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Kawasaki Robot (B, BA, CP, CX, M, MC, MS, R, Y, Z). Instruction Manual (2015) - page 6

5. Installation

5.3.2.3 INSTALLING CP SERIES ARMS

When Installing the Base Directly on the Floor

Bury a steel plate (35 mm Min. thick) in the concrete floor as shown in the figure below or fix it

with anchors. The steel plate must be fixed firmly so as to sustain reaction forces from the

robot.

M

T

M20

Tightening torque:

431 N·m

Steel plate

Concrete

5-23

5. Installation

When Installing the Robot Base Plate on the Floor

In this case, install the base plate on concrete floor or steel plate using bolt holes on the base plate.

Reaction forces received from robot are the same as when installing the base directly on the floor.

M

T

Bolt hole

Base plate

Concrete

5-24

5. Installation

Installation Dimensions of Base Section

Fix the base section with high tension bolts through the bolt holes.

Model

CP series

Dimensions for

installation

Cross-section

of installation

section

Bolt hole

8-22

8-M20

High tension

Material: SCM435

bolt

Strength class: 10.9 min.

Tightening

431 Nm

torque

Levelness

Within 5°

5-25

5. Installation

5.3.2.4 INSTALLING M SERIES ARMS

When installing the base directly on the floor:

As shown in the figure below, embed steel plate (35 mm Min. thick) in the concrete floor or fix

with anchor bolts. The steel plate must be fixed firmly so as to sustain reaction forces from the

robot.

M

T

M20

Tightening torque

431.2 N-m

30 mm

Steel

35 mm

min.

plate

min.

Concrete

When installing the base plate on the floor:

Install the base plate utilizing 8 holes of 22 diameter. Install the base plate on the concrete floor or

the steel plate floor. Reaction forces received from robot are the same as when installing the

base directly on the floor.

There are two pin holes on the base plate for positioning, which enable the base plate to join with

the base precisely. Thus, replacement of a broken robot can be done quickly and easily.

(Beware that usually JT1 is not precision zeroed. This function is only provided as Option.)

5-26

5. Installation

Installing Dimensions of Base Section

Fix the base section with high tension bolts through the bolt holes.

Installing

Dimensions of

Base Section

Cross-section of

Base installation

hole

Bolt Hole

8- 22

8-M20

High Tension

Material: SCM435

Bolt

Strength class: 10.9 min.

Tightening

431.2 N-m

Torque

Levelness

Within 5

5-27

5. Installation

5.3.2.5 INSTALLING MC SERIES ARMS

Installing Bottom Connector Specification Arm

Fix the robot on the pedestal through steel plate of thickness of 17 mm or more as shown in the

figure below. The pedestal must be fixed firmly so as to sustain reaction forces from the robot.

Robot base installation bolt

Steel plate

Robot base installation bolt

4-M10

Tightening torque

57 Nm

5-28

5. Installation

Installing Backside Connector Specification Arm

The installation method for backside connector specification arm is the same as when installing

the robot base directly on the floor.

Robot base installation bolt

Steel plate

Robot base installation bolt

4-M8

Tightening torque

29 Nm

L1

15 mm or more

L2

17 mm or more

5-29

5. Installation

Installation Dimensions of Base Section

Fix the base section with high tension bolts through the bolt holes.

MC004N

MC004N

Model

(Bottom Connector Specification)

(Backside Connector Specification)

Dimensions

for installation

Gasket

Cross-section

of installation

section

M10

Bolt holes

䇷

4-9

4-M10

4-M8

Tightening

Material: SCM435

Material: SCM435

bolt

Strength class: 10.9 or more

Strength class: 10.9 or more

Tightening

57 N·m

29 N·m

torque

Levelness

Within 5°

Within 5°

5-30

5. Installation

5.3.2.6 INSTALLING MS SERIES ARMS

Fix the robot on the pedestal through hole (180) in steel plate of thickness of 17 mm or more as

shown in the figure below. The pedestal must be fixed firmly so as to sustain reaction forces

from the robot.

Example of pedestal

T

M

Robot base installation bolt

Steel plate

Robot base installation bolt

4-M10

Tightening torque

39 Nm

5-31

5. Installation

Installation Dimensions of Base Section

Fix the base section with high tension bolts through the bolt holes.

Model

MS005N

Dimensions for

installation

Gasket

Cross-section

of installation

section

Gasket

4-M10

Tightening bolt

Material: SUS304

Tightening

39 Nm

torque

Levelness

Within 5°

5-32

5. Installation

5.3.2.7 INSTALLING R SERIES ARMS

When Installing the Robot Directly on the Floor

Bury steel plate of L2 thickness (See the table below.) in the concrete floor as shown in the figure

below or fix it with anchors. The steel plate must be fixed firmly so as to sustain reaction forces

from the robot.

Robot base installation bolt

L1

Steel plate

Concrete

L2

RA10L,

RD80N, RS15X,

RA06L, RA10N,

RC05L,

Model

RA20N,

RS30N, RS50N,

RS06L, RS10N

RS05L, RS05N

RS10L, RS20N

RS80N

Robot base

4-M16

4-M16

4-M8

8-M16

installation bolt

Tightening torque

235 Nm

235 Nm

29.4 Nm

235 Nm

L1

25 mm Min.

25 mm Min.

12 mm Min.

25 mm Min.

L2

28 mm Min.

28 mm Min.

14 mm Min.

28 mm Min.

5-33

5. Installation

When Installing the Robot Pedestal on the Floor

In this case, the installation procedures are practically the same as the procedure shown in the

prior section.

Pedestal installation bolt

Steel

plate

Concrete

RD80N, RS15X,

RA06L, RA10N,

RA10L, RA20N,

RC05L, RS05L,

Model

RS30N, RS50N,

RS06L, RS10N

RS10L, RS20N

RS05N

RS80N

60 kg (L=600)

70 kg (L=600)

24 kg (L=600)

100 kg (L=600)

Pedestal mass

35 kg (L=300)

45 kg (L=300)

17 kg (L=300)

65 kg (L=300)

Pedestal

8-M12

8-M12

8-M10

8-M16

installation bolt

Tightening torque

98 Nm

98 Nm

56.8 Nm

235 Nm

600

600

600

600

(60360-1164*)

(60360-1166*)

(60360-0082*)

(60360-1178*)

L

300

300

300

300

(60360-1165*)

(60360-1167*)

(60360-0203*)

(60360-1179*)

L1

18 mm Min.

18 mm Min.

15 mm Min.

25 mm Min.

L2

20 mm Min.

20 mm Min.

17 mm Min.

28 mm Min.

NOTE* (

) indicates the part number of pedestal.

5-34

5. Installation

When Installing the Robot Base Plate on the Floor

In this case, install the base plate on concrete floor or steel plate using bolt holes on the base plate.

Bolt hole

Base plate

Concrete

RD80N, RS15X,

RA06L, RA10N,

RA10L, RA20N,

RC05L, RS05L,

Model

RS30N, RS50N,

RS06L, RS10N

RS10L, RS20N,

RS05N

RS80N

Base plate mass

110 kg

110 kg

20 kg

110 kg

Base plate

4-20

4-20

4-14

4-26

installation hole

(PCD800)

(PCD800)

(300  300)

(PCD800)

Base plate

dimension

750  750  25

750  750  25

400  400  16

750  750  25

(mm)

5-35

5. Installation

Installation Dimensions of Base Section

Fix the base section with high tension bolts through the bolt holes.

Model

RA06L, RA10N, RS06L, RS10N

RA10L, RA20N, RS10L, RS20N

Dimensions

for

installation

䃥30

Cross-

section

of

installation

section

Bolt hole

4- 18

4- 18

High

4-M16

4-M16

tension

Material: SCM435

Material: SCM435

bolt

Strength class: 10.9 min.

Strength class: 10.9 min.

Tightening

235 N-m

235 N-m

torque

Levelness

Within 5°

Within 5°

5-36

5. Installation

RD80N, RS15X, RS30N, RS50N,

Model

RC05L, RS05N, RS05L

RS80N,

Dimensions

for

installation

Cross-section

of installation

section

9

Bolt hole

4-9

8-18

4-M8

8-M16

High tension

Material: SCM435

Material: SCM435

bolt

Strength class: 10.9 min.

Strength class: 10.9 min.

Tightening

29.4 Nm

235 Nm

torque

Levelness

Within 5°

Within 5°

5-37

5. Installation

Model

RS03N

Dimensions for

installation

φ14

Cross-section

φ9

of installation

section

Bolt hole

4-9

4-M8

High tension

Material: SCM435

bolt

Strength class: 10.9 min

Tightening

29.4 Nm

torque

Levelness

Within 5°

5-38

5. Installation

Installation Dimensions of Robot Pedestal

When installing a robot on the pedestal, fix the pedestal with high tension bolts through the bolt

holes.

RA06L, RA10L, RA10N,

Model

RA20N, RS06L, RS10L,

RC05L, RS05L, RS05N

RS10N, RS20N

Dimensions

for

installation

Cross-section

of installation

section

Bolt hole

8-14

8-11

8-M12

8-M10

High tension

Material: SCM435

Material: SCM435

bolt

Strength class: 10.9 min

Strength class: 10.9 min

Tightening

98 Nm

56.8 Nm

torque

Levelness

Within 5°

Within 5°

5-39

5. Installation

RD80N, RS15X, RS30N,

Model

RS50N, RS80N

Dimensions for

installation

Cross-section

of installation

section

Bolt hole

8-18

8-M16

High tension

Material: SCM435

bolt

Strength class: 10.9 min

Tightening

235 Nm

torque

Levelness

Within 5°

5-40

5. Installation

5.3.2.8 INSTALLING Y SERIES ARMS

YF002N

As in the figure below, embed steel plate (15 mm or more) on the stand whose natural frequency

is 30 Hz or more. The steel plate must be fixed firmly so as to sustain reaction forces from the

robot.

Steel plate

6-M10

Tightening torque: 39.0 Nm

5-41

5. Installation

YF003N

Fix the robot arm to a pedestal as shown in the figure below. The arm should be fixed on to

steel plate (25 mm min. thickness) and the pedestal should be rigid with natural frequency of 30

Hz or more. Secure the pedestal strongly enough to endure the reaction forces produced by the

robot arm.

6-M16

Tightening torque: 164.5 N-m

Steel plate

Steel plate

5-42

5. Installation

Installation Dimensions of Base Section

Fix the base section with high tension bolts through the bolt holes.

Model

YF002N

Dimensions

for installation

Cross-section

of installation

section

Bolt hole

6-18

6-M10

Bolt

Material: SUS304

Strength class: A2-70

Tightening

39.0 N-m

torque

Levelness

Within 㼼5㼻

5-43

5. Installation

Model

YF003N

Dimensions for

installation

Cross-section

of installation

section

Bolt hole

6-18

6-M16

Bolt

Material: SUS304

Tightening

164.5 N-m

torque

Levelness

Within 5°

5-44

5. Installation

5.3.2.9 INSTALLING Z SERIES ARMS

ZB Series

When Installing the Base Directly on the Floor

When the robot base is installed directly on the concrete floor, use chemical anchor bolts as a

standard. Metal anchor bolts can be used as an alternative for the chemical anchor bolts.

Chemical anchor

Base

Max. pull-out load

Length of engagement

Concrete thickness

Unable to drill through

Chemical anchor

M20

Length of engagement

200 mm or more

Concrete thickness

230 mm or more

Max. pull-out load

127400 N

(includes bolt tightening)

5-45

5. Installation

When Installing a Plate between the Robot and the Floor

Fix the steel plate (32 mm Min. thick) onto the floor using anchor bolts or embed it into the

concrete, and fix the robot base onto the steel plate using high-tension bolts. The base plate

must be fixed as firmly as possible to withstand the reaction forces it receives from the robot

during operation.

Fixing the steel plate using anchor bolts

Tightening torque: 431.2 Nm

Anchor bolt

Steel plate

Concrete

High tension bolt

4-M20

Length of engagement

25 mm or more

Fixing the steel plate embedded into concrete

Tightening torque: 431.2 Nm

Steel plate

Concrete

High tension bolt

4-M20

Length of engagement

25 mm or more

5-46

5. Installation

Installation Dimensions of Base Section

Fix the base section with high tension bolts through the bolt holes.

Dimensions for

installation

Cross-section

of Installation

Bolt hole

4 - 22

4-M20

High tension

Material: SCM435

bolt

Strength class: 10.9 or more

Tightening

431.2 N-m

torque

Levelness

Within 5 

5-47

5. Installation

ZD/ZH/ZT/ZX Series

When installing the base directly on the floor:

As shown in the figure below, embed steel plate (35 mm Min. thick) in the concrete floor or fix

with anchor bolts. The steel plate must be fixed firmly so as to sustain reaction forces from the

robot.

ZD/ZT/ZX Series

M

M20

T

Tightening torque

431.2 N-m

30 mm

35 mm

min.

min.

Steel plate

Concrete

ZH Series

M20

Tightening torque

431.2 N-m

30 mm

35 mm

min.

min.

Steel plate

Concrete

5-48

5. Installation

Installing Dimensions of Base Section

Fix the base section with high tension bolts through the bolt holes.

ZD/ZT/ZX series

ZH series

Dimensions for

installation

Cross-section

of installation

section

Bolt hole

8-22

4-22

8-M20

4-M20

High tension

Material: SCM435

Material: SCM435

bolt

Strength class: 10.9 min.

Strength class: 10.9 min.

Tightening

431.2 N-m

431.2 N-m

torque

Levelness

Within 5

Within 5

5-50

5. Installation

5.3.3 MOVEMENT REACTION ACTING ON INSTALLATION SURFACE DURING

OPERATION

Refer to the list below for the movement reaction that acts on the installation surface during

normal operation. Consider these values at when installing robot arms as shown in the previous

pages.

T

M

Model

(Rotating Torque)

(Inversion Moment)

BA006N

1935 N-m

2527 N-m

BT165L

21700 N-m

40400 N-m

BT200L

BX100L/BX130X

15000 N-m

35000 N-m

BX165L/BX200L

BX100N

10000 N-m

31000 N-m

BX100S

10000 N-m

27000 N-m

BX165N

13000 N-m

33400 N-m

BX250L/BX300L

17000 N-m

50000 N-m

CP180L

28000 N-m

40000 N-m

CP300L

28000 N-m

50000 N-m

CP500L

28000 N-m

60000 N-m

MC004N

378 N-m

490 N-m

MD400N

11500 N-m

44500 N-m

MD500N

14000 N-m

37000 N-m

MS005N

430 N-m

810 N-m

MT400N

18500 N-m

46500 N-m

MX350L

13500 N-m

40000 N-m

MX420L

14500 N-m

43500 N-m

MX500N/MX700N

15500 N-m

48000 N-m

RA06L/RA10N/RS06L/RS10N

2168 N-m

3223 N-m

RA10L/RA20N

5614 N-m

6300 N-m

RS10L/RS20N

RC05L/RS05L/RS05N

849 N-m

1127 N-m

RD80N/RS15X/RS30N

12101 N-m

15937 N-m

RS50N/RS80N

5-51

5. Installation

T

M

Model

(Rotating Torque)

(Inversion Moment)

RS03N

293 N-m

357 N-m

YF002N

200 N-m

400 N-m

YF003N

500 N-m

700 N-m

ZB150S

9000 N-m

24000 N-m

ZD series

10000 N-m

26000 N-m

ZH100U

9000 N-m

22000 N-m

ZT series

12000 N-m

35000 N-m

ZX series

12000 N-m

34000 N-m

(Excluding ZX300S)

ZX 300S

12000 N-m

41000 N-m

5-52

5. Installation

5.4.1 MOUNTING TOOL TO B SERIES ARM

Dimensions of Wrist End

Pin hole

Tapped holes

Specification of Mounting Bolts

Mounting bolt

Tool

Length of

engagement

Optional flange

Standard flange

(Adaptor plate)

B series (except

B series (except

Model

BX250L/300L

BX250L/300L)

BX250L/300L)

Tapped holes

6-M10

10-M10

6-M10

D

160

160

125

Pin hole

2-10H7 Depth 12

2-10H7 Depth 12

2-10H7 Depth 14

Tap depth

19 mm

13 mm (through)

20 mm

Length of

13 - 14 mm

13 - 18mm

13 - 14 mm

engagement

High tension bolt

SCM435, 10.9 min

SCM435, 10.9 min

SCM435, 10.9 min

Tightening torque

56.84 Nm

56.84 Nm

56.84 Nm

5-54

5. Installation

Optional flange (Adaptor bracket)

Model

B series (except BX250L/300L)

Tapped holes

10-M10

6-M10*

6-M10*

D

92

125

160

Pin hole

2-9H7 Depth 12

2-10H7 Depth 12

2-10H7 Depth 12

Tap depth

12 mm (through)

12 mm (through)

12 mm (through)

Length of

13 - 18 mm

13 - 18 mm

13 - 18 mm

engagement

High tension bolt

SCM435, 10.9 min

SCM435, 10.9 min

SCM435, 10.9 min

Tightening torque

56.84 Nm

56.84 Nm

56.84 Nm

NOTE* No need to use the tapped holes with ۼ in the figures below.

Pin hole

Pin hole

Tapped hole

Tapped hole

5-55

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