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 specications«

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:

• Inammable 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:

• Inammable 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

Motion Range & Dimensions Motion Range & Dimensions

288

3340

3415

1965 2651

670 1100 270

1199

601210

1300 244

Working range
based on point P

Point P

288

670 1100 270

1199

601210

3640

4015

29512265

1600

244

Working range
based on point P

Point P

288

1490

2701100670

1199

601210

3499

3733

2124 2810

1459 244

Working range
based on point P

Point P

1199

288

2501

3190

1490

1815

3115

2701100670

601210

1150 248

Point P

Working range
based on point P

ZX130L

ZX130U-165U-200U

ZX165L

6 7

ZX300S

Motion Range & Dimensions

Point P

Working range
based on point P

530 580 300

200800

1634

572

1062

614 1964

1550

500

228

1731

4571

530 1100 300

600

2103

80

3230

244 1300

Working range
based on point P

Point P

2031

5160.6

3130

3530

220

3750

530 1100

600

300

Point P

1600

228

2103

Working range
based on point P

Motion Range & Dimensions

ZH100U

ZT130U-165U-200U

300
275
250
225
200
175
150
125
100

Maximum Payload in kg

75
50
25

ZH100U

ZX300S

ZX200U

ZX165U ZX165L

ZT200U

ZT165U

ZX130U ZX130L ZT130L

0

ZT130L

8 9

500 1000 1500 2000 2500 3000 3500

Maximum Reach in mm

CONTROLLER

550 550

1200

1. Control

The E-Controller as consistent further development
of the existing control concept has been developed
in close cooperation with Kawasaki‘s customers.
In this way, a state-of-the-art high-end product has
been created - offering the familiar ease of operati­on and exceptionally high power.

2. Compact and upgradeable

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. Custom-tailored user inter­faces may be programmed and used for the simpli-

ed control of the robot and also peripheral devices.

3. User-friendly system

Motor power 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.

4. Functions

Integrated software functions support the most va­rious applications. Through individual combination
and programming, highly complex systems may be
designed and realized. (e.g. Soft Absorber, Collisi­on Detection, Conveyor Tracking and many more).

5. System

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

6. 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.

MODEL E42

Number of Controlled Axes 6 (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)

Signals

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) 550x550x1200

Weight (kg) 180

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

Note: Not all Options can be combined.

Output 32 (optional 128)

Analogue Input (optional) 8/16

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

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

Fieldbus (optional)

DeviceNet

©

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

CANopen

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

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

©

, Modbus TCP©, Control Net

Motor power, Program start, Hold/Run

©

E42

10 11

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

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.