kawasaki Robot Palletizer User Manual

EUROPE

Palletizer

up to 500 kg Payload

RD / ZD / MD

Series

»Simple and friendly«
INTO THE FUTURE

Palletizing jobs in different
weight classes are the domain
of this application orientated
robot series

»40 years of experience and
state-of-the-art robot techno­logy«

An extremely compact and light-weight design
forms the basis for high speeds and rigidity as well
as an enormous reach.

»Your goal is our task«

It was Kawasaki‘s intelligence and exibility which

made them build the most powerful robots in their
class. Combined with a high-end control system,
they reliably meet the demands of the most varied
application elds – now, in the near and far future.

Kawasaki Palletizer

Synergy

Using the existing robot series, Kawasaki Robotics
developed the Palletizer Series. Within this series,
robots of the R-, Z-, and M- Series are used as
the basis for the equivalent palletizer. Especially
designed for palletizing, these robots are the ideal
working machines for this application.

Flexibility

The right robot for each type of palletizing
application. Cycle time, payload or max. working
envelope. Based on the application focus you
can nd the applicable Robot Model to do the
duty with maximum power.

Power

The data is telling its own tale! From 2,800 cycles
per hour (see table) of the RD080N up to 500 kg
payload of the MD500N, these robots are building
a powerful and varied selection for your highest
demands.

2

3

RD / ZD / MD

1160

1100

250

2510

325

2065

1740

598

600

600

3521

1175

1967

588

MD500N: 856
MD400N: 624

Working range
based on point P

Point P

150 1080

680 870

1050

1400

158

277

298

307

1696.5

244

165

2100

370.8

1231.5

Working range
based on point P

Point P

2079.2

Series

MODEL RD080N ZD130S ZD250S MD400N MD500N

Degrees of Freedom 4 Axes

Maximum Reach*

1

2100 mm 3255 mm 3255 mm 3142 mm 3142 mm

Maximum Payload 80 kg 130 kg 250 kg 400 kg 500 kg

Axis 1 ±180° ±180° ±180° ±180° ±180°

Maximum Stroke

Axis 2 +140° ~ -105° +90° ~ -50° +90° ~ -50° +90° ~ -45° +90° ~ -45°

Axis 3 +40° ~ -205° +15° ~ -120° +15° ~ -120° +14° ~ -125° +14° ~ -125°

Axis 4 ±360° ±360° ±360° ±360° ±360°

Axis 1 180°/s 135°/s 95°/s 80°/s 70°/s

Maximum Speed

Axis 2 180°/s 110°/s 90°/s 70°/s 65°/s

Axis 3 175°/s 130°/s 95°/s 70°/s 45°/s

Axis 4 360°/s 400°/s 190°/s 180°/s 160°/s

Max. torque of inertia (payload) Wrist 13.7 kg/m

Repeatability
(Measure Point: Center of Flange)

± 0.07 mm ± 0.5 mm ± 0.5 mm ± 0.5 mm ± 0.5 mm

2

50 kg/m

2

100 kg/m

2

200 kg/m

2

250 kg/m

2

Weight 540 kg 1350 kg 1350 kg 2650 kg 2680 kg

Palletizing performance data
(vertical/horizontal)
RD080N*

2

: 75 mm/900 mm
RD080N*3 : 400 mm/2000 mm
ZD/MD: 400 mm/2000 mm

2800 cycles/h
(80 kg)

3

*

900 cycles/h
(80 kg)

1800 cycles/h
(60 kg)

1500 cycles/h
(130 kg)

850 cycles/h
(250 kg)

740 cycles/h
(400 kg)

600 cycles/h
(500 kg)

2

*

Controller E42 E43 E43 E44 E44

Color Munsell 10GY9/1 equivalent

Installation Floor

Temperature 0-45°

Humidity 35~85% (no Dew, nor Frost allowed)

Ambient Conditions

Others

Installation Ambience must be free of:

• Inammable or corrosive Liquid or Gas

• Electric Noise Interferences

Standard specications

MD400N/MD500N

input 12 12 12 12 12

Application Media Upper Arm

output 8 8 8 8 8

air pipes 2 x 10 mm Ø 2 x 12 mm Ø 2 x 12 mm Ø 2 x 12 mm Ø 2 x 12 mm Ø

1

Distance between center of Axis 1 and center of ange.

*

RD080N, MD400N and MD500N are using a compensating 5th axis to eliminate the parallelogram

RD080N

4 5

RD / ZD / MD

2701250

3075.3

998

2257

255

670

810

300

1450

Working range
based on point P

Point P

Series

Standard specications

MODEL

Number of Controlled Axes

Servo Motors Brushless AC Servomotors

Position Detectors Absolute Encoder

Servo System Full digital servo system

Programming Block or AS-Language

Coordinate Systems Joint, Base, Tool, external Tool

Motion Control Joint-, Linear- and Circular interpolated

External Motor power, Signal HOLD, etc.

Input 32 (optional 128)

Signals

Memory 8 MB (ca. 80.000 steps)

External Memory 2 x USB

Data Interfaces

Output 32 (optional 128)

Analogue Input
(optional)

Analogue Output
(optional)

PC, Network, etc. 2 x RS-232C, 2 x Ethernet

Fieldbus (optional)

DeviceNet

E42 E43 E44

5 (16) 4 (16) 5 (16)

8/16

4/8/12/16

©

, PROFIBUS©, PROFINET©, INTERBUS-S©, Ethernet/IP©, CC-Link©,

CANopen©, Modbus TCP©, Control Net

©

ZD130S/ZD250S

The E-Controller – technically mature, easy to operate
and powerful

Compact, upgradeable and user-friendly

A maximum of 10 external axes may be integrated,
up to three of which in the controller housing (E4x).

All established bus systems (Interbus, Probus, Pro­Net…) are supported. The integrated Soft PLC may

be edited via Teach Pendant or even more comfortab­ly at the PC (option). Custom-tailored user interfaces

may be programmed and used for the simplied

control of the robot and also peripheral devices.
Motor voltage ON and program start may be activa­ted directly via the manual control unit. The parallel
display of two information screens (e.g. position and
signal data) facilitates the process control.

System

Ultra-fast execution of programs, loading and storing
processes as well as a precise continuous-path con­trol and much more thanks to the up-to-date proces­sor design and powerful components. 8 MB RAM
(80,000 steps) and USB interface as standard.

Maintenance

»Simple and friendly« – Due to the optimized modular
conguration of the Kawasaki control, maintenance

work is exceptionally user-friendly. Furthermore
integrated service and diagnosis tools guarantee
increased safety in operation. Remote diagnosis via
Ethernet is also included in the standard package.

Teach Pendant

Operation Panel Emergency Stop SW, Control Power, TEACH/REPEAT

Cable Length (Controller – Arm, Controller – Teach Pendant) 10 m (Arm: optional up to 40 m), (TP: optional up to 30 m)

Dimensions (WxDxH mm) 730x550x1200

Weight (kg) 195

Power Requirements AC 380-415V ± 10%, 50/60Hz, 3 Phases, 9,9kVA

Ground <100Ω, Max. Leakage Current 10mA

Safety Category 3, Performance Level d (EN ISO13849-1:2008)

Ambience Temperature / Humidity 0-45°C / 35-85% (no Dew, nor Frost allowed)

Color Munsell 10GY9/1 equivalent

6.4“ TFT LCD with Touch Panel, Emergency Stop SW, Teach-Lock, Deadman SW,

Motor power, Program start, Hold/Run

Note: Not all Options can be combined.

6 7

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 Deutschland

European Headquarter

Sperberweg 29 ∙ 41468 Neuss

E-Mail: [e-mail] ∙ www.kawasakirobot.de

Kawasaki Robotics (UK) Ltd.

Units 6&7 Easter Court, Europa Boulevard, Westbrook
Warrington WA5 5ZB ∙ United Kingdom

E-Mail: [e-mail] ∙ www.kawasakirobot.uk.com

Agent

Tel. [phone]
Fax [phone]

Tel. [phone]
Fax [phone]

Printed in Germany September 2010 Catalogue No. GE117 Materials and specification are subject to change without notice.