Kawasaki Robot (B, BA, CP, CX, M, MC, MS, R, Y, Z). Instruction Manual (2015)

4. Transportation

4.2 TRANSPORTATION OF CONTROLLER

When transporting the controller, strictly observe the precautions given in the sections below for

whichever transport method is chosen.

4.2.1 BY CRANE LIFTING

！

WARNING

1. Never support the controller manually when it is lifted up. And, never

go under or stay too close to the controller during transport.

2. Hook the wire at the lifting eyebolts as shown below.

3. Ensure that the lifting eyebolts are not loose. Check each one and

retighten if loose. Otherwise, the controller may fall and suffer damage.

E0x controller

Attach the following eyebolts to the M10 tapped holes in the figure below when transporting the

controller by crane lifting.

(Manufacturer: TAKIGEN MGF CO., LTD. Model: B-130-10 or

equivalent. The screw length should be 25 mm or less.)

Wire

M10 tapped hole

1 m or

Lifting

！

CAUTION

eyebolt

Hook

1. Prepare wire and crane capable of

hoisting 200 kg or more, sufficient for a

controller loaded with full options.

2. Remove the teach pendant and teach

pendant holder (if equipped) before

lifting with the wire sling.

3. Wire length: 1 m or more as shown in

the figure on the left.

4. Be careful as the controller may tilt

when lifted up.

5. Be careful not to let the wire to get

caught on other equipments.

4-3

4. Transportation

E4x controller

Wire

1 m or more

Lifting

！

CAUTION

eyebolt

Hook

1. Prepare wire and crane capable of

hoisting 300 kg or more, sufficient for

a controller loaded with full options.

2. Remove the teach pendant and teach

pendant holder (if equipped) before

lifting with the wire sling.

3. Wire length: 1 m or more as shown in

the figure on the left.

4. Be careful as the controller may tilt

when lifted up.

5. Be careful not to let the wire to get

caught on other equipments.

[ NOTE ]

E70/E71/E91 controllers must not be transported by crane lifting.

E4x controller

4-5

4. Transportation

4.2.2 BY CASTER (E4X)

！

WARNING

1. The controller can be moved on its casters only when the entire

transport path is level enough. Otherwise, moving the controller on

an inclined or an uneven surface will cause it to topple, resulting in a

serious damage.

2. E4x controller falls over if it is tilted as follows.

Back or forth: Approx. 15 or more

Right or left: Approx. 15 or more

CAUTION

！

1. Release the stoppers on the two front casters of the controller when

moving the controller.

(Push the “OFF” side pedal.)

2. Relock the casters after the transport is complete.

(Push the “ON” side pedal for locking.)

[ NOTE ]

E0x (or with transformer unit)/E70/E71/E91 controllers

must not be transported by caster.

4-6

4. Transportation

4.2.3 BY FORKLIFT TRUCK (E4X)

WARNING

！

To avoid the controller from toppling over, fasten it to

the forklift with a belt as shown below.

Falling prevention belt

CAUTION

！

1. Remove the teach pendant and teach

pendant holder. The fork cannot be

passed from the side. Pass the fork under

the controller body as shown on the left.

2. Be careful not give shock to the controller

during transport.

3. Be careful not to get caught on other

equipment, cables, etc.

Pass the fork through this position.

[ NOTE ]

E0x (or with transformer unit)/E70/E71/E91 controllers

must not be transported by forklift.

4-7

4. Transportation

4.2.4

BY TWO PERSONS (E0X (OR WITH TRANSFORMER UNIT)/E70/E71/E91)

！

CAUTION

1. Disconnect the Teach Pendant.

2. Be careful not give shock on the controller during transportation.

3. The clearance between the bottom of the controller and the floor

is small (E70/E71: 9 mm, E0x/E91: 18 mm). Accordingly, hold

up one side of the controller then the other side, and get your

fingers placed on the bottom of controller body sufficiently

before holding up the controller. Because the controller has

mass (E70/E71: 30 kg, E01/E02/E04/E91: 40 kg, E03/transformer

unit: 45kg), it is impossible to carry the controller with fingertips.

On the left side of E70/E71 controller, handle is provided to hold

up the controller.

4. It is impossible to carry the control equipment by two persons

when the controller is combined with the transformer unit,

because the total mass is 90 kg. Carry the control equipment by

crane lifting or carry the controller and the transformer unit

separately after disconnecting them.

[ NOTE ]

E4x controllers must not be carried manually.

4-8

4. Transportation

4.3 TRANSPORTATION METHOD OF ROBOT ARM

！

CAUTION

1. When lifting up the robot, be careful as robot may tilt forward/backward

depending on robot posture and installation condition of the options. If the

robot is lifted up in an inclined posture, it may swing or damage. Also, the wire

may interfere with the harness, piping etc., or it may damage due to interfering

with surrounding objects.

2. Remove the eyebolt or the hoisting jig or the transportation jig attached to the

arm once the transportation of robot is complete.

3. Protect the robot with guard plates, etc. if wires interfere with a part of the robot.

4.3.1 B SERIES

Using Wire Sling (Using hoisting jig)

As shown in the figure below, hoist up the robot by fastening the wire slings to the hoisting jig

attached to robot arm.

！

WARNING

Use a hoisting jig without fail when hoisting up robot. If the robot is

hoisted up without using the jig, robot may fall.

4-9

4. Transportation

BX100L, BX130X,

Model

BT165L, BT200L

BX165L, BX200L

4 Wires

Hoisted

posture

Hoisting

jig

JT1

0°

JT2

-130°

-35°

Hoisted

JT3

-75°

JT4

0°

posture

JT5

0°

JT6

0°

4-10

4. Transportation

BX100L, BX100N, BX130X, BX165L, BX165N, BX200L

Hexagon socket head bolt

M12 x 40 (8 bolts)

Tightening torque: 98 N·m

Plain washer

(16 washers)

Hexagon socket head bolt

M12 x 35 (8 bolts)

Hexagon nut M12

Tightening torque: 98 N·m

(8 nuts)

Hexagon socket head bolt

M12 x 30 (8 bolts)

Tightening torque: 98 N·m

4-13

4. Transportation

Using Wire Sling (Fastening wire sling directly on the arm)

BT165L, BT200L

Hoist up the robot arm with wire slings by hooking at the three hoisting holes of the arm shown in

the figure below and hooking the sling to prevent base section from dropping at the one hoisting

hole of the arm and the one hoisting hole of the jig (Manufactured by TAIYO, Name: V-hook,

Nominal working load: 1.25t or equivalent).

Hoisting hole

Sling to prevent base section

from dropping mounting

point

Sling to prevent base section from

dropping

(with shackles at both ends)

Sling to prevent base section

Hexagon socket head bolt

from dropping mounting point

M16 x 35 (2 bolts)

Sling to prevent base section

Tightening torque: 235.2 N·m

from dropping fixing jig

4-14

4. Transportation

BX100L, BX130X, BX165L, BX200L

Hoist up the robot arm with wire slings by hooking at the three hoisting holes of the arm shown in

the figure below. (Manufactured by TAIYO, Name: V-hook, Nominal working load: 1.25t or

equivalent)

Hoisting hole

4-15

4. Transportation

BX100S

Hoist up the robot arm with wire slings by hooking at the two hoisting holes of the arm and one

hoisting hole of hoisting jig shown in the figure below. (Manufactured by TAIYO, Name:

V-hook, Nominal working load: 1.25t or equivalent)

Hexagon socket head bolt

M12 x 40 (4 bolts)

Tightening torque: 98 N·m

Hoisting jig

Hoisting hole

4-16

4. Transportation

BX250L, BX300L

Hoist up the robot arm with wire slings by hooking at the one hoisting hole of the arm and two

hoisting holes of hoisting jig shown in the figure below. (Manufactured by TAIYO, Name:

V-hook, Nominal working load: 1.25t or equivalent)

Hexagon socket head bolt

M12 x 25 (4 bolts)

Tightening torque: 98 N·m

Hoisting jig

Hexagon socket head bolt

M8 x 20 (8 bolts)

Tightening torque: 29.4 N·m

Hoisting hole

4-17

4. Transportation

BX100L, BX130X,

Model

BT165L, BT200L

BX165L, BX200L

3 Wires

Sling to prevent

base section

from dropping

Hoisted

posture

JT1

0°

JT2

-130°

-35°

Hoisted

JT3

-75°

JT4

0°

posture

JT5

0°

JT6

0°

4-18

4. Transportation

Using Forklift

According to the figure below, transport the robot by using a transportation jig for forklift

attached to the robot arm.

！

CAUTION

1. Confirm that the forks of forklift penetrate sufficiently without fail.

2. When transporting robot on an inclined or rough surface, be careful

to maintain balance to prevent forklift/robot from falling.

BT165L, BT200L

4-21

4. Transportation

BX100L, BX100N, BX100S, BX130X, BX165L, BX165N, BX200L, BX250L, BX300L

Hexagon socket head bolt

M12 x 40 (8 bolts)

Tightening torque: 98 N·m

Plain washer

(16 washers)

Hexagon nut M12

(8 nuts)

Hexagon socket head bolt

M12 x 35 (8 bolts)

Tightening torque: 98 N·m

Hexagon socket head bolt

M12 x 30 (8 bolts)

Tightening torque: 98 N·m

4-25

4. Transportation

4.3.2 BA SERIES

Using Wire Sling (Without base plate)

As shown in the figure below, fasten wire slings to two eyebolts and a hoisting plate on the arm

and hoist up the robot. (Use the same method for hoisting up the robot with pedestal.)

3 Wires

1 Hoisting plate

Hoisted

posture

2 Eyebolts

JT1

0°

JT2

-85°

Hoisted

JT3

-175°

JT4

0°

posture

JT5

-90°

JT6

0°

Eyebolt M8 × 2

Hoisting parts on arm

Hoisting plate × 1

4-26

4. Transportation

Using Wire Sling (With base plate)

According to the figure below, hoist up the robot by fastening four wire slings to four eyebolts on

the base plate. In addition, fasten wire slings to a hoisting plate on the arm to prevent the robot

from accidentally falling. (Use the same method for hoisting up the robot with pedestal.)

5 Wires

1 Hoisting plate

Hoisted

posture

4 Eyebolts

JT1

0㼻

JT2

-85㼻

Hoisted

JT3

-175㼻

JT4

0㼻

posture

JT5

-90㼻

JT6

0㼻

Hoisting parts on arm

Hoisting plate × 1

4-27

4. Transportation

4.3.3 CP SERIES

Using Wire Sling

Hoist up the robot arm by fastening wire slings directly to the three hoisting holes of the arm

shown in the figure below.

Model

CP series

3 Wires

Hoisted

posture

JT1

0°

JT2

-46°

Hoisted

JT3

-34°

JT4

0°

posture

JT5

0°

JT6

0°

4-28

4. Transportation

Using Forklift

According to the figure below, transport the robot by using a transportation jig for forklift

attached to the robot arm.

！

CAUTION

1. Confirm that the forks of forklift penetrate sufficiently without fail.

2. When transporting robot on an inclined or rough surface, be careful

to maintain balance to prevent forklift/robot from falling.

190

770

190

Fork pocket

4-29

4. Transportation

4.3.4 M SERIES

Using Wire Sling

Attach three eye bolts on the arm as shown in the figure below. Fasten the wires through the

eyebolts to lift the robot arm.

3 Wires

MD Series

MT400N

MX Series

Eyebolts

Model

MD Series

MT400N

MX Series

JT1

0 

JT2

-45 

70 

-45 

Hoisted

JT3

-20 

-135 

-23 

JT4

0 

posture

JT5

0 

70 

0 

JT6

0 

䠉

4-31

4. Transportation

Using Forklift

Fork pocket comes as an optional jig to use when lifting the robot with a forklift.

1. When carrying MX or MD series robot by forklift, JT 2 should be at the angle of 0° to - 45°.

2. When carrying MT400N by forklift, JT 2 should be at the angle of -135°.

3. Confirm that the forks of forklift penetrate sufficiently without fail.

4. When transporting robot on an inclined or rough surface, be careful to maintain balance to

prevent forklift/robot from falling.

Fork pocket

MD400N

MD500N

MT400N

Fork pocket

MX350L, MX420L, MX500N

MX700N

4-32

4. Transportation

4.3.5 MC SERIES

There are no service tapped holes for hoisting the robot with wire. Therefore, secure a belt

around the rear arm to hoist up the robot.

Hoisted

posture

Front

Side

JT1

0°

JT2

-15°

Hoisted

JT3

-150°

JT4

0°

posture

JT5

-40°

JT6

0°

4-33

4. Transportation

4.3.6 MS SERIES

Attach a hoisting jig or eyebolts on arm or base plate as shown in the figure, and hoist up the

robot with wires.

Model

MS005N

MS005N (with base plate)

Wire

Hoisting

Hoisted

jig

posture

Base plate

4 Eyebolts

JT1

0°

JT2

0°

-40°

Hoisted

JT3

0°

-120°

JT4

0°

posture

JT5

0°

-100°

JT6

0°

JT7

0°

60154-3715 (jig, hoisting)

60333-7009 (plate, base)

Hoisting jig

RSBM616Z×4

0EBM8Z (eyebolt)×4

4-34

4. Transportation

4.3.7 R SERIES

Using Wire Sling (Without base plate)

As shown in the figure below, hoist up the robot by fastening a wire sling to the eyebolt attached

to robot arm. (Use the same method for hoisting up the robot with pedestal.)

！

WARNING

When lifting up the R series arm with a wire sling, support the arm

with an additional wire to avoid the arm from rotating.

(Except

RC05L/RS05L/RS05N.) The eyebolt may loosen and cause the robot

to fall if the arm rotates when lifted.

RA06L

RA10L

RD80N

RA10N

RA20N

RS30N

Model

RS15X

RC05L, RS05L, RS05N

RS06L

RS10L

RS50N

RS10N

RS20N

RS80N

1 Eyebolt

1 Wire

2 Eyebolts

2 Wires

Hoisted

posture

1 Anti-rotation wire

JT1

0°

JT2

0°

-3°

0°

1°

-80°

Hoisted

JT3

-163°

-155° (-55°)

-155°

-170°

JT4

0°

posture

JT5

-17°

-20°

-25° (0°)

-114°

90°

JT6

0°

Eyebolt for arm

M16×1

M24×1

M8×2

(

): RD80N

4-35

Kawasaki Robot (B, BA, CP, CX, M, MC, MS, R, Y, Z). Instruction Manual (2015) - page 4