Kawasaki Robot (B, BA, CP, CX, M, MC, MS, R, Y, Z). Instruction Manual (2015) - page 3
RS80N
P
Type
Articulated Robot
Degree of Freedom
6
JT
Motion Range
Max. Speed
1
180
180s
Motion Range and
2
+140 to -105
180s
Maximum
3
+135 to -155
160s
Speed
4
360
185s
5
145
165s
*measured condition
6
360
280s
・ installed on the plate
Max. Payload
80 kg
rigidly fixed on the
JT
Torque
Moment of Inertia
floor
Wrist Load
4
336.0 Nm
34.0 kgm2
・ 4100 mm away from
Capacity
5
336.0 Nm
34.0 kgm2
JT1 center
6
194.0 Nm
13.7 kgm2
Repeatability
0.07 mm
Noise level depends
Mass
555 kg
on the conditions.
Acoustic noise
< 70 dB (A)*
2-56
YF002N
Dimension with 䖩 shows how
far apart from the upper limit of
motion range the Point P is when
JT1,2 and 3 are 0.
䖩
P
Model
Delta type parallel link
Degree of
4
Freedom
JT
Motion Range
Max. Speed
Motion Range
1
+77 to -34.5
490 /s
and
2
+77 to -34.5
490 /s
Maximum
3
+77 to -34.5
490 /s
*measured condition
Speed
4
㼼360㼻
1714 /s
・Installed on stand of 1400
Max. Payload
2 kg
mm height
Wrist Load
Differs according to the payload.
・1300 mm away from A axis
Capacity
Repeatability
㼼0.04 mm
Noise level depends on
Mass
60 kg
the conditions.
Acoustic Noise
䠘70 dB (A)*
2-57
YF003N
Dimension with 䖩 shows how
far apart from the upper limit of
motion range the Point P is when
JT1,2 and 3 are 0.
䖩
P
Model
Delta type parallel link
Degree of
4
Freedom
JT
Motion Range
Max. Speed
Motion Range
1
+95 to -52.5
1091 /s
and
2
+95 to -52.5
1091 /s
Maximum
*measured condition
3
+95 to -52.5
1091 /s
Speed
・Installed on stand of 2150
4
±360°
1714 /s
Max. Payload
3 kg
mm height
Wrist Load
・1650 mm away from A axis
Differs according to the payload.
Capacity
Repeatability
±0.10 mm
Noise level depends on
Mass
145 kg
the conditions.
Acoustic Noise
䠘70 dB (A)*
2-58
ZB150S
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
JT1
+/-160
100s
Motion Range
JT2
-70 to +120
100s
and
JT3
-150 to +100
90s
Maximum
JT4
+/-360
135s
Speed
JT5
+/-130
135s
JT6
+/-360
210s
*measured condition
JT7
Standard 2000 mm
1000 mm/s
・ installed on the
Max. Payload
150 kg
plate rigidly fixed
JT
Torque
Moment of Inertia
on the floor
Wrist Load
4
911.4 N·m
78.4 kgm2
・ 3365 mm away
Capacity
5
911.4 N·m
78.4 kgm2
from JT1 center
6
450.8 N·m
40.2 kgm2
Repeatability
0.3 mm
Noise level depends
Mass
Approx. 900 kg
on the conditions.
Acoustic Noise
< 70 db (A)*
2-59
ZD130S
P
Type
Articulated Robot
Degree of
4
Freedom
JT
Motion Range
Max. Speed
Motion Range
1
180
135/s
and
2
+90 to -50
110/s
*measured condition
Maximum
3
+15 to -120
130/s
・ installed on the plate
Speed
4
360
300/s
rigidly fixed on the floor
Max. Payload
130 kg
・ 5260 mm away from JT1
Wrist Load
JT
Torque
Moment of Inertia
center
Capacity
4
-
50 kgm2
Noise level depends
Repeatability
㼼0.5 mm
on the conditions.
Mass
Approx. 1350 kg
Acoustic noise
< 70 db (A)*
2-60
ZD250S
P
Type
Articulated Robot
Degree of
4
Freedom
JT
Motion Range
Max. Speed
Motion Range
1
180
95/s
and
2
+90 to -50
95/s
Maximum
3
+15 to -120
95/s
Speed
*measured condition
4
360
190/s
・ installed on the plate
Max. Payload
250 kg
rigidly fixed on the floor
Wrist Load
JT
Torque
Moment of Inertia
・ 5260 mm away from JT1
Capacity
4
-
100 kgm2
center
Repeatability
㼼0.5 mm
Noise level depends
Mass
Approx. 1350 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-61
ZH100U
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
160
140 /s
Motion Range
2
+120 to -60
100 /s
and
3
+75 to -90
100 /s
Maximum
4
360
150 /s
Speed
5
130
150 /s
6
360
250 /s
*measured condition
Max. Payload
100 kg
・ installed on the plate
JT
Torque
Moment of Inertia
rigidly fixed on the floor
Wrist Load
4
874.8 Nm
90 kgm2
・ 3634.4 mm away from
Capacity
5
874.8 Nm
90 kgm2
JT1 center
6
392.0 Nm
20 kgm2
Noise level depends
Repeatability
0.3 mm
on the conditions.
Mass
Approx. 750 kg
Acoustic Noise
<70db䠄A䠅䠆
2-62
ZT130L
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
105/s
Motion Range
2
+60 to -75
105/s
and
3
+165 to -95
105/s
Maximum
4
360
140/s
Speed
5
130
135/s
6
360
230/s
Max. Payload
130 kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
980 Nm
93.1 kgm2
rigidly fixed on the floor
Capacity
5
980 Nm
93.1 kgm2
・ 5330 mm away from JT1
6
490 Nm
46.1 kgm2
center
Repeatability
0.3 mm
Noise level depends
Mass
Approx. 1565 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-63
ZT130S
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
130/s
Motion Range
2
+60 to -75
130/s
and
3
+165 to -95
130/s
Maximum
4
360
180/s
Speed
5
130
180/s
6
360
280/s
Max. Payload
130 kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
735 Nm
51.9 kgm2
rigidly fixed on the floor
Capacity
5
735 Nm
51.9 kgm2
・ 5230 mm away from JT1
6
421.4 Nm
27.4 kgm2
center
Repeatability
㼼0.3 mm
Noise level depends
Mass
Approx. 1550 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-64
ZT130U
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
105/s
Motion Range
2
+60 to -75
105/s
and
3
+165 to -95
105/s
Maximum
4
360
140/s
Speed
5
130
135/s
6
360
230/s
Max. Payload
130 kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
735 Nm
51.9 kgm2
rigidly fixed on the floor
Capacity
5
735 Nm
51.9 kgm2
・ 5230 mm away from JT1
6
421.4 Nm
27.4 kgm2
center
Repeatability
㼼0.3 mm
Noise level depends
Mass
Approx. 1550 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-65
ZT165U
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
105/s
Motion Range
2
+60 to -75
105/s
and
3
+165 to -95
105/s
Maximum
4
360
135/s
Speed
5
130
135/s
6
360
210/s
Max. Payload
165 kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
911.4 Nm
78.4 kgm2
rigidly fixed on the floor
Capacity
5
911.4 Nm
78.4 kgm2
・ 5230 mm away from JT1
6
450.8 Nm
40.2 kgm2
center
Repeatability
㼼0.3 mm
Noise level depends
Mass
Approx. 1550 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-66
ZT200S
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
100/s
Motion Range
2
+60 to -75
100/s
and
3
+165 to -95
90/s
Maximum
4
360
120/s
Speed
5
120
115/s
6
360
180/s
Max. Payload
200 kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
1274 Nm
117.6 kgm2
rigidly fixed on the floor
Capacity
5
1274 Nm
117.6 kgm2
・ 5230 mm away from JT1
6
686 Nm
63.7 kgm2
center
Repeatability
㼼0.3 mm
Noise level depends
Mass
Approx. 1600 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-67
ZT200U
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
90/s
Motion Range
2
+60 to -75
90/s
and
3
+165 to -95
90/s
Maximum
4
360
120/s
Speed
5
130
115/s
6
360
180/s
Max. Payload
200 kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
980 Nm
93.1 kgm2
rigidly fixed on the floor
Capacity
5
980 Nm
93.1 kgm2
・ 5230 mm away from JT1
6
490 Nm
46.1 kgm2
center
Repeatability
㼼0.3 mm
Noise level depends
Mass
Approx. 1550 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-68
ZX130L
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
110/s
Motion Range
2
+75 to -60
110/s
and
3
+250 to -120
110/s
Maximum
4
360
140/s
Speed
5
130
135/s
6
360
230/s
Max. Payload
130kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
735 Nm
51.9 kgm2
rigidly fixed on the floor
Capacity
5
735 Nm
51.9 kgm2
・ 4900 mm away from JT1
6
421.4 Nm
27.4 kgm2
center
Repeatability
㼼0.3 mm
Noise level depends
Mass
Approx. 1400 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-69
ZX130S
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
130/s
Motion Range
2
+75 to -60
130/s
and
3
+250 to -120
130/s
Maximum
4
360
180/s
Speed
5
130
180/s
6
360
280/s
Max. Payload
130 kg
JT
Torque
Moment of Inertia
*measured condition
Wrist Load
4
735 Nm
51.9 kgm2
・ installed on the plate
Capacity
5
735 Nm
51.9 kgm2
rigidly fixed on the floor
・ 4650 mm away from JT1
6
421.4 Nm
27.4 kgm2
center
Repeatability
0.3 mm
Mass
Approx. 1350 kg
Noise level depends
< 70 db (A)*
on the conditions.
Acoustic noise
2-70
ZX130U
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
110/s
Motion Range
2
+75 to -60
110/s
and
3
+250 to -120
110/s
Maximum
4
360
140/s
Speed
5
130
135/s
6
360
230/s
Max. Payload
130 kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
735 Nm
51.9 kgm2
rigidly fixed on the floor
Capacity
5
735 Nm
51.9 kgm2
・ 4650 mm away from JT1
6
421.4 Nm
27.4 kgm2
center
Repeatability
㼼0.3 mm
Noise level depends
Mass
Approx. 1350 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-71
ZX165U
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
110/s
Motion Range
2
+75 to -60
110/s
and
3
+250 to -120
110/s
Maximum
4
360
135/s
Speed
5
130
135/s
6
360
210/s
Max. Payload
165 kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
911.4 Nm
78.4 kgm2
rigidly fixed on the floor
Capacity
5
911.4 Nm
78.4 kgm2
・ 4650 mm away from JT1
6
450.8 Nm
40.2 kgm2
center
Repeatability
㼼0.3 mm
Noise level depends
Mass
Approx. 1350 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-72
ZX200S
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
100/s
Motion Range
2
+75 to -60
100/s
and
3
+250 to -120
95/s
Maximum
4
360
120/s
Speed
5
120
115/s
6
360
180/s
Max. Payload
200 kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
1274 Nm
117.6 kgm2
rigidly fixed on the floor
Capacity
5
1274 Nm
117.6 kgm2
・ 4650 mm away from JT1
6
686 Nm
63.7 kgm2
center
Repeatability
㼼0.3 mm
Noise level depends
Mass
Approx. 1400 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-73
ZX200U
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
95/s
Motion Range
2
+75 to -60
95/s
and
3
+250 to -120
95/s
Maximum
4
360
120/s
Speed
5
130
115/s
6
360
180/s
Max. Payload
200 kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
980 Nm
93.1 kgm2
rigidly fixed on the floor
Capacity
5
980 Nm
93.1 kgm2
・ 4650 mm away from JT1
center
6
490 Nm
46.1 kgm2
Repeatability
㼼0.3 mm
Noise level depends
Mass
Approx. 1350 kg
on the conditions.
Acoustic noise
< 70 db (A)*
2-74
ZX300S
P
Type
Articulated Robot
Degree of
6
Freedom
JT
Motion Range
Max. Speed
1
180
100/s
Motion Range
2
+75 to -60
85/s
and
3
+250 to -120
85/s
Maximum
4
360
90/s
Speed
5
120
90/s
6
360
150/s
Max. Payload
300 kg
*measured condition
JT
Torque
Moment of Inertia
・ installed on the plate
Wrist Load
4
1715 Nm
166.6k gm2
rigidly fixed on the floor
Capacity
5
1715 Nm
166.6 kgm2
・ 4500 mm away from JT1
6
862.4 Nm
107.8 kgm2
center
Repeatability
㼼0.3 mm
Mass
Approx. 1400 kg
Noise level depends
on the conditions.
Acoustic noise
< 70 db (A)*
2-75
2-76
3. Risk Assessment
3.0 RISK ASSESSMENT
For each procedure of system setting, installation, teaching, operation, maintenance, disposal, etc.,
always make sure the instructions and specifications match the requirements of the purpose of
robot use. Also, perform the adequate risk assessment without fail to reduce any avoidable risk.
3.1 SAFETY FEATURES
To safeguard the user, Kawasaki robot systems are equipped with many safety features, including
the following:
1.
All E-stops are hard-wired.
2.
All robot controllers are equipped with a redundant dual channel safety circuit. Both
channels of the safety circuit must be closed to allow for robot operation in the teach and
automatic playback modes.
3.
Safety circuits of E4x/E70/E71/E91 controller satisfy requirements of PLd in category 3
defined by ISO 13849-1:2006. (PLe in category 4 for E0x controller) Category and
Performance level (PL) are determined by the whole system and conditions. The safety
circuit of these controllers is available in the system of category: up to 3, PL: up to d. (for
E0x controller, category: up to 4, PL: up to e)
4.
(For the arms which are equipped with servo lamp ON) When the servo ON lamp is
illuminated, servo motor power is available to the robot and motion is possible.
5.
The teach pendant and operation panel are equipped with red mushroom-type E-stop
switches. All robot controllers have external E-stop inputs.
6.
The teach pendant is equipped with three-position, enabling device. The enabling device
must be pressed to enable motor power in the teach and check modes.
7.
Teach and check mode velocities are limited to a maximum of 250 mm/s (10.0 in/s).
8.
E4x/E70/E71 controller is equipped with Fast Check mode that satisfies the requirements of
ISO 10218-1:2006.
(optional for E0x controller) Teach and check mode velocities are not
limited to 250 mm/s (10.0 in/s) in the Fast Check mode.
9.
JT1 is equipped with overtravel limit switches. Optional overtravel limit switches are
available on JT2 and JT3 for Z series and M series robots.
10.
All R-series, M-series, and Z-series arms have overtravel hardstops on JT1, JT2 and JT3
(optional for JT2 and JT3) axes. Mechanical hardstops are capable of stopping the robot
moving at full speed and with maximum payload.
11.
All robot axes are equipped with electromechanical brakes that engage when power is
removed. If the robot loses power unexpectedly, the arm is held in position by the brakes.
3-1
3. Risk Assessment
3.2 SAFETY CIRCUIT OFF
The following 3 types of input signals are available for externally shutting down the robot motor
power for safety purposes.
1. External emergency stop
(Valid in teach and automatic playback mode.)
2. Safety fence input
(Valid only in automatic playback mode.)
3. External trigger input
(Valid only in teach mode.)
！
WARNING
Safety circuit OFF function and operation must be designed based on
IEC60204-1, ISO10218 and ISO13849-1, because it is very important for
human safety. Safety circuit of E4x/E70/E71/E91 controller satisfy
requirements of PLd in category 3 defined by ISO 13849-1:2006.
(PLe in
category 4 for E0x controller) When constructing the comprehensive
safety system including robot, conduct risk assessments and make sure
that safety circuit of the controller satisfies performance requirements.
For details on safety circuit connection, consult a personnel who has completed the required
special education and training courses.
3-2
3. Risk Assessment
3.3 RESIDUAL RISKS
Warning labels for residual risks are on locations indicated in the figures below.
3.3.1 CONTROLLER ELECTRIFICATION RISK
E01 controller (Warning labels of E02-E04 controllers are attached on the same places.)
External power
inlet
AVR
Power
unit
Top
Servo
Controller
External power
amplifier
power switch
inlet
Front
Right
Regenerative resistor
Bottom
3-3
3. Risk Assessment
Transformer unit
Top
plate
Bottom
plate
Bottom of
Top
Controller
Bottom
transformer
power switch
External
power
inlet
Front cover
Front
Rear
Power
connection/
Setting plate
3-4
3. Risk Assessment
E4x controller
Controller
These terminals are still alive even when
power switch
the controller power switch is OFF.
DC power
supply (AVR)
MC unit
Servo
amplifier
Front
(Door omitted)
3-5
3. Risk Assessment
Transformer
Transformer
Left
Rear
3-6
3. Risk Assessment
E70/E71 controllers
DC power
External power
Left
supply (AVR)
inlet
Rear
Power unit
MC unit
WARNIN
Controller power switch
These terminals are still alive even when
Top
the controller power switch is OFF.
3-7
3. Risk Assessment
E91 controller
DC power supply (AVR)
Servo amplifier
Controller power switch
Capacitor
Front
External power inlet
Power
unit
Controller power switch:
These terminals are still alive even when the
Rear
controller power switch is OFF.
Top
Regenerative
Servo
Power unit
Power unit
resistor
amplifier
Top
Left
Bottom
3-8
3. Risk Assessment
3.3.2 ARM ELECTRIFICATION, HIGH TEMPERATURE AND PINCHING RISKS
The figures below show the residual risk warning labels on RS20 arm as an example. Residual
risk warning signs are located on similar places on all arm series.
RS20
Warning label for
electrification
Base plate
Warning label for high
temperature
Warning label for
pinching
3-9
3. Risk Assessment
3-10
4. Transportation
4.0 TRANSPORTATION
4.1 SAFETY PRECAUTIONS DURING TRANSPORTATION, INSTALLATION AND
STORAGE
To transport the Kawasaki Robot to its installation place, strictly observe the following cautions
while carrying out the transportation and installation work.
[ NOTE ]
The installation shall be made by qualified installation
personnel and should conform to all national and local codes.
！
WARNING
1.
When transporting a controller or a robot arm with a crane or a forklift,
never support the controller manually.
2.
During the transportation, stay out from under the lifted controller or robot
arm.
3.
Prior to installation, turn OFF the controller power switch and the external
power switch to shut down the power supply to the controller. Display signs
indicating clearly “Installation and connection in progress”, and
lockout/tagout the external power switch to prevent accidents of electric shock
etc. caused by someone accidentally turning ON the power.
4.
When moving the robot, ensure safety by first confirming no abnormality is
observed in the installing condition, etc., and then turn ON motor power to
set robot to the desired pose. Be careful not to be caught by/between any
moving parts by carelessly approaching the robot and peripheral equipment.
After setting the robot to the specified pose, turn OFF the controller and
external power switch again. Display signs indicating clearly “Installation
and connection in progress”, and lockout/tagout the external power switch
before starting installation and connection.
4-1
4. Transportation
！
CAUTION
1. Since the robot arm is composed of precision parts, be careful not to apply
excessive shocks or vibrations during transportation.
2. Prior to installation, remove all obstacles so the installation is carried out
smoothly and safely. Clear the passage to the installation area for
transportation of the robot arm using a crane or forklift.
3. During transportation and storage,
(1) keep the ambient temperature within the following range:
0 - 45 °C for Y series arm,
-10°C to 60 °C for B, BA, CP, CX, M, MC, MS, R, Z series arm and
controller,
(2) keep the relative humidity within the range of 35 - 85 % RH without dew
condensation,
(3) keep free from excessively strong vibration.
4-2