kawasaki Robot Z User Manual
EUROPE
Z-SERIES
up to 300 kg payload
»Simple and friendly«
»40 years of experience and
The Z-Series
INTO THE FUTURE
Handling, Welding, Mounting,
Tending are only four of the
countless domains of the
Z-Series allrounders.
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.
Flexibility
1.
The large variation is the biggest strength of this
series. With payloads from 100 up to 300 kg as
well as a reach starting from 1634 up to massive 3530 mm can be covered. There are compact
robots, shelf mount robots and standard machines
integrated in one series which makes the Z-Series
the most versatile of the Kawasaki robot family.
2. Standardisation
The use of interchangeable modular components in
different robot models makes these machines cost
effective in the sense of maintenance and repair.
3. Reliability
The Z-Series robots of the Kawasaki family have
over the years had many model upgrades. The end
result is an high stability and robustness under load
proven in automotive and general industry.
4. Functions
Signal lines and air hoses integrated in the robot
arm allow the direct connection of grippers
without additional wiring through the robot arm.
Additionally required lines or hoses may of course
be installed at the provided fastening points in a
»simple and friendly« way.
5. Integration
An important feature of the Z-Series is the unique
space saving design. A small foot print and a slim
arm design lead to space saving application
concepts and therefore cost.
2
3
»Standard specications«
MODEL ZX130L ZX165L ZX130U ZX165U ZX200U ZX300S ZH100 ZT130L ZT130U ZT165U ZT200U
Degrees of Freedom
Maximum Reach*
Maximum Payload 130 kg 165 kg 130 kg 165 kg 200 kg 300 kg 100 kg 130 kg 130 kg 165 kg 200 kg
Maximum Stroke
Maximum Speed
Moment
Moment of Inertia
Repeatability
(Measure Point: Middle of Flange
Axis 6)
Weight 1.400 kg 1.355 kg 1.350 kg 1.350 kg 1.350 kg 1.400 kg 750 kg 1.565 kg 1.550 kg 1.550 kg 1.550 kg
Max. linear Speed (Measure Point:
Middle of Flange Axis 6)
Controller E42 E42
Color
Installation
Ambient
Conditions
1
Axis 1 ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±160 ° ±180 ° ±180 ° ±180 ° ±180 °
Axis 2 +75 ° ~ -60 ° +75 ° ~ -60 ° +75 ° ~ -60 ° +75 ° ~ -60 ° +75 ° ~ -60 ° +75 ° ~ -60 ° +120 ° ~ -60 ° +60° ~ -75° +60° ~ -75° +60 ° ~ -75 ° +60° ~ -75 °
Axis 3 +250 ° ~ -120 ° +250 ° ~ -120 ° +250 ° ~ -120 ° +250 ° ~ -120 ° +250 ° ~ -120 ° +250 ° ~ -120 ° +75 ° ~ -90 ° +165° ~ -95° +165° ~ -95° +165 ° ~ -95 ° +165° ~ -95 °
Axis 4 ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 °
Axis 5 ±130 ° ±130 ° ±130 ° ±130 ° ±130 ° ±120 ° ±130 ° ±130 ° ±130 ° ±130 ° ±130 °
Axis 6 ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 °
Axis 1 110 °/s 100 °/s 110 °/s 110 °/s 95 °/s 100 °/s 140 °/s 105 °/s 105 °/s 105 °/s 90 °/s
Axis 2 110 °/s 105 °/s 110 °/s 110 °/s 95 °/s 85 °/s 100 °/s 105 °/s 105 °/s 105 °/s 90 °/s
Axis 3 110 °/s 95 °/s 110 °/s 115 °/s 95 °/s 85 °/s 100 °/s 105 °/s 105 °/s 105 °/s 90 °/s
Axis 4 140 °/s 135 °/s 140 °/s 140 °/s 120 °/s 90 °/s 150 °/s 140 °/s 140 °/s 135 °/s 120 °/s
Axis 5 135 °/s 155 °/s 135 °/s 155 °/s 115 °/s 90 °/s 150 °/s 135 °/s 135 °/s 135 °/s 115 °/s
Axis 6 230 °/s 225 °/s 230 °/s 260 °/s 180 °/s 150 °/s 250 °/s 230 °/s 230 °/s 210 °/s 180 °/s
Axis 4 735 N·m 911 N·m 735 N·m 911 N·m 980 N·m 1715 N·m 874 N·m 735 N·m 735 N·m 911 N·m 980 N·m
Axis 5 735 N·m 911 N·m 735 N·m 911 N·m 980 N·m 1715 N·m 874 N·m 735 N·m 735 N·m 911 N·m 980 N·m
Axis 6 421 N·m 450 N·m 421 N·m 450 N·m 490 N·m 862 N·m 392 N·m 421 N·m 421 N·m 450 N·m 490 N·m
Axis 4 51,9 kg / m² 78,4 kg / m² 51,9 kg / m² 78,4 kg / m² 93,1 kg / m² 166,6 kg / m² 90 kg / m² 51,9 kg / m² 51,9 kg / m² 78,4 kg / m² 93,1 kg / m²
Axis 5 51,9 kg / m² 78,4 kg / m² 51,9 kg / m² 78,4 kg / m² 93,1 kg / m² 166,6 kg / m² 90 kg / m² 51,9 kg / m² 51,9 kg / m² 78,4 kg / m² 93,1 kg / m²
Axis 6 27,4 kg / m² 40,2 kg / m² 27,4 kg / m² 40,2 kg / m² 46,1 kg / m² 107,8 kg / m² 20 kg / m² 27,4 kg / m² 27,4 kg / m² 40,2 kg / m² 46,1 N / m²
Temperature
Humidity
Others
2951 mm 2810 mm 2651 mm 2651 mm 2651 mm 2501 mm 1634 mm 3530 mm 3230 mm 3230 mm 3230 mm
± 0,3 mm ± 0,3 mm
2.500 mm/s 2.500 mm/s 2.000 mm/s 2.500 mm/s
35 ~ 85 % (no Dew, nor Frost allowed) 35 ~ 85 % (no Dew, nor Frost allowed)
Installation Ambience must be free of:
• Inammable or corrosive Liquid or Gas
• Electric Noise Interferences
6 Axis 6 Axis
Munsell 10GY9/1 Munsell 10GY9/1
Floor or Ceiling Floor or Ceiling
0 ~ 45 °C 0 ~ 45 °C
Installation Ambience must be free of:
• Inammable or corrosive Liquid or Gas
• Electric Noise Interferences
Applicaton
Media
Upper Arm
Protection Class
*1 Distance between Centre of Axis 1 and Axis 5.
4 5
in
out
air
12 12 12 12 12 12 12 12 12 12 12
8 8 8 8 8 8 8 8 8 8 8
2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm
Wrist Unit: IP67 / Basic Axes: IP65 Wrist Unit: IP67 / Basic Axes: IP65
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