and the CP180L achieves an industry leading 2,050 cycles per hour with loads of 130 kg.
Compact applications
The Kawasaki RD080N is designed specifically for applications where a compact, high-speed, palletizing robot is required. Despite its slim space saving design, the RD80N can manipulate loads up to 80 kg and create pallet stacks over 2 meters tall.
Large work envelope and high payload capacity
At 3,075 mm and 3,256 mm respectively, the high vertical reach capability of the ZD and CP series robots is ideal for tall pallet stacks and multi-lane applications. The extra-long horizontal reach of 3,255 mm for both series allows for one robot to be used to cover up to four pallets. The high payload capacity CP series robots can handle up to 700 kg. This allows for multiple product picks and complete pallet layer handling, resulting in fewer cycles per completed pallet.
Easy-to-use palletizing software K-SPARC
Available as an option, Kawasaki’s K-SPARC palletizing software enables users to quickly and easily simulate layout planning and operations, as well as create robot operation programs on a computer.
Space and energy saving
The CP series E03 controller is only 25% of the standard palletizing] controller size (41% with transformer unit) and fits under conveyors and other equipment. The E03 controller generates electric power while in a deceleration mode, reducing energy consumption and minimizing CO2 emissions.
] in case of E4X
Electricity Regeneration Function
Palletizing cells
Conventional controller
Sample layout for palletizing cells
Sample of palletizing cells System configuration example
E03 Controller
Return electric power to the primary power source
EnergySaving
Integrated electric regeneration unit
Consume electric power by resistance
Add-on regenerative resistor unit
Kawasaki provides system configurations perfectly adapted to your needs.
Different workpieces sent from the same conveyor are segregated and palletized.
Different workpieces sent from different conveyors are segregated and palletized.
Safety fence
Robot arm
Palletizing hand
Workpieceacceptance
Pallet (outlying)
Robot controller
Pallet sensors
Pallet guideRobot stand
Carry-in conveyor
1,7
50
1,7
50
6,1
00
7,8
50
4,0
50
5,8
00
800 8005,000 6,500
（mm）
Pallets Pallets
Workpieces
Workpieces
PowerControl signal
Cell controller
PC(K-SPARC)
USB memory
Manipulator(with internal or external valves)
Primary air
I/O or communication(CC-Link, DeviceNet, etc)
Robot-controller cable
Robot controller
3 4
Depalletizing cells Easy-to-use palletizing software
lDetects the 3-D position and posture of stacked bag packages.
lA single fixed camera can monitor wide stacking areas.
lAble to adjust to changes in peripheral lighting environments and workpiece surface conditions.
lNo need for configuring the individual settings of each workpiece stacking pattern.
lAble to handle a combination of different types of workpieces at the same time.
You can build an advanced and flexible robot safety system according to the motion condition by monitoring the movements of the robot.
lSave Space by limiting the range of robot movementslSafety function can be switched according to the state of safety
signal inputlIEC61508 (SIL2) and ISO13849-1 (PLd/category 3) certification
Item Specification
Measuring range L1,400mm×W1,400mm×L1,800mm
Objective distance 1,700mm
Laser class Class 3R
Dimension L1,100mm×W125mm×H125mm
Mass About 6.5kg
Range : 1,600mm
Accuracy : ±10mm
1,400mm1,400mm
1,700 -
3,500mm
System configuration example
Other applications ]For these applications, the workpiece sizes and stacking patterns must be configured.
LSC (Laser Slit-scan Camera)
Control signal
Ethernet Ethernet
I/O
LSC(Laser slit-scan camera)
Vision controller
DC24V
Power
Manipulator(with internal or external valves)
Primary air
I/O or communication(CC-Link, Device Net, etc)
Robot-controller cable
Robot controller
Peripheral equipment control panel
Depalletizing carton boxes Depalletizing plastic containers
Save spaceYou can reduce the size of the safety fence area by limiting the range of robot movements to the minimum.
Transporting workpieces during robot motionYou can limit the range of robot movements according to the human work area.
Reduced cycle timeReduced safety fence area
Safety fence area with Cubic-S
Safety fence without Cubic-S
Item Specification
Safety performance IEC61508 (SIL2)
ISO13849-1 (PLd/category3)
Monitoring the number of joints Maximum 9 joints
Safety function Motion area monitoring, Joint monitoring, Speed monitoring,
Stand still monitoring, Tool orientation monitoring,
Protective stop, Emergency stop, Safety status output
Safety input and output Dual channel safety input 8CH
Dual channel safety output 8CH
] It is possible to allocate Safety Status Output Signals and Safety
Input Signals of each Safety functions
5 6
Base installationdimensions
VIEW A
Motion rangeof point "P"
A
180°
180°
D.
TSM VW S/N
20
6
150 1,080
68
08
70
15
8
R397
277
298
307
1,6
96
.5
244
16
5
2,100370.8
1,2
31
.52
,07
9.2
619.2
45
.8
51
6.2
2,0
62
.3
619.2 1,100
1,1
00
X
Y
Xø0.3 Y ø0.04 X
ø80
ø94
30°
6-M8 Dp13
60°
ø8H7 Dp8
ø50H7 Dp6
ø0.06
210±0.1
380
300170
320
40
0 34
0
30
0
38
0
21
0±
0.1
2-ø13H9
8-ø18
ø26
ø18
17
P
JT2105°
JT2140°
JT3
JT340°
JT4±360°
JT1
JT1
JT5±10°
205°
(mm)
RD080N
(mm)
75
01
,20
02
60
255 1,550 250
24
0
2,5
26
R1,161
963
481.5481.5
3,255
88
4.6
2,3
71
.2
3,2
55
.8
1,192.7 1,600
1,8
00
926.8
R2,934.2
27
2.9
2,2
00
Working rangebased on point P
Point P
Rear side interference area
JT2JT2
JT3
JT3
JT6±360°
JT1
JT1
46°95°
110°
15
°
160°
160°
A
ø180
30° 12-M12 Dp24
500100 100
50
01
00
10
0
75
0
375474
8-ø22
45
0
ø22
ø42
30
VIEW A
Base installationdimensions
CP180L/300L
Base installationdimensions
VIEW A
Motion rangeof point "P"
8-ø11
ø150
ø180
JT1
JT1
JT3
JT2
JT2
JT4±360°
A
JT3
37
0
75
125
12
51
25
50
01
00
10
0
500 100100
770
77
0
125
2-ø25G8ø0.05
300
30
03
00
8-ø22
30
67
02
70
1,2
50
R2,875.3
1,600
1,8
00
180°
180°
1,130.9
15
1,450300
25°
90°
120°
50°
2552,257998
3,0
75
.3
81
0
2,2
00
15
°
33
8.2
R1,391
P
P
30
0
R547
(mm)
ZD130S/250S
(mm)
75
01
,20
02
60
255 1,550 250
24
0
2,5
62
R1,298
481.5 481.5
963
3,255
88
4.6
2,3
71
.2
3,2
55
.8
1,192.7 1,600
1,8
00
926.8
R2,934.2
27
2.9
2,2
00
Point P
Rear side interference area
JT2JT2
JT3
JT3
JT6±360°
JT1
JT1
46°95°
110°
15
°
160°
160°
A
ø180
30° 12-M12 Dp24
500100 100
50
01
00
10
0
75
0
375474
8-ø22
45
0
ø22
ø42
30
VIEW A
Working rangebased on point P
Base installationdimensions
CP500L
Motion range & dimensions
7 8
Standard specifications
RD080N ZD130S ZD250S
Arm type Articulated type
Degrees of freedom (axes) 5 4
Max. payload (kg) 80 130 250
Max. stroke (°)
Arm rotation (JT1) ±180 ±180
Arm out-in (JT2) +140 - –105 +90 - –50
Arm up-down (JT3) +40 - –205 +15 - –120
Wrist swivel (JT4) ±360 ±360
Wrist compensation (JT5) ±10 ]4 –
Max. speed (°/s)
Arm rotation (JT1) 180 148 95
Arm out-in (JT2) 180 110 90
Arm up-down (JT3) 175 130 95
Wrist swivel (JT4) 360 400 190
Working area (mm)
Width 1,100 1,800
Depth 1,100 1,600
Height 2,062.3 2,200
Moment of inertia (kg•m2) 13.7 50 100
Palletizing capacity ]1 (cycle/hour) 900 1,700 1,400
Positional repeatability ]2 (mm) ±0.07 ±0.5
Mass (kg) 540 1,350
Power requirements ]3 (kVA) 4.5 10
Controller
America
E03
E33
Europe E43
Japan & Asia E23
]1: Motion pattern (400 mm up, 2,000 mm horizontal, 400 mm down in a to-and-fro motion) ]2: conforms to ISO9283]3: depends on the payload condition and motion patterns ]4: operating angle of the JT5 is ±10 degrees perpendicular to the ground.
CP180L CP300L CP500L CP700L
Arm type Articulated type
Degrees of freedom (axes) 4
Max. payload (kg) 180 300 500 700
Max. stroke (°)
Arm rotation (JT1) ±160
Arm out-in (JT2) +95 - –46
Arm up-down (JT3) +15 - –110
Wrist swivel (JT4) ±360
Wrist compensation (JT5) –
Max. speed (°/s)
Arm rotation (JT1) 140 [5 115 [6 85 75
Arm out-in (JT2) 125 [5 100 [6 80 65
Arm up-down (JT3) 130 [5 100 [6 80 65
Wrist swivel (JT4) 400 [5 250 [6 180 170
Working area (mm)
Width 1,800
Depth 1,600
Height 2,200
Moment of inertia (kg•m2) 50 [5 100 [6 250 500
Palletizing capacity ]1 (cycle/hour) 2,050 [5 1,700r [6 1,000 900
Positional repeatability ]2 (mm) ±0.5
Mass (kg) 1,600 1,650
Power requirements ]3 (kVA) 12
Controller
America
E03Europe
Japan & Asia
]1: Motion pattern (400 mm up, 2,000 mm horizontal, 400 mm down in a to-and-fro motion) ]2: conforms to ISO9283]3: depends on the payload condition and motion patterns ]5: in case of 130 kg payload and less ]6: in case of 250 kg payload and less
3,255
88
4.6
2,3
71
.2
3,2
55
.8
1,192.7 1,600
1,8
00
926.8
R29,34.2
27
2.9
2,2
00
75
01
,20
02
60
255 1,550 250
24
0
25
62
R1,298
481.5 481.5
963
Point P
Rear side interference area
46°95°
110°
15
°
160°
160°
ø22
ø42
30
500100 100
50
01
00
10
0
75
0
375474
8-ø22
45
0
ø180
30° 12-M12 Dp24
A
(mm)
Working rangebased on point P
Base installationdimensions
VIEW A
JT1
JT1
JT2JT2
JT3
JT4±360°
JT3
CP700L
Motion range & dimensions
9 10
Large, color LCD touch screen display.
The key arrangement has been optimised through extensive studies of operator hand movements.
Equipped with Enable switches.
Controller
Specifications
E seriesThe E Controller combines high performance, unprecedented reliability, a host of integrated features and simple operation, all in a compact design.
FeaturesCompactThe E03 controller for CP series palletizing robots has far less volume. You can use it in an upright-position or in a stacked installation to reduce the footprint of this controller.
User-friendly operationThe easy-to-use teach pendant now incorporates motor power and cycle start at your fingertips. Multiple information screens can be displayed simultaneously. The intuitive teaching interface is simple to use.
Programming ease & flexibilityA rich set of programming functions come standard with the E Controller to support a wide range of applications. Functions can be combined and easily configured 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 files. 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.
Space and energy savingThe CP series E03 controller is only 25% of the standard palletizing controller size (41% with transformer unit) and fits under conveyors and other equipment. The E03 controller generates electric power while in a deceleration mode, reducing energy consumption and minimizing CO2 emissions.
E03
Standard Standard Option
America
E03
E33
E03
E33
Europe E43 E43
Japan & Asia E23 E23
Dimensions (mm) W550×D580×H278 W630×D550×H950 W730×D550×H1,200Transformer unit:
W580×D580×H178
Structure Enclosed structure / Indirect cooling system Enclosed structure / Indirect cooling system
Number of controlled axes
5 5 6E33: 8E43: 8E23: 7
Drive system Full digital servo system Full digital servo system
Coordinate systems Joint, Base, Tool Joint, Base, Tool Fixed tool point
Types of motion control Joint/Linear/Circular Interpolated motion Joint/Linear/Circular Interpolated motion
Programming Point to point teaching or language based programming Point to point teaching or language based programming
Memory capacity (MB) 8 8
Generalpurposesignals
External operation Motor power off, Hold Motor power off, Hold
Input (Channels) 32 32 Max. 96 Max. 128
Output (Channels) 32 32 Max. 96 Max. 128
Operation panelE-Stop switch, teach/repeat switch,
control power lightE-Stop switch, teach/repeat switch, control power light
E-Stop switch, teach/repeat/rapid-feed check
switch, control power light
E-Stop switch, teach/repeat switch, control power light
Rapid-feed check mode switch
Cycle start switch, motor-on switch, hold/run switch, error light, error reset switch, rapid-feed check mode switch (only on E23)
Cablelength
Teach pendant (m) 5 5 10, 15
Robot-controller (m) 5 5 10, 15
Mass (kg) 45 110 195 Transformer unit: 45
Power requirements
AC200-220V ±10%, 50/60Hz, 3øAC200-220V ±10%,
50/60Hz, 3øAC380-415V ±10%,
50/60Hz, 3øAC440-480V ±10%,
60Hz, 3ø
]Transformer unitAC380-415V ±10% or AC440-480V ±10% ] 50/60Hz, 3ø
E33AC200-220V ±10%AC380-415V ±10%AC515V ±10%AC575V ±10%AC440-480V ±10%
] 50/60Hz, 3ø
Class-D earth connection (Earth connection dedicated to robots),
leakage current: Maximum 100mA
Class-D earth connection (Earth connection dedicated to robots), leakage current: Maximum 100mA
Environmentalcondition
Ambient temperature (°C) 0 - 45 0 - 45
Relative humidity (%) 35 - 85 (no dew, nor frost allowed) 35 - 85 (no dew, nor frost allowed)
Body color Munsell 10GY9/1 equivalent Munsell 10GY9/1 equivalent
Teach pendantTFT color LCD display with touch-panel, E-Stop
switch, teach lock switch, Enable switchTFT 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 USB, Ethernet (100BASE-TX), RS-232C
]Option
]
E23
Teach pendant
11 12
External view & dimensions
E03
E43
E23
E33
(mm)
(mm)
(mm)
(mm)
550 550 180 550 550 180
550 450 180
95
01
,20
0
1,2
00
26
01
81
81
70
580 550
580 550
550 550 180 550 550 180
550 450 180
95
01
,20
0
1,2
00
26
01
81
81
70
580 550
580 550
550 550 180 550 550 180
550 450 180
95
01
,20
0
1,2
00
26
01
81
81
70
580 550
580 550
550 550 180 550 550 180
550 450 180
95
01
,20
0
1,2
00
26
01
81
81
70
580 550
580 550
]Option
Transformer unit ]
Simple palletizing software (option)
This software lets you configure the pick and place positions of the workpieces by robots and register workpieces, pallets, and stacking patterns displayed on your computer’s screen. It also allows you to easily create robot operation programs .
This optional software is one of the application programs built on K-ROSET, Kawasaki’s offline teaching software.
Easy setup by layout selectionSupport for up to two pick positions and four place positions of workpieces by robots.Simply select a layout and enter a distance!
Easy registration of item typesItem types are registered simply by entering data on your computer for workpieces, pallets, and stacking patterns.
K-ROSET functions can be usedWith K-ROSET, users can specify the layout by analyzing the installation positions automatically according to the robot types and place positions.You can also check for interference and perform cycle time analysis.
Support for many kinds of stacking patternsApproximately 100 types of base patterns can be configured for each stage.The place position of workpieces can be specified.Gaps can also be adjusted.
13 14