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
fulll 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 specications«

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: • Inammable or corrosive Liquid or Gas

• Electric Noise Interferences

Installation Ambience must be free of: • Inammable or corrosive Liquid or Gas

• Electric Noise Interferences

4 5

Motion Range & Dimensions Motion Range & Dimensions

Working range

347 620

120 250 80

based on point P

687 903

Working range based
on point P

RS003N

573

106

9790

108

249.4

Point P

120

84

825

126125

217 750

105 410 78

90

PointP

1093391

242

RS005L

705

Working range bases on point P

90

Point P

895223

725

118 120

125 126

488

105 310 78

140 228

RS005N RS006L

1195

148 207

16501450

Working range
based on point P

900

100

210194

638.2

437.1

88

Point P

100

1980

1002.4

6 7

Motion Range & Dimensions Motion Range & Dimensions

2850 3150

Working range based on point P

RS010N

Point P

RS015X

1976.5

150 1850

298

244

307

277

1467.6

1092.7

95

120

Point P

2051 3680

RS010L

1360

19251625

Working range
based on point P

260170

260

170

260220

739.3

1005

500.5

95150

120

Point P

2240

1360

260220

539.3

1237.9

150 805 95

383.9

17251425

Working range bases on point P

120

Point P

2040

1037.9

RS020N

8 9

Motion Range & Dimensions

298

244

1696.5

277

307

RS030/050/080N

625.2

1800 2100

150 1080 165

619.2

Working range
based on point P

Point P

MODEL E70 E71 E40 E42

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 (Option: external Tool)

Motion Control Joint-, Linear- and Circular interpolated

External Motor power, Signal HOLD, etc.

Input

Signals

158

2630

1066.5

Memory 8 MB (ca. 80.000 steps)

External Memory 2 x USB

Data Interfaces

Teach Pendant

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

Cable Length (Controller – Arm),
(Controller – Teach Pendant)

Dimensions (WxDxH mm)

Weight (kg)

Power Requirements

Ground

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

Ambience Temperature / Humidity

Surface Zinc coated / chromed Color: Munsell 10GY9/1

Output

Analogue Input (optional) 8/16

Analogue Output (optional)

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

Fieldbus (optional)

DeviceNet

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

<100Ω, Leakage Current ≤ 30mA

0-45°C (horizontal) / 0-40°C (vertically),

35-85% (no Dew, nor Frost allowed)

6 (optional 8)

32 (optional 96)

4/8/12

©

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

Modbus TCP

Program start, Hold/Run

10m (Arm: optional up to 40m), (TP: optional up to 30m)

500x420x250

30

AC 200-240V ± 10%,

50/60Hz, 1 Phase,1,5kVA

(E70) / 3kVA (E71)

©

, Control Net

<100Ω, Max. Leakage Current 10mA

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

6 (optional 16)

32 (optional 128)

32 (optional 128)32 (optional 96)

4/8/12/16

©

550x550x1200

145

AC 380-415V ± 10%,

50/60Hz, 3 Phases, 4,9kVA

(E40) / 9,9kVA (E42)

180

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 activa-

ted directly via the manual control unit. The parallel

display of two information screens (e.g. position and

signal data) facilitates the process control.

10

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 proces-

sor 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.

Note: Not all Options can be combined.

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: All photos 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.

Unit 4 Easter Court, Europa Boulevard, Westbrook
Warrington WA5 7ZB ∙ United Kingdom
E-Mail: [e-mail] ∙ www.kawasakirobot.uk.com

Agent

Tel. [phone]
Fax [phone]

Tel. [phone]
Fax [phone]

Printed in Germany March 2012 Catalogue No. GE117 Materials and specification are subject to change without notice.