kawasaki Robot F User Manual

EUROPE

3–60 kg Payload

Flexibility

as a mainspring for developments

Further developments in the automation of modern production lines is
part of the development of Kawasaki Heavy Industries.

In 1969, Kawasaki Heavy Industries produced the rst Japanese-made
industrial robot. Since then, Kawasaki has consistently asserted its
pioneering role in the robotics industry. The experience that is gathered

benets users and is consistently used to improve the Kawasaki range of

products. For example, in the development of our small to medium-sized
robots in the “F Series”.

Each manipulator in the “F Series” is a logically designed workhorse that
combines a high working speed with a lightweight and slim arm construc­tion. In addition, the modular design of the manipulators offers a high

exibility to optimise the reach or payload.

The robot arm of the “F Series”, as a unit with the current controller from
the “D Series” – gives Kawasaki customers the necessary exibility to re-
spond to permanent changes in working conditions with clear-cut concepts.

Reduced cycle time

A weight-optimised construction, the use of high-speed motors and high-efciency gears permit an
optimisation of the maximum speed and acceleration.

Compact work cell layout

More space means higher costs. The small base sizes and slim arm prole (integrated user signals)
of the “F Series” robot arm allows a space-saving construction of working cells.

Arm conguration tailored to system requirements

Simple hardware and software modications allow an optimisation of “F Series” robots in terms of
reach or payload. A subsequent adjustment of the robot to different tasks poses no problems and can

be carried out at low cost.

Pre-dened congurations, for example for welding, clean rooms or DownWash also permit a sim-

plied adaptation to specic customer requirements.

Handling

Arc Welding

Installation, handling and gluing applications (FS Series)

3,000
2,950
2,950

2,800

2,600

2,400

2,200

2,000

1,800

1,600

Max. Reach* (mm)

1,550

1,400
1,350
1,300

1,200

1,670

FS06L

FS10X

FS10L

FS10E

FS20X

FS20N

FS20C

FS60LFS30L

FS45N

FS30N FS45C

1,000

620
600

* Distance from JT1-center to JT5-center.

FS03N

0

FS03N
FC03N

FS06N FS10C

6 10 15 20 25 30 35 40 45 50 55 603

FS06N FA06N
FC10C FC06N
FS10C

Max. Payload (kg)

FS10E FA06L
FC10E FA10N

FS06L
FC06L

FS20C
FC20C

FS20N
FA20N
FC20N

FS10L
FA10L
FC20N

Specications

3,000
2,950
2,950

2,800

2,600

2,400

2,200

2,000

FC10L
FA10L

1,800

1,600

Max. Reach* (mm)

1,550

1,400
1,350
1,300

1,200

1,670

FC06L
FA06E

FC10E

FC06N

1,000

620
600

* Distance from JT1-center to JT5-center.

FC03N

0

FA06N

6

FC10C

10 15 20 25 30 35 40 45 50 55 603

FC20N
FA20N

FC20C

FC30L
FA30L

FC30N FC45C

Max. Payload (kg)

FC60L

FC45N

FS30N FS45C
FC30N FC45C

FS45N
FC45N

FS30L FA30L
FC60L FC30L
FS60L

FS10X
FS20X

Standard Specifications

TYPE

FS03N
FC03N

FS06N
FC06N
FA06N

Degrees of Freedom
Maximum Reach*

¹

Maximum Payload
JT1
JT2

Maximum

JT3

Stroke

JT4
JT5
JT6
JT1
JT2

Maximum

JT3

Speed

JT4
JT5
JT6
JT4

Moment

JT5
JT6
JT4

Moment of

JT5

Inertia

JT6
Repeatability mm
Mass
Max. linear Speed

Recommended Controller*

620 mm

3 kg

± 160°

+150°~-60°

+120°~-150°

± 360°
± 135°
± 360°
360°/s
250°/s
225°/s
540°/s
225°/s
540°/s

5.8 N·m

5.8 N·m

2.9 N·m

0.12 kg·m²

0.12 kg·m²

0.03 kg·m²
± 0.05 mm

20 kg

6,000 mm/s

²

D70

1,000 mm

6 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 145°

± 360°

240°/s

200°/s

250°/s

430°/s

430°/s

720°/s

12.0 N·m

12.0 N·m

6.0 N·m

0.24 kg·m²

0.24 kg·m²

0.07 kg·m²
± 0.05 mm

165 kg

8,000 mm/s

D71/D40
Body Color
Installation
Temperature
Humidity
Vibration

Ambient

conditions

Others

The robot installing place should be free from inammable or corrosive liquid or gas, electric noise inter ference

Pneumatic Circuit
Degree of Protection

Max. Payload on Upper Arm

*¹: Distance between centre of axis JT1 and centre of axis JT5. *²: Please contact us separately as regards the controller for the FC Series.
*³: Not available for the FA Series *

IP54

4

: Not available for the FA Series.

FS06L
FC06L

FS10C
FC10C

FS10E
FC10E

FA06E

6 axes

1,550 mm

6 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 145°

± 360°

200°/s

140°/s

200°/s

360°/s

360°/s

600°/s

12.0 N·m

12.0 N·m

6.0 N·m

0.24 kg·m²

0.24 kg·m²

0.07 kg·m²
± 0.1 mm

170 kg

9,200 mm/s

D71/D40

1,000 mm

10 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 145°

± 360°

200°/s

140°/s

200°/s

360°/s

360°/s

600°/s

21.5 N·m

21.5 N·m

9.8 N·m

0.63 kg·m²

0.63 kg·m²

0.15 kg·m²
± 0.05 mm

165 kg

6,200 mm/s

D71/D40

1,450 mm

10 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 145°

± 360°

200°/s

140°/s

200°/s

360°/s

360°/s

600°/s

21.5 N·m

21.5 N·m

9.8 N·m

0.63 kg·m²

0.63 kg·m²

0.15 kg·m²
± 0.1 mm

170 kg

8,800 mm/s

D71/D40

Munsell 10GY9/1 equivalent

Floor or Ceiling installation ( Wall installation as option)

0 ~ 45 °C

35 ~ 85 % /(No dew, nor frost allowed.)

Less than 0.5G

Double solenoid valve: 1 Circuit

IP 65 equivalent (Wrist (axes 5 and 6) IP67)

Please contact us

FS10L
FC10L
FA10L

1,850 mm

10 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 145°

± 360°

160°/s

140°/s

160°/s

330°/s

330°/s

500°/s

21.5 N·m

21.5 N·m

9.8 N·m

0.63 kg·m²

0.63 kg·m²

0.15 kg·m²
± 0.1 mm

280 kg

9,400 mm/s

D40

³

*

4

*

FS20C
FC20C

1,300 mm

20 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 145°

± 360°

160°/s

140°/s

160°/s

330°/s

330°/s

500°/s

39.3 N·m

39.3 N·m

19.6 N·m

0.88 kg·m²

0.88 kg·m²

0.25 kg·m²
± 0.1 mm

275 kg

6,900 mm/s

D40

FS20N
FC20N
FA20N

1,650 mm

20 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 145°

± 360°

160°/s

140°/s

160°/s

330°/s

330°/s

500°/s

39.3 N·m

39.3 N·m

19.6 N·m

0.88 kg·m²

0.88 kg·m²

0.25 kg·m²
± 0.1 mm

280 kg

8,500 mm/s

D40

FS06N FS10E FS20NFS03N

Specications

Standard Specifications

FS30N
FC30N

1,670 mm

30 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 130°

± 360°

160°/s

140°/s

160°/s

240°/s

240°/s

340°/s

176.4 N·m

176.4 N·m

98.0 N·m

7.2 kg·m²

7.2 kg·m²

3.3 kg·m²

± 0.15 mm

575 kg

8,900 mm/s

D42

The robot installing place should be free from inammable or corrosive liquid or gas, electric noise inter ference

*¹: Distance between centre of axis JT1 and centre of axis JT5. *²: Please contact us separately as regards the controller for the FC Series.
*³: Not available for the FA Series *

FS30L
FC30L
FA30L

2,100 mm

30 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 130°

± 360°

160°/s

140°/s

160°/s

240°/s

240°/s

340°/s

176.4 N·m

176.4 N·m

98.0 N·m

7.2 kg·m²

7.2 kg·m²

3.3 kg·m²

± 0.15 mm

585 kg

11,100 mm/s

D42

4

: Not available for the FA Series.

FS45C
FC45C

1,670 mm

45 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 130°

± 360°

160°/s

140°/s

160°/s

240°/s

240°/s

340°/s

176.4 N·m

176.4 N·m

98.0 N·m

10.8 kg·m²

10.8 kg·m²

5.0 kg·m²

± 0.15 mm

575 kg

8,900 mm/s

D42

Munsell 10GY9/1 equivalent

Floor or Ceiling installation ( Wall installation as option)

35 ~ 85 % /(No dew, nor frost allowed.)

Double solenoid valve: 1 Circuit

IP 65 equivalent (Wrist (axes 5 and 6) IP67)

FS45N
FC45N

1,800 mm

45 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 130°

± 360°

160°/s

140°/s

160°/s

240°/s

240°/s

340°/s

176.4 N·m

176.4 N·m

176.4 N·m

10.8 kg·m²

10.8 kg·m²

5.0 kg·m²

± 0.15 mm

580 kg

9,700 mm/s

D42

0 ~ 45 °C

Less than 0.5G

Please contact us

FS60L
FC60L

6 axes

2,100 mm

± 160°
+140°~-105°
+120°~-155°

± 270°

± 130°

± 360°

160°/s

140°/s

110°/s

180°/s

175°/s

260°/s

235.2 N·m

235.2 N·m

130.3 N·m

24.8 kg·m²

24.8 kg·m²

6.7 kg·m²

± 0.15 mm

585 kg
9,000 mm/s

*

60 kg

D42

³

4

*

FS10X FS20X

2,950 mm

10 kg

± 160°
+140°~-105°
+120°~-155°

± 270°

± 145°

± 360°

160°/s

140°/s
200°/s
300°/s
360°/s
600°/s

21.5 N·m

21.5 N·m

9.8 N·m

0.63 kg·m²

0.63 kg·m²

0.15 kg·m²
± 0.23 mm

580 kg

15,000 mm/s

D42

2,730 mm

+140°~-105°
+120°~-155°

39.3 N·m

39.3 N·m

19.6 N·m

0.88 kg·m²

0.88 kg·m²

0.25 kg·m²
± 0.5 mm

15,000 mm/s

20 kg

± 160°

± 270°
± 145°
± 360°
160°/s
140°/s
200°/s
300°/s
330°/s
500°/s

585 kg

D42

TYPE

Degrees of Freedom
Maximum Reach*

Maximum Payload
JT1
JT2
JT3
JT4
JT5
JT6
JT1
JT2
JT3
JT4
JT5
JT6
JT4
JT5
JT6
JT4
JT5
JT6
Repeatability mm
Mass
Max. linear Speed

Recommended Controller*

Body Color
Installation
Temperature
Humidity
Vibration
Others
Pneumatic Circuit
Degree of Protection

Max. Payload on Upper Arm

Maximum

Maximum

Moment

Moment of

¹

Stroke

Speed

Inertia

Ambient

²

conditions

FS30N FS45N FS60L

Motion Range & Dimensions

Ø0.04

VIEW A

Ø6H7

+0.012
0

Depth 6

20

4–M6 Depth 8

Ø25H7 Depth 6

Ø40

Dimensions for Base

Y

X

VIEW B

A

JT6:720°

JT4:540°

JT2:245°

JT3:275°

JT1:320°

B

X

Y

JT5:290°

270

270

220

220

138

138

4–Ø18

71

199

R416

120°

155°

450

450

R234

105°

R452

366

R902

140°

1,002

138

R452

107

140

125

1,332

430

880

183

173171.5

12.5

50

4–M6 Depth 11

8

off-set:40

off-set:100

71

125

2–M12 Depth 18

50 50

125

222

802

160°

160°

100

R452

Point P

Working range based on point P

2–M12 Depth 18

Point P

105

157

106

±0.2

±0.2

Air Outlet 2–PT1/8

Sensor Harness Outlet

Base

Air Inlet PT 3/8

B

B

Ø31.5

±0.2

Ø5H7

+0.012
0

Ø20H7

+0.021

0

4

C0.5

8

Ø40H8

-0.039

0

4–M5

JT6:720°

JT2:210°

JT5:270°

JT1:320°

JT4:720°

JT3:270°

B-B

A

VIEW A Sec.

CN

R500

R250

R250

R250

R250

R129

150°

60°

150°

120°

250

80

250 250

120

700

R620

160°

160°

152

170

130

152

170

130

4–Ø9

10

8

Ø14

Base

Dimensions for Base

FS03N
FC03N

FS06N
FC06N
FA06N
FS10C
FC10C

Motion Range & Dimensions

Ø0.02

VIEW A

Dimensions for Base

Ø40

Ø25H7 Depth 6

4–M6 Depth 8

20

Ø6H7

+0.012

0

Depth 6

JT2:245°

JT5:290°

JT3:275°

JT6:720°

JT4:540°

A

X

Y

Z

X

Y

JT1:320°

off-set:100

off-set:40

R601

160°

160°

100

1,080

650430

220

220

138

+0.2

138

+0.2

4–Ø18

140°

105°

157

140

107

192

106

199 183

270

270

171.5 173

125

Air Outlet 2–PT1/8

Sensor Harness Outlet

700

1,781

1,2511,451

R1,351

R701

769

439

R701

R643

R334

Ø0.02

VIEW A

Ø6H7

+0.012
0

Depth 6

20

4–M6 Depth 8

Ø25H7 Depth 6

Ø40

JT5:290°

Y

X

B

JT1:320°

JT2:245°

JT6:720°

A

VIEW B

Y

X

JT3:275°

JT4:540°

105°

846

1,881

10

160°

160°

222

125

5050

2–M12 Depth 18

125

7171

8

4–M6 Depth 11

50

12.5

171.5 173

R701

183

430

140°

125

140

107

R1,451

R701

R701

off-set:40

off-set:100

R691

1,351

465

1,551

R358

270

270

220

220

138

138

4–Ø18

700

750

1,180

155°

120°

199

Point P

Working range based on point P

2-M12 Depth 18

Point P

105

157

106

Dimensions for Base

±0.2

±0.2

Air Outlet 2–PT1/8

Sensor Harness Outlet

Base

Air Inlet PT 3/8

FS10E
FC10E

FS06L
FC06L
FA06E

Motion Range & Dimensions

Ø0.04

VIEW A

Ø40H7 Depth 6

4–M6 Depth 8

Ø6H7

Depth 6

Ø63

31.5

Y

X

B

A

Z

VIEW B

JT6:720°

JT4:540°

JT1:320°

JT3:275°

JT2:245°

Y

JT5:290°

X

85

340

4–Ø18

173

276

85

150

276

2–M12 Depth 24

340

105°

140°

R703

R703

R703

123

off-set:60

2,073

745

R1,503

1,653

340

1,353

R399

160

65

off-set:150

120°

R700

150

65

170

2–M12 Depth

257

570

800

1,370

4–M6 Depth

12

13013.6

74

220

189.5197

173

160°

160°

700120

155°

243

Point P

Working range based on point P

Point P

185

130

+0.012
0

±0.2

±0.2

Dimensions for Base

Air Outlet 2–PT1/8

Sensor Harness Outlet

Base

Air Inlet PT 3/8

Ø0.02

VIEW A

Ø40H7 Depth 6

4–M6 Depth 8

Ø6H7

Depth 6

Ø63

31.5

Dimensions for Base

Y

X

Y

X

B

A

Z

VIEW B

JT6:720°

JT4:540°

JT1:320°

JT3:275°

JT2:245°

JT5:290°

340

4-Ø18

173

276

276

340

173

8585

150

2–M12 Depth 24

R1,153

R553

R523

105°

123

off-set:60

R553

1,303

R314

R553

140°

443

139

1,723

160

65

off-set:150

1,003

150

65

170

257

570

1,170

4–M6 Depth 11

12

13013.6

74

220

189.5197

160°

160°

120

600

550

155°

120°

243

Point P

Working range based on point P

2–M12 Depth 24

Point P

183

130

+0.012
0

±0.2

±0.2

Air Outlet 2–PT1/8

Sensor Harness Outlet

Base

Air Inlet PT 3/8

FS20C
FC20C

FS20N
FC20N
FA20N

Motion Range & Dimensions

Ø0.02

VIEW A

Ø40H7 Depth 6

4–M6 Depth 8

Ø6H7

Depth 6

Ø63

31.5

Dimensions for Base

+0.012
0

±0.2

±0.2

Y

X

B

A

VIEW B

JT6:720°

JT4:540°

JT1:320°

JT3:275°

JT2:245°

Y

X

JT5:290°

85

340

4-Ø18

173

276

85

150

276

2–M12 Depth 24

340

R802

140°

105°

R1,702

R800

123

2,272922

R802

R802

1,852

465

65

off-set:150

1,552

150

65

170

2–M12 Depth 24

257

R441

570

4–M6 Depth 11

12

130

13.6

74

220

189.5197

173

160°

160°

120

900

1,470

800

off-set:60

160

155°

120°

243

Point P

Working range based on point P

Point P

183

130

Air Outlet 2–PT1/8

Sensor Harness Outlet

Base

Air Inlet PT 3/8

Ø0.02

VIEW A

Ø50H7 Depth 6

40

Ø80

6-M8 Depth 14

Ø8H7

+0.015

0

Depth 8

±0.2

±0.2

VIEW B

JT5:260°

Y

X

Z

JT6:720°

A

JT4:540°

JT1:320°

JT3:275°

B

JT2:245°

X

Y

210

2–M16 Depth 25

105105

720165

160°

160°

140°

105°

off-set:150

185

322

R726

150

1,376

R1526

R726

658

1,676

R726

R428

253

160

2,206

R682

off-set:90

62

210

2-M16 Depth 25

62

200

155°

120°

20

800

680

1,480

65

272

275 222

10

6–M6 Depth 9

80

277

Point P

Working range based on point P

Point P

210

65

40

300

40

300

8–Ø18

218

40

430

430

218

40

Dimensions for Base

Air Outlet 2–PT1/8

Sensor Harness Outlet

Base

Air Inlet PT 3/8

FS10L
FC10L
FA10L

FS30N
FC30N
FS45C
FC45C

Motion Range & Dimensions

Ø0.02

VIEW A

Ø50H7 Depth 6

40

Ø80

6–M8 Depth 14

Ø8H7

+0.015
0

Depth 8

Dimensions for Base

±0.2

±0.2

B

A

JT6:720°

JT1:320°

JT3:275°

Y

X

JT5:260°

JT2:245°

JT4:540°

Z

VIEW B

X

Y

120°

277

off-set:90

150

155°

20

off-set:150

185

322

6–M6 Depth 9

1,630

R901

680

160°

160°

160

R511

2–M16 Depth 25

210

105105

950

165 1,000

R1,954

272

222275

65

10

105°

140°

R1,004

1,804

80

R1,004

1,052

R1,004

2,634

210

570

62 62

2–M16 Depth 25

200

210

65

40

300

40

300

8–Ø18

218

40

430

430

218

40

Air Outlet 2–PT1/8

Sensor Harness Outlet

Base

Air Inlet PT 3/8

Ø0.02

VIEW A

Dimensions for Base

Ø50H7 Depth 6

40

Ø80

6–M8 Depth 14

Ø8H7

+0.015
0

Depth 8

X

Z

JT6:720°

A

JT4:540°

B

JT1:320°

Y

JT5:260°

JT2:245°

JT3:275°

VIEW B

X

Y

322

2–M16 Depth 25

62

150

62

210

R752

382

R446

185

200

160

off-set:150

788

off-set:90

R855

R855

2,335

1,5051,805

140°

105°

R1,655

6–M6 Depth 9

80

10

65

275 222

272

R855

1,480

680 800

160°

160°

165

850

20

155°

120°

277

210

2–M16 Depth 25

105105

Point P

Working range based on point P

Point P

210

65

40

300

40

300

8–Ø18

218

40

430

430

218

40

±0.2

±0.2

Air Outlet 2–PT1/8

Sensor Harness Outlet

Base

Air Inlet PT 3/8

FS45N
FC45N

FS30L
FC30L
FA30L
FS60L
FC60L

Motion Range & Dimensions

Ø0.04

VIEW A

Ø6H7

Depth 6

20

4–M6 Depth 8

Ø25H7 Depth 6

Ø40

+0.012
0

±0.2

±0.2

Dimensions for Base

X

VIEW B

Y

A

JT6:720°

JT4:540°

JT2:245°

JT3:275°

JT1:320°

B

X

Y

JT5:290°

2–M16 Depth 25

62

210

62

1,307

1,865

R2,802

R1,438

R1,702

3,482

185

200

105 105

210

2–M16 Depth 25

8–Ø18

430

off-set:150

off-set:90

R896

140°

105°

R1,702

R1,702

680

272

1,100

277

160°

160°

6–M6 Depth 9

120°

155°

150

322

Point P

Working range based on point P

Point P

157

106

2,6522,952

275 222

20 65 65

10 80

1,780

100 1,700

40

300

40

218

40

300

40

430

218

Air Outlet 2–PT1/8

Sensor Harness Outlet

Base

Air Inlet PT 3/8

120 1,600

160°

160°

Z

2,403

2,730

JT5:290°

Point P

Working range based on point P

Y

3,2331,650

A

132

Point P

JT6:720°

2–M16 Depth 25

200

6262

210

R888

R2,553

140°

155°

185

322

120°

1,168

JT4:540°

185

X

X

JT1:320°

275

222

6–M6 Depth 9

80

10

1,630

950680

272

277

JT2:245°

B

Dimensions for Base

20

65 65

off-set:90

150

105°

R1,603

R1,343

R1,603

off-set:150

R1,603

JT3:275°

105 105

2–M16 Depth 25

VIEW B

210

Ø0.02

6H7

Depth 6

+0.012
0

4–M6 Depth 8

31.5

Ø40H7 Depth 6

VIEW A

Ø63

218

40

40

40

300

430

430

300

±0.2

218

±0.2

Y

40

8–Ø18

FS10X

FS20X

Ergonomic operation

The Teach Pendant (TP) is a combination of control
keyboard and an easy-read, 6.4 inch colour LCD touch­screen. A new hardware structure for the TP reduces the
key response time and the ergonomic arrangement of
the keys helps the operator achieve optimised inputs and
programming. The workow is optimised and the TP beco­mes an ergonomic user platform for operating the robot

Special software
combined with standards

Application Software Modules facilitate programming for
a wide range of applications such as palletising, handling,

spot welding, gluing and arc welding. The simplied block

programming and Kawasaki‘s high level robot language
(AS-language) provides enormous possibilities for innova­tive movement- and process control. Using the available
options – such as servo-welding, network support and
a high-performance visualisation system – a platform is

created to nd exible solutions for even the most complex

of applications.

High performance through
modern control technology

Modular and exible
control design

• Connection of peripheral equipment

Standard I/O connections and a number of eld bus inter-

faces such as Interbus, Probus, CC-Link and DeviceNet

etc. are available as interfaces to the peripheral equip­ment. The peripheral equipment is connected directly

and permits the system‘s high exibility.

Furthermore, K-Logic (integrated software PLC) allows
the creation of a highly complex Integrated system at a
minimum cost.

• Network communication

The controller also supports network communication via
Ethernet to communicate with a host computer and for
an easy upload and download of the programs to be run.
Furthermore, the status of the robot can be monitored
per remote access via an Intranet/Internet connection.

• Extension with additional axes

A further two axes can be integrated in the standard
controller without any problems and without an additio­nal housing. Three or more additional axes are available
by selecting SSCNET-compatible motors. This allows

multi-axial systems to be easily congured to match the

customer‘s requirements.

A RISC, 64-bit high-speed dual processor provides the
computing power. The use of a fully digitally controlled
servo-system has signicantly improved operating perfor­mance, cycle time and path accuracy.
The controller is of course fully downwardly compatible.
This means that the D controller can be integrated in
existing old systems with no problems.

Teach Pendant

• Large LCD colour monitor with
touchscreen functions.

• Ergonomically arranged cursor keys.
he key layout has been optimised

• T

with respect to the frequency of use
by the operator.

• Deadman‘s switch with three positions

on rear.

User-friendly design

A reduction of the controller‘s internal wiring and the use
of modular assemblies facilitates servicing and ensures
shorter working times when repairing or replacing parts
with no long and costly downtimes.
What‘s more, supporting service functions such as data
storage help the user locate the causes of existing pro­blems.

SIDE VIEW

FRONT VIEWSIDE VIEW

FRONT VIEW

SIDE VIEW

REAR VIEW

600550

27236500

4701,200

ÇqÇdÇoÇdÇ`ÇsÇsÇdÇ`ÇbÇg

ÇgÇnÇkÇc

ÇdÇqÇqÇnÇq
ÇqÇdÇrÇdÇs

ÇoÇnÇvÇdÇq

ÇlÇnÇsÇnÇq

ÇdÇqÇqÇnÇq

Å@ÇoÇnÇvÇdÇq

ÇbÇnÇmÇsÇqÇnÇk

ÇrÇsÇ`ÇqÇs

ÇbÇxÇbÇkÇd

ÇqÇtÇm

520

D-series Controller

Specifications

MODEL

Structure
Number of controlled axes

Servo motor
Position detector
Drive System
Programming
Coordinate systems
Types of motion control

Ext. operatin signals

Genral

purpose

Input signals

signals

Output signals
Memory capacity
External Storage

Commu-

PC, Network, etc.

nication

Fieldbus

interface

Teach Pendant

Operation Panel
Teach Pendant

Cable
length

Robot Controller
Dimensions (WxDxH)

Weight (kg)

Power requirements
Robot dedicated grounding

Ambient temperature/humidity
Color

D 70/71 D 40 D 42

self standing main enclosure

6 6 + additional axes 6 + additional axes

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)

1 MB (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.

10m (optional: 5m, 15m, 20m, 25m, 30m)

10m (optional: 5m, 15m, 20m, 25m, 30m, 35m, 40m)

272/308mm x 500mm x 520mm

30kg

AC 200/220V ± 10%,

50/60 Hz, 1 Phase, 5,4 KVA

600mm x 550mm x 1,200mm

155kg

AC 380/400/415/440V ± 10%, 50/60 Hz, 3-phase

5,9 KVA

600mm x 550mm x 1,200mm

190kg

11,4 KVA

D-class ground (Ground for Robot), Max. leakage current 100mmA

0-45°C, 35-85% RH without condensation

Munsell 10GY9/1 equivalent

Input/Output signals

Memory capacity
Fieldbus

Options

Coordinate system

External View & Dimensions
D70
D71

64/96/128 channels (including didicated signals)

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

CC-Link, DeviceNet, Probus-DP, Interbus-S, ControlNet

Fixed tool point

D40
D42

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.

Inquiries

Kawasaki Robotics GmbH
Sperberweg 29 · 41468 Neuss · Germany Tel.
e-mail: [e-mail] · www.kawasakirobot.de Fax

Munich Ofce:

K

onrad-Zuse-Platz 12 · 81829 München · Germany Tel.

e-mail: [e-mail] · www.kawasakirobot.de Fax

[phone]

[phone]

[phone]
[phone]

Kawasaki Robotics (UK) Ltd.
Units 6&7 Easter Court, Europa Boulevard, Westbrook
W

arrington WA5 5ZB · United Kingdom Tel.

e-mail: [e-mail] · www.kawasakirobot.uk.com Fax

French Ofce:

P

arc d‘activites de la clef de Saint-Pierre
Rond Point de l‘Epine des champs
78996 Elancourt Cedex, France Tel.
e-mail: [e-mail] · www.kawasakirobot.fr Fax

Agent

[phone]

[phone]

[phone]

[phone]

printed in Germany Jan. 2008 � No. GE108 Materials and specications are subject to change without notice.