High-Speed, High-Performance Industrial Robots
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1 High-Speed, High-erformance Industrial Robots up to 80 kg payload Kawasaki Robotics (USA), Inc.
2 HIGH-SEED, HIGH-ERFORMANCE INDUSTRIAL ROBOTS The new R-Series Robots are setting the benchmark for all small to medium duty industrial robots. The compact design, along with industry leading speed, reach and work range make the R-Series Robots ideal for a wide range of applications throughout a multitude of diverse industries. ULTRA HIGH-SEED OERATION The new lightweight arm along with high-output high-revolution motors provide industry leading acceleration and high-speed operation. The acceleration rate automatically adjusts to suit the payload and robot posture to deliver optimum performance and the shortest cycle times. WIDE WORK RANGE In addition to extending the robot s maximum reach, the rotation range of each axis has also been increased. The extended motion range translates to a larger usable work area with minimal dead-space and greater flexibility. ENVIRONMENTAL ROTECTION The R-Series incorporates a double-seal construction on all axes and the electrical connections are waterresistant, offering an I67 classification for wrist and I65 for the remaining axes. If a wash-down arm is required, the entire robot can be provided as I67. HIGH TORQUE High-output motors, combined with a rigid arm construction, allow for superior wrist torque and load capacity. INTEGRATED FEATURES Built-in pneumatic lines and internal wiring for sensors and solenoid valves are standard. Mounting pads and taps are provided to allow easy installation of additional cabling, tubing or equipment. SACE SAVING The slim arm design requires very little floor space. Multiple robots can be installed in high-density applications without impeding performance. ROGRAMMING FLEIBILITY R-Series Robots can be programmed in two ways, via the robot teach pendant or a computer, and using one of the two Kawasaki s programming methodologies, Block Step or AS Language. The Block Step programming method eliminates time consuming program teaching with auto-path generating software. The powerful AS Language provides ultimate flexibility via any word processor text file and enables the programmer to create advanced logic, manipulate program locations, integrate peripheral components and control the application process.
3 STANDARD FEATURES Six-Axis Articulated Arm ayload Capacity 3-80 kg Electric AC Servo Drive Motors/Encoders Common E Controller Large Working Envelope ayload High wrist torque and inertia capacity Maximum payload capacity rated at full speed and full reach Space Saving Design Small footprint Slim arm construction Integrated pneumatic lines and signal harness Minimal dead zones roduction Advantages Variety of reach and payload configurations Modular arm design High speed operation Rapid and adaptive acceleration and deceleration rates rotection rating Wrist I67 (Arm I65) Low-Cost Maintenance 5,000 hour maintenance intervals Fittings for simple lubrication Modular components for quick repairs rogramming Safety Simplified Block Step teaching Advanced Kawasaki AS Language C (rocess Control) programs Ethernet TC/I, RS-232 port for C communication Menu driven software rogrammable graphical user interface (GUI) On-screen diagnostics Three-position teach pendant safety switch Rotational hard stops and software limits Continuous monitoring of speed and position UL approved (See E Controller brochure or visit for controller features and specifications.) COMACT RS03N ROBOT The compact RS03N Robot is a fully functional 6-axis robot complete with all the features of the larger robots, yet weighs a mere 20 kg. This high speed unit has brakes on all axes, incorporates internal pneumatic lines, while its compact size allows it to be mounted directly to a machine or table top. ALICATIONS Assembly Dispensing Inspection Machine Tending Material Handling Material Removal Welding Bread Scoring Machine Tending iston Handling RS03N
4 Model Type Standard specifications R-SERIES SECIFICATIONS Degree of freedom Max. ayload Arm rotation (JT1) RS03N 3 kg ±160 RS05N * RS05L * 5 kg Articulated robot Arm out-in (JT2) +150 ~ ~ ~ ~ ~ 105 Type Articulated Motion Degrees of Freedom Arm down-up (JT3) +120 ~ ~ axes~ ~ ~ 163 Range ayload Wrist swivel (JT4) 3kg 5 kg 5 kg 6 kg ± kg ±270 Horizontal Reach Wrist bend (JT5) 620 mm ± mm 903 mm 1,650 mm 1,450 mm Vertical Reach 967 mm 1,118 mm 1,484 mm 2,982 mm 2,582 mm Wrist twist (JT6) Repeatability ±0.02 mm ±0.02 mm ±0.03 mm ±0.05 mm ±0.04 mm Arm rotation (JT1) Maximum Speed 6,000 mm/s 360 /s 9,100 mm/s 355 /s 9,300 mm/s 300 /s 13,700 mm/s 250 /s 11,800 mm/s 250 /s Arm out-in JT1 (JT2) ± /s ± /s ± /s ± /s ± /s Max. Arm down-up JT2 (JT3) +150 ~ /s +135 ~ /s +135 ~ /s +145 ~ /s +145 ~ /s Speed JT ~ ~ ~ ~ ~ -163 Motion Range Wrist swivel (JT4) 540 /s 460 /s 460 /s 365 /s 365 /s JT4 ±270 ±270 Wrist bend (JT5) 225 /s 460 /s 460 /s 380 /s 380 /s JT5 ±135 ±145 ±145 ±145 ±145 Wrist twist JT6 (JT6) Wrist swivel JT1 (JT4) 360 /s 540 /s 5.8 N m 360 /s 740 /s 12.3 N m 300 /s 740 /s 12.3 N m 250 /s 700 /s 13 N m 250 /s 700 /s 22 N m Moment Wrist bend JT2 (JT5) 250 /s 5.8 N m 360 /s 12.3 N m 300 /s 12.3 N m 250 /s 13 N m 250 /s 22 N m JT3 225 /s 410 /s 300 /s 215 /s 215 /s Maximum Speed Wrist twist (JT6) 2.9 N m 7 N m 7 N m 7.5 N m 10 N m JT4 540 /s 460 /s 460 /s 365 /s 365 /s Wrist swivel (JT4) 0.12 kg m kg m kg m kg m kg m 2 Moment JT5 225 /s 460 /s 460 /s 380 /s 380 /s Wrist bend (JT5) 0.12 kg m kg m kg m kg m 0.7 kg m of Inertia JT6 540 /s 740 /s 740 /s 700 /s /s 2 Wrist twist JT4 (JT6) 5.8 N m 0.03 kg m N m0.12 kg m N m0.12 kg m 2 13 N m 0.14 kg m 2 22 N m 0.2 kg m 2 Repeatability Maximum Torque JT5 5.8 N m ±0.05 mm 12.3 N m ±0.02 mm 12.3 N m ±0.03 mm 13 N m ±0.05 mm 22 N m ±0.04 mm Max. Reach JT6 2.9 N m 7 N m 7 N m 7.5 N m 10 N m 700 mm 783 mm 981 mm 1,738 mm 1,538 mm JT kg m kg m kg m kg m kg m 2 Max. Speed Moment of Inertia Mass JT5 JT kg m 6,000 mm/s 0.03 kg m 2 20 kg 0.4 kg m9,000 2 mm/s 0.12 kg m 2 34 kg 0.4 kg m9,300 2 mm/s 0.12 kg m 2 37 kg 0.45 kg m 13,700 mm/s 0.14 kg m kg 0.7 kg m11,800 2 mm/s 0.2 kg m kg Body Motors Color Brushless Kawasaki AC Servomotor Standard Hard Stops Adjustable mechanical stopper JT1 Adjustable mechanical stopper JT1/JT2/JT3 Installation Floor, Ceiling, Wall Brakes All axes Temperature 0 ~ 45 C Mass 20kg 34 kg 37 kg 150 kg 150 kg Environmental Body Color Humidity 35 ~ 85% Kawasaki (No dew, Standard nor frost allowed) Condition Installation Vibration Floor, ceiling Floor, Less wall, than ceiling 0.5 G Others Temperature: 0 ~ 45 C Environmental Humidity: 35 ~ 85 % (no dew, nor frost allowed) Degree Conditions of rotection I54 Wrist : I67 Base axis : I65 Vibration: Less than 0.5 G Matching Controller E76 E77/E30 E/77/E30 rotection Classification I54 * Equivalent Wrist: I67 Base: I65 * Equivalent * The Built-in RS05N Harness and RS05L will be available soon. Sensor The specifications harness 12 inputs are subject (exception to changes - model RS03N: without notice. 4 inputs), 24VDC, GND & solenoid valve outputs 6 axes 5 kg RS06L 6 kg MODEL RS03N RS05N RS05L RS06L RS10N Internal Wiring --- Built-in Utilities Options High-Speed, High-erformance Industrial Robots (ø4 x 2 lines) Wall mount Double/single solenoid valves (2 units max.) (ø6 x 2 lines) I67 entire arm Riser (300/600 mm) Base plate (ø6 x 2 lines) Double/single solenoid valves (3 units max.) Air cleaning equipment (filter, regulator, mist separator) (ø8 x 2 lines) I67 entire arm Linear track options Riser (300/600 mm) Base plate RS10N 10 kg (ø8 x 2 lines) Double/single solenoid valves (4 units max.) Air cleaning equipment (filter, regulator, mist separator) Limit switch JT1 Controller E76 E77 E77 E30 / E77 E30 / E77
5 Standard specifications Model Type Degree of freedom Max. ayload Arm rotation (JT1) RS10L 10 kg RS20N 20 kg Arm out-in (JT2) +155 ~ ~ ~ ~ ~ 105 Type Articulated Motion Degrees of Arm Freedom down-up (JT3) +150 ~ ~ axes ~ ~ ~ 155 Range ayload (JT4) 10 kg ± kg ± kg 50 kg 80 kg Horizontal Reach Wrist bend (JT5) 1,925 mm 1,725 mm 2,100 mm 2,100 mm 2,100 mm Vertical Reach 3,478 mm 3,078 mm 3,697 mm 3,697 mm 3,697 mm Wrist twist (JT6) Repeatability ±0.06 mm ±0.05 mm ±0.07 mm ±0.07 mm ±0.07 mm Arm rotation (JT1) Maximum Speed 13,100 mm/s 190 /s 11,500 mm/s 190 /s 13,400 mm/s 180 /s 13,400 mm/s 180 /s 12,700 mm/s 180 /s Arm out-in JT1 (JT2) ± /s ± /s ± /s ± /s ± /s Max. Arm down-up JT2 (JT3) +155 ~ /s +155 ~ /s +140 ~ /s +140 ~ /s +140 ~ /s Speed JT ~ ~ ~ ~ ~ -155 Motion Range (JT4) 400 /s 400 /s 260 /s 260 /s 185 /s JT4 ±270 ±270 Wrist bend (JT5) 360 /s 360 /s 260 /s 260 /s 165 /s JT5 ±145 ±145 ±145 ±145 ±145 Wrist twist JT6 (JT6) JT1(JT4) 1/s 610 /s 22 N m 1/s 610 /s 45 N m 180 /s 360 /s 210 N m 180 /s 360 /s 210 N m 180 /s 280 /s 336 N m Moment Wrist bend JT2(JT5) 205 /s 22 N m 205 /s 45 N m 180 /s 210 N m 180 /s 210 N m 180 /s 336 N m JT3 210 /s 210 /s 185 /s 185 /s 160 /s Maximum Speed Wrist twist (JT6) 10 N m 29 N m 130 N m 130 N m 194 N m JT4 400 /s 400 /s 260 /s 260 /s 185 /s (JT4) 0.7 kg m kg m kg m 2 28 kg m 2 34 kg m 2 Moment JT5 360 /s 360 /s 260 /s 260 /s 165 /s Wrist bend (JT5) 0.7 kg m kg m kg m 2 28 kg m 2 34 kg m of Inertia JT6 610 /s 610 /s 360 /s 360 /s 280 /s 2 Wrist twist JT4(JT6) 22 N m 0.2 kg m 2 45 N m 0.3 kg m N m6.6 kg m N m11 kg m N m13.7 kg m 2 Repeatability Maximum Torque JT5 22 N m ±0.06 mm 45 N m ±0.05 mm 210 N m ±0.07 mm 210 N m ±0.07 mm 336 N m ±0.07 mm JT6 10 N m 29 N m 130 N m 130 N m 194 N m 2,020 mm 1,820 mm 2,265 mm 2,265 mm 2,265 mm JT4 0.7 kg m kg m kg m 2 28 kg m 2 34 kg m 2 Max. Moment Speed of Inertia Mass JT5 JT6 0.7 kg m 13,100 mm/s 0.2 kg m kg 0.9 kg m 11,500 mm/s 0.3 kg m kg 16.8 kg m 13,400 mm/s 6.6 kg m kg 28 kg m 13,400 mm/s 11 kg m kg 34 kg m 12,700 mm/s 13.7 kg m555 2 kg RS30N Body Motors Color Brushless Kawasaki AC Servomotor Standard Hard Stops Adjustable mechanical stopper JT1/JT2/JT3 Installation Floor, Ceiling, Wall Brakes All axes Temperature 0 ~ 45 C Mass 230 kg 230 kg 555 kg 555 kg 555 kg Body ColorHumidity 35 ~ 85% Kawasaki (No dew, Standard nor frost allowed) Condition Installation Vibration Floor, Less wall, than ceiling 0.5 G Others Temperature: 0 ~ 45 C Environmental Humidity: 35 ~ 85 % (no dew, nor frost allowed) Conditions Wrist : I67 Base axis : I65 Vibration: Less than 0.5 G E30 E32 rotection Classification Wrist: I67 Base: I65 * Equivalent 6 axes 30 kg RS50N 50 kg MODEL RS10L RS20N RS30N RS50N RS80N Built-in Harness Sensor harness 12 inputs, 24VDC, GND & solenoid valve outputs Internal Wiring wires, inside robot arm Built-in Utilities Options (ø8 x 2 lines) I67 entire arm Linear track options Riser (300/600 mm) Base plate (ø8 x 2 lines) Double/single solenoid valves (4 units max.) Air cleaning equipment (filter, regulator, mist separator) Limit switch JT1 JT1/JT2 motor cover (ø10 x 2 lines) (ø10 x 2 lines) Controller E30 E30 E32 E32 E32 RS80N 80 kg (ø10 x 2 lines)
6 JT1 180 JT5 ±145 MOTION RANGE & DIMENSIONS RS03N 88 ± JT1:160 JT1:160 R JT4: JT5:±135 JT6: RS05N ±0.1 JT1 180 R210 JT4 110 JT JT1 ± Installation Dimensions VIEW A Dp4 ±0.2 4-M5 Dp JT1± RS05L R210 JT4: JT6: 130 RS06L ± ± Installation Dimensions 1450 R259 JT4:± JT6: VIEW A Y Dp3 4-M5 Dp8 Y Ins JT1± JT1 ± (mm)
7 R ± RS10L JT4:±270 JT6: R2 RS10N 300 JT4:±270 JT6: 1925 Installation Dimensions Y Dp6 4-M6 Dp8 Y VIEW A JT1 ± JT1 ± MOTION RANGE & DIMENSIONS ± R 32 RS30N, RS50N, RS80N I Ø18 Y Ø6H7 Dp6 Ø0.04 Ø40H7 Dp6 Ø6 Ø7 5 JT1 ± INSTALLATION DIMENSIONS Ø13H9 Ø Ø ± Ø ± R JT6: JT4: 3 4-M6 Dp9 Ø0.3 Y JT1 ± RS20N 400 JT6: 206 JT4:± VIEW A (mm)
8 Kawasaki Robotics (USA), Inc Lakeview Drive Wixom, Michigan hone: (248) Fax: (248) Canada hone: (905) Mexico & South America hone: (52) R-Series - REV03/12 Kawasaki Robotics (USA), Inc. All rights reserved. Technical specifications subject to change without notice.
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