kawasaki Robot Y User Manual

EUROPE

up to 3 kg payload

Y-SERIES

Agent

Printed in Germany March 2011 Catalogue No. GE120 Materials and specification are subject to change without notice.

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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.

Units 6&7 Easter Court, Europa Boulevard, Westbrook
Warrington WA5 5ZB ∙ United Kingdom
E-Mail: [e-mail] ∙ www.kawasakirobot.uk.com

THE Y-SERIES

1.

Speed

Fast Acceleration and speed are the decisive fac­tors to reach a cycle time of 0,27 sec. at 1 kg pay­load and a cycle time of 0,43 sec. at 3 kg payload
(Movement: vertically 25 mm, horizontally 305 mm
and vertically 25 mm).

2. Stiffness

High stiffness and precision of the YF003N ensure
a position repeatability of 0,1mm as well as 0,1°.

3. Protection

The Kawasaki YF003N is available with protection
class IP65 or IP67.

4. Flexibility

An optionally 5th Axis, 2 Ethernet ports and USB
port ensure the capability to adapt intelligent grip­pers, vision systems or other peripherals as well.

5. Application Area

The Kawasaki YF003N is produced by using lub-

ricants with food specication. Through this, many

application areas as well in food industry are pos­sible.

Fast Pick & Place operations
are the domain of this robot.

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

Maximum speed and precision combined with in­credible stiffness are the key factors of success of
this robot.

»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.

»Simple and friendly«
INTO THE FUTURE

»Standard specications«

MODEL

YF003N

Degrees of Freedom 4 Axis

Maximal Reach 1300 mm

Maximum Payload 3 kg

Maximum Stroke

Axis 1 ±95 ° ~ -54 °

Axis 2 ±95 ° ~ -54 °

Axis 3 ±95 ° ~ -54 °

Axis 4 ±360 °

Maximum Speed

Axis 1 1090,9 °/s

Axis 2 1090,9 °/s

Axis 3 1090,9 °/s

Axis 4 1714,3 °/s

Repeatability
(Measure Point: Middle of Flange)

± 0,1 mm / ± 0,1 °

Weight 145 kg

Max. Cycle time at 1 kg payload
(25 mm vertikally / 305 mm horizontally)

0,27 sec per pic

Controller E40

Color Munsell 10GY9/1

Installation pendant

Ambient
Conditions

Temperature 0 ~ 45 °C

Humidity 35 ~ 85 % (no Dew or Frost allowed)

Vibration < 0.5 G

Others

Installation Ambience must be free of:

• Inammable or corrosive Liquid or Gas

• Electric Noise Interferences

Protection Class IP 65 (optional IP67)

Number of Controlled Axes 4 (optional 16)

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)

Output 32 (optional 128)

Analogue Input (optional) 8/16

Analogue Output (optional) 4/8/12/16

Memory 8 MB (ca. 80.000 steps)

External Memory 2 x USB

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

Fieldbus (optional)

DeviceNet

©

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

Modbus TCP©, Control Net

©

Teach Pendant

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

Motor Power, Program Start, Hold/Run

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) 550x550x1200

Weight (kg) 180

Power Requirements

AC 380-415V ± 10 %,

50/60Hz, 3 Phases,

max. 9,9kVA (E44)

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 or Frost allowed)

Color Munsell 10GY9/1

MODEL E40

Signale

Datenübertragungs­schnittstelle

Compact, upgradeable and user-friendly

A maximum of 12 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.

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

YF003N

A

1055

300

200

Ø 1300

Ø 900

35

155.5

370

685

Point P

Working range based
on point P

A

1055300200

35

155.5

370685

Punkt P

Arbeitsbereich
basierend auf Punkt P

Motion Range & Dimensions

Note: Not all Options can be combined.