kawasaki Robot D User Manual

friendly

Simple

and

Kawasaki Robot

D series
Controller

FOR EUROPE

Kawasaki Robotics GmbH
Kawasaki Robotics (UK) Ltd.

English

Features

Kawasaki Robot

The Kawasaki robot is designed to integrate

easily into a variety of applications. This newly

designed model, the culmination of our

engineering excellence, improves yet further its

capacity for expansion, erqonomic operation

and ease of maintenance.

D-Controller

Kawasaki continuing in its role as a leader in industrial

robot technology, aims to develop the robot control

system to allow more effective and intuitive operation

of the robot.

The result is the Kawasaki D Controller. A high func-

tionality robot controller for the next generation

which combines the latest hardware technology with

software developed through Kawasaki's diverse

experience in control system engineering with its ease

of operation, high level of expansion possibilities and

excellent maintenance characteristics the Kawasaki D

Controller will enable our customers to create auto-

mation systems perfectly tailored to their requirements.

The D4x is the standard powerful controller with many

available options including external axes. This model

is for medium to large robot arms (FS006N or larger).

The D7x is a compact, yet powerful controller using

200/220V single-phase power supply. This model is

for small to medium arms (FS10E or smaller).

friendly

Simple

and

D42

Teach Pendant

D70

Features

1

Ergonomic operating
environment to reduce teaching
time

The Teach Pendant utilises a combination of operator
keypad and an easy to read 6.4" colour LCD touch
screen. The utilisation of this keypad along with impro­ved hardware capabilities results in significant impro­vements in key response.

The key arrangement, optimised for quick and simple
data entry, in conjunction with a large, easy to read
colour LCD touch screen provides the user with an
ergonomic platform for the control and operation of
the robot.

In terms of programming, the new controller is upward
compatible, supporting existing conventional control­lers, with the main concepts of operation being the
same. Using the Simplified Operation (Block) teaching
system from Kawasaki original menu, teaching can be
carried out quickly and efficiently.

Large, colour LCD touch
Screen display

Equipped with deadman switches

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

Teach Pendant

The cursor keys
positioned to give the
as same characteristics
as the familiar controls
of a games console

Teaching Screen

Simplified Operation (block) teaching
system by block selection

Data Storage Screen (option)

Show and store important data
direct on the Controller or PC-Card

Operating Function Screen

Easy input of system data

2

Dedicated software for a

wide range of applications

Software is available to simplify the programming for
a variety of applications such as palletising, handling,
spot-welding, sealing and arc welding. In addition,
Kawasaki AS Language, a highly sophisticated robot
programming language, expands the possibilities for
advanced motion and process control. With available
options including servo welding, network support
function and high performance vision Kawasaki can
deliver a solution to even the most complex customer
application.

3 Enhanced control through

new technology

Processing capability has been upgraded through the
incorporation of a state of the art CPU and multi
processors whilst motion control performance, such as
path accuracy and cycle time, has benefited from the
application of fully digital servos. Furthermore the
possibility of a system failure can now be reduced to
a minimum by the inclusion of functions for collision
detection and, in the event of an emergency stop,
path recovery.

4 High expansion capability

simplifies system upgrades

Control of peripheral equipment The Kawasaki

system is compatible with, not only standard digital
110, but also a variety of Fieldbus 1/0 systems such
as DeviceNet, CC-Link, Profibus and Interbus-S enabling
straightforward connection to a wide range of
peripheral equipment. A built in sequencer, using
Kawasaki K-Logic, is also available making it possible
to configure a highly advanced control system with
minimum cost.

Network Communications The system supports

network communications through Ethernet allowing
data transfer between the controller and host computer
e.g. program upload and download. Web server
functions can also be utilised for remote access to the
controller via the Internet or an intranet enabling
remote diagnostics and monitoring of robot status.

Expansion of Multi-Axis An additional 2 axes can

be easily incorporated into the standard 6-axis controller.
Three or more additional axes (9 axes or more
including the robot arm) are available by the selection
of SSCNET compatible motors. Therefore, a multi-axis
system can be easily configured to meet the customer
requirements.

5 Innovative design for ease of

maintenance

Careful design to reduce wiring and to utilise, where
possible, component modules enables quick and efficient
repairs and replacement. Software functions such as
Data Storage allow detailed recording of various
machine states, with the stored information output in
spreadsheet format to aid analysis. Maintenance
support functions indicate troubleshooting procedures
in the event of a failure and the Web Server function
enable diagnostics to be effected remotely.

Line control PLC,
Peripheral equipment,
Welding source, etc.

Interface Panel
screens can be
easily customised
to function as an
operating panel of
HMI for peripheral
equipment.

System expansion by communications

Built-in PLC
K-Logic
(option)

Host PC

DeviceNet
PROFIBUS
INTERBUS-S
Control Net
AB Remote I/O
(all option)
CC-Link

Fieldbus

Ethernet

Structure

Number of controlled axes

Servo motor

Position detector

Drive system

Programming

Coordinate systems

Types of motion control

General
purpose
signals

Memory capacity

External storage

Communication
interface

Teach pendant

Operation panel

Cable length

Dimensions (W x D x H mm)

Weight (Kg)

Power requirements

Robot dedicated grounding

Ambient temperature/humidity

Color

Options

Self-standing main enclosure

AC servo motor

Absolute encoder

Full digital servo system

Block teaching or AS language

Joint, Base, Tool

Joint, Linear, Circular interpolated motions

External motor power off, External Hold

32 channels (including dedicated signals)

32 channels (including dedicated signals)

1MB (including system memory), approx. 5,000 steps

PCMCIA card slot

RS232C

Ethernet

6.4" TFT color LCD with touch panel, 640x480 VGA, Emergency stop SW,

Teach Lock SW, Deadman SW, 58 hard keys (Robot manual ope. keys, Cursor keys, etc.)

Basic switches: Motor Power ON, Cycle Start, Error Reset, Emergency Stop,

RUN/HOLD, TEACH/REPEAT, etc.

10 m

10 m

D-class ground (Ground for robot), Max. leakage current 100mm A

0-45_, 35-85% RH without condensation

Munsell 10GY9/1 equivalent

64/96/128 channels (including dedicated signals)

4MB (including system memory), approx. 35,000 steps

CC-Link, DeviceNet, Profibus-DP, Interbus-S, ControlNet

FDD

Fixed tool point

External operation signals

Input signals

Output signals

PC, Network, etc.

Fieldbus

Input/Output signals

Memory capacity

Fieldbus

External storage

Coordinate system

Teach pendant

Robot-controller

Specifications

Model

D70/71 D40 D42/44 D43/44 palletizing

6664/5

272/308 x 500 x 520 600 x 550 x 1,200 600 x 550 x 1,200 600 x 710 x 1,200

30

AC200/220V +/- 10%,
50/60Hz,1-phase,5.4kVA

155 190 200

AC380/400/415/440V +/- 10%, 50/60Hz, 3-phase, 54kVA

External View and Dimensions

500

550

160

Regenerative Register

fan for only D71

1200

600

520

36

272

D70/71

D40/42/43/44

Inquiries

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 Robotics GmbH

Sperberweg 29 · 41468 Neuss · Germany Phone [phone]
e-mail [e-mail] Fax [phone]
www.kawasakirobot.de

Kawasaki Robotics (UK) Ltd.

Units 6 & 7 Easter Court, Europa Boulevard, Westbrook Phone [phone]
Warrington WA5 5ZB · United Kingdom Fax [phone]
e-mail [e-mail]
www.kawasakirobot.uk.com

Akashi Works/Robot Division

1-1 Kawasaki-cho, Akashi 673-8666 Japan Phone [phone]
e-mail [e-mail] Fax [phone]
www.khi.co.jp/robot/

* Materials and specifications are subject to change without notice.

Cat No. G05-0011

Printed in Germany Nov. 05

Agent