kawasaki Robot R User Manual
EUROPE
R-SERIES
up to 80 kg payload
»Simple and friendly«
»40 years of experience and
THE R-SERIES
INTO THE FUTURE
Kawasaki Robotics invents itself
anew. As innovative robot generation, the R-SERIES meets
the increasing demands of its
customers.
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 and in the near & far future.
High speed
1.
Maximum acceleration and speed through the consistent utilization of highoutput motors following an
innovative and light-weight design. The acceleration
is automatically matched to the carried load and
position of the robot. In this way, the best possible
performance and optimum cycle times are granted
and achieved.
2. Torque
Extensive gripper designs and bulky workpieces
cause no problem at all. This leaves more room for
creative solutions.
3. Workspace
The large reach in the individual weight classes
allow for high exibility in practice.
4. Protection
Double sealings at the hand axes 4 - 6 make the
robot qualify for protection class IP67. Axes 1 - 3
fulll the requirements of protection class IP65 (optional: IP67).
5. Functions
Signal lines and air hoses integrated in the robot
arm allow for the direct connection of e.g. grippers
without additional wiring through or at the robot
arm. Additionally required lines or hoses may of
course be assembled at the provided fastening
points in a »simple and friendly« way.
3
»Standard specications«
MODEL RS003N RS005N RS005L RS006L RS010N RS010L RS015X RS020N RS030N RS050N RS080N
Degrees of Freedom 6 Achsen 6 Achsen
Maximal Reach*
Maximum Payload 3 kg 5 kg 5 kg 6 kg 10 kg 10 kg 15 kg 20 kg 30 kg 50 kg 80 kg
Maximum Stroke
Maximum Speed
Moment
Moment of Inertia
Repeatability
(Measure Point: Middle of
Flange Axis 6)
Weight 20 kg 34 kg 35 kg 150 kg 150 kg 230 kg 545 kg 230 kg 555 kg 555 kg 555 kg
Max. linear Speed (Measure Point:
Middle of Flange Axis 6)
Controller E70 E71 E71 E40/E71 E40/E71 E40 E42 E40 E42 E42 E42
Color Munsell 10GY9/1 Munsell 10GY9/1
Installation Floor or Ceiling (optional wallmount) Floor or Ceiling (optional wallmount)
1
Axis 1 ±160 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 °
Axis 2 +150 ° ~ -60 ° +135 ° ~ -80 ° +135 ° ~ -80 ° +145 ° ~ -105 ° +145 ° ~ -105 ° +155 ° ~ -105 ° +140 ° ~ -105 ° +155 ° ~ -105 ° +140 ° ~ -105 ° +140 ° ~ -105 ° +140 ° ~ -105 °
Axis 3 +120 ° ~ -150 ° +118 ° ~ -172 ° +118 ° ~ -172 ° +150 ° ~ -163 ° +150 ° ~ -163 ° +150 ° ~ -163 ° +135 ° ~ -155 ° +150 ° ~ -163 ° +135 ° ~ -155 ° 135 ° ~ -155° 135 ° ~ -155°
Axis 4 ±360 ° ±360 ° ±360 ° ±270 ° ±270 ° ±270 ° ±360 ° ±270 ° ±360 ° ±360 ° ±360 °
Axis 5 ±135 ° ±145 ° ±145 ° ±145 ° ±145 ° ±145 ° ±145 ° ±145 ° ±145 ° ±145 ° ±145 °
Axis 6 ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 °
Axis 1 360 °/s 355 °/s 300 °/s 250 °/s 250 °/s 190 °/s 180 °/s 190 °/s 180 °/s 180 °/s 180 °/s
Axis 2 250 °/s 355 °/s 300 °/s 250 °/s 250 °/s 205 °/s 180 °/s 205 °/s 180 °/s 180 °/s 180 °/s
Axis 3 225 °/s 410 °/s 300 °/s 215 °/s 215 °/s 210 °/s 200 °/s 210 °/s 185 °/s 185 °/s 160 °/s
Axis 4 540 °/s 460 °/s 460 °/s 365 °/s 365 °/s 400 °/s 410 °/s 400 °/s 260 °/s 260 °/s 185 °/s
Axis 5 225 °/s 460 °/s 460 °/s 380 °/s 380 °/s 360 °/s 360 °/s 360 °/s 260 °/s 260 °/s 165 °/s
Axis 6 540 °/s 740 °/s 740 °/s 700 °/s 700 °/s 610 °/s 610 °/s 610 °/s 360 °/s 360 °/s 280 °/s
Axis 4 5,8 N∙m 12,3 N∙m 12,3 N∙m 13,0 N∙m 22,0 N∙m 22,0 N∙m 34,0 N∙m 45,0 N∙m 210,0 N∙m 210,0 N∙m 336,0 N∙m
Axis 5 5,8 N∙m 12,3 N∙m 12,3 N∙m 13,0 N∙m 22,0 N∙m 22,0 N∙m 34,0 N∙m 45,0 N∙m 210,0 N∙m 210,0 N∙m 336,0 N∙m
Axis 6 2,9 N∙m 7,0 N∙m 7,0 N∙m 7,5 N∙m 10,0 N∙m 10,0 N∙m 22,0 N∙m 29,0 N∙m 130,0 N∙m 130,0 N∙m 194,0 N∙m
Axis 4 0,12 kg∙m² 0,4 kg∙m² 0,4 kg∙m² 0,45 kg∙m² 0,7 kg∙m² 0,7 kg∙m² 0,8 kg∙m² 0,9 kg∙m² 16,8 kg∙m² 28,0 kg∙m² 34,0 kg∙m²
Axis 5 0,12 kg∙m² 0,4 kg∙m² 0,4 kg∙m² 0,45 kg∙m² 0,7 kg∙m² 0,7 kg∙m² 0,8 kg∙m² 0,9 kg∙m² 16,8 kg∙m² 28,0 kg∙m² 34,0 kg∙m²
Axis 6 0,03 kg∙m² 0,12 kg∙m² 0,12 kg∙m² 0,14 kg∙m² 0,2 kg∙m² 0,2 kg∙m² 0,25 kg∙m² 0,3 kg∙m² 6,6 kg∙m² 11,0 kg∙m² 13,7 kg∙m²
620 mm 705 mm 903 mm 1650 mm 1450 mm 1925 mm 3150 mm 1725 mm 2100 mm 2100 mm 2100 mm
± 0,05 mm ± 0,02 mm ± 0,03 mm ± 0,05 mm ± 0,04 mm ± 0,06 mm ± 0,15 mm ± 0,05 mm ± 0,07 mm ± 0,07 mm ± 0,07 mm
6.000 mm/s 9.000 mm/s 9.300 mm/s 13.700 mm/s 11.800 mm/s 13,100 mm/s 19.900 mm/s 11.500 mm/s 13,400 mm/s 13,400 mm/s 12,700 mm/s
Temperature 0 ~ 45 °C 0 ~ 45 °C
Ambient
Conditions
Application
Media
Upper Arm
(RS005 Base)
Protection Class Wrist Unit: IP67 / Basic : IP65 Wrist Unit: IP67 / Basic : IP65
*1 Distance between Centre of Axis 1 and Axis 5.
Humidity 35 ~ 85 % (no Dew, nor Frost allowed) 35 ~ 85 % (no Dew, nor Frost allowed)
Vibration < 0.5 G < 0.5 G
Others
Input Signals 4 12 12 12 12 12 12 12 12 12 12
Output Signals 4 8 8 8 8 8 8 8 8 8 8
Air 2 x Ø 4 mm 2 x Ø 6 mm 2 x Ø 6 mm 2 x Ø 8 mm 2 x Ø 8 mm 2 x Ø 8 mm 2 x Ø 10 mm 2 x Ø 8 mm 2 x Ø 10 mm 2 x Ø 10 mm 2 x Ø 10 mm
Installation Ambience must be free of: • Inammable or corrosive Liquid or Gas
• Electric Noise Interferences
Installation Ambience must be free of: • Inammable or corrosive Liquid or Gas
• Electric Noise Interferences
4 5
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