Z series. Kawasaki Robot. Kawasaki Robot. Large payload robots - up to 300 kg. Z series. Kawasaki Robotics (USA), Inc.

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1 Z series Kawasaki Robot Z series Large payload robots - up to kg Kawasaki Robotics (US), Inc Corporate Headquarters for mericas 2814 Lakeview Drive, Wixom, MI 48393, US hone: Fax: Global Network Kawasaki Heavy Industries, Ltd Tokyo Head Office/Robot Division , Kaigan, Minato-ku, Tokyo , Japan hone: Fax: Kawasaki Heavy Industries, Ltd kashi Works/Robot Division 1-1, Kawasaki-cho, kashi, Hyogo , Japan hone: Fax: Kawasaki Robotics (UK), Ltd Unit 4 Easter Court, Europa Boulevard, Westbrook Warrington Cheshire, W5 7ZB, United Kingdom hone: Fax: Kawasaki Robotics GmbH 29 Sperberweg, Neuss, Germany hone: Fax: Kawasaki Robotics Korea, Ltd 43, Namdong-daero 215beon-gil, Namdong-gu Incheon, 21633, Korea hone: Fax: Kawasaki Robotics (Tianjin) Co, Ltd Bldg 3, No16, iang an Road, TED, Tianjin 457, China hone: Fax: Kawasaki Motors Enterprise (Thailand) Co, Ltd Rayong Robot Center 119/1 Moo 4 T luak Daeng, luak Daeng, Rayong 2114, Thailand hone: Fax: Kawasaki Robot CUTIONS TO BE TKEN TO ENSURE SFET l 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 l roducts 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 l Be careful as hotographs 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 CCREDITED KawasakiRoboticscom ISO certified in Wixom, Michigan US ] Materials and specifications are subject to change without notice Cat No ZS176 M

2 The large payload long reach Z series robots can perform a wide range of applications across diverse industries The Z series heavy-duty robots are the workhorses of the Kawasaki Robotics product line The versatile and upgradeable designs are directly responsible for improved production line efficiencies in automotive and general industry applications The robust low-maintenance Z series robots offer payload capacities from 1 to kg and are available in floor mount (Z), shelf mount (ZT) and compact (ZH) models to best suit the application Features Cycle time advantage The Z robots reduced footprint combined with the E Controller has improved cycle times ZT165U Wide work envelope The Kawasaki Z robot combines a long reach arm with a minimal amount of dead space for the widest work envelope in its class Upgradeable The Z series line is manufactured using modular components and a common software platform This design allows some models characteristics to be modified, providing great flexibility to accommodate production and system changes Both hardware and software alterations can easily be performed in the field Z165U [ Under dusty working environment, oil-sealing wears off rapidly Under water-sprayed condition, there are some possibilities to cause metal-rust or weaken the water resistance 1 2

3 Standard specifications ZU ZL Z165U Z2S ZS ZH1U Type rticulated rticulated Degrees of freedom (axes) 6 (: 7) 6 (: 7) Max payload (kg) Max reach 2,651 2,951 2,651 2,651 2,51 1,634 ositional repeatability ]1 ±3 ±3 Work envelope and Max speed (N m) ]3 of inertia (kg m 2 ) ]3 xis Motion range () Max speed (/s) Motion range () Max speed (/s) Motion range () Max speed (/s) Motion range () Max speed (/s) Motion range () Max speed (/s) Motion range () Max speed (/s) rm rotation () ±18 11 ±18 11 ±18 11 ±18 15 ±18 1 ±16 14 rm out-in () rm up-down () Wrist swivel (JT4) ±36 14 ±36 14 ±36 14 ±36 12 ±36 ±36 15 Wrist bend (JT5) ± 5 ± 5 ± 155 ±12 12 ±12 ± 15 Wrist twist (JT6) ±36 23 ±36 23 ±36 26 ±36 2 ±36 15 ±36 25 rm traverse (JT7) ]2 standard 2, mm 1, mm/s standard 2, mm 1, mm/s standard 2, mm 1, mm/s standard 2, mm 1, mm/s standard 2, mm 1, mm/s standard 2, mm 1, mm/s Wrist swivel (JT4) ,274 1, Wrist bend (JT5) ,274 1, Wrist twist (JT6) Wrist swivel (JT4) Wrist bend (JT5) Wrist twist (JT6) Mass (kg) 1,35 1,4 1,35 1,4 1,4 Mounting Floor Floor Integrated function ir piping (12 mm dia x 2) ir piping (12 mm dia x 2) Mechanical hard stop //, End stroke limit switch //, Special color, Traversing track, Internal wiring for end effector, Double solenoid valve 1/2, Single solenoid valve 1/2, Double sol1+single sol1, FRL unit, Internal hoses of cooling water for welding gun, Wiring for solenoid valve for grippers (DC24V) Mechanical hard stop //, End stroke limit switch //, Special color, Traversing track, Internal wiring for end effector, Double solenoid valve 1/2, Single solenoid valve 1/2, Double sol1+single sol1, FRL unit, Internal hoses of cooling water for welding gun, Wiring for solenoid valve for grippers (DC24V) Color Munsell 1G9/1 equivalent Munsell 1G9/1 equivalent ower requirements (kv) ]4 Controller merica & Europe Japan & sia E2 E2 Mechanical hard stop //, End stroke limit switch //, Special color, Traversing track, Internal wiring for end effector, Internal hoses of cooling water for welding gun, Wiring for solenoid valve for grippers (DC24V) ]1: Conforms to ISO9283 ]2: ]3: In case of using the face plate which is supported by proper bolts and pins ]4: Depends on the payload and motion patterns Type ZTU ZT165U ZT2S rticulated Degrees of freedom (axes) 6 (: 7) Max payload (kg) Max reach 3,23 ositional repeatability ]1 ±3 Work envelope and Max speed (N m) ]3 of inertia (kg m 2 ) ]3 xis Motion range () Max speed (/s) Motion range () Max speed (/s) Motion range () Max speed (/s) rm rotation () ±18 15 ±18 15 ±18 1 rm out-in () rm up-down () Wrist swivel (JT4) ±36 14 ±36 5 ±36 12 Wrist bend (JT5) ± 5 ± 5 ± Wrist twist (JT6) ±36 23 ±36 21 ±36 18 rm traverse (JT7) ]2 standard 2, mm 1, mm/s standard 2, mm 1, mm/s standard 2, mm 1, mm/s Wrist swivel (JT4) ,274 Wrist bend (JT5) ,274 Wrist twist (JT6) Wrist swivel (JT4) Wrist bend (JT5) Wrist twist (JT6) Mass (kg) 1,55 1,55 1,6 Mounting Integrated function ir piping (12 mm dia x 2) Color Shelf Mechanical hard stop //, End stroke limit switch //, Special color, Traversing track, Internal wiring for end effector, Double solenoid valve 1/2, Single solenoid valve 1/2, Double sol1+single sol1, FRL unit, Internal hoses of cooling water for welding gun, Wiring for solenoid valve for grippers (DC24V) Munsell 1G9/1 equivalent ower requirements (kv) ]4 Controller merica & Europe Japan & sia E2 ]1: Conforms to ISO9283 ]2: ]3: In case of using the face plate which is supported by proper bolts and pins ]4: Depends on the payload and motion patterns 3 4

4 Motion range & dimensions ZU / Z165U / Z2S ø5 Interference radius around the rotational axis 1,4 7 R1,289 1,965 R , JT4±36 5 x 2 M1 2/25 1 x 2 M6 12/18 JT5 ZU Z165U Z2S 1, 8 2,651 Z2S 12 JT6±36 ±1 ±12 based on point 1,225 3,34 3, ø1h7 ø4 6 M ø1h7 ø15 ø4 Dimension: ,1 67 ISO series 2 (ø) for U/165U 6 M1 for standard spec +3 ø15 ø8h7 ø16 ISO series 1 (ø16) for 2S +35 for standard spec ø1h7 ø2 ø16 for U/165U 6 M1 Dp16 +3 ø55h7 ø15 ø16 6 ZS ZL Interference radius around the rotational axis R JT4±36 JT6±36 ISO Series 2 (ø) 6 M1 for standard spec +3 ø15 ø8h7 ø16 ø ZH1U JT5±1 16 ISO series 2 (ø) 6-M based on point ø5 R1, x 2 M1 2/25 1 x 2 M6 12/18 1,6 JT5 ±1 6 ø ø1h7 ø4 6 M1 Dp16 +3 ø55h7 ø15 VIEW ø4 27 1,1 6 M16 Dp ø22H9 ø ø ø ,5788 1, JT6±36 JT4± based on point ,55 ø16 ø15 ø8h7 6 6-M1 Dp16 ø15 ø55h7 ø16 VIEW ø 2-ø1H7 ø4 2-ø9H7 ø4 67 ø Conventional type (ø1) for 2S +3 ø68h7 ø2 ø ø1h7 Dp17 ø4 VIEW ø9h7 ø4 1 M1 Dp17 ø15 Dimension: ø5 1,4 Interference radius around the rotational axis 7 R1,289 1,815 R JT4±36 JT5 ±12 5 x 2 M1 2/25 1 x 2 M6 12/ ,15 1, ,51 JT6±36 12 based on point 1,225 3,115 3,1 ISO series 1 (ø16) +35 for standard spec ø1h7 ø2 Conventional type (ø1) +3 ø68h7 ø2 1 M1 Dp17 ø ø1h7 Dp17 ø4 Dimension: 248 VIEW ø1 6 M1 2 ø1h7 +15 ø15 ø4 Dimension: 231 ø , ,4 7 2,265 2, ,225 3,64 4, ø9h ,199 1, ,

5 Motion range & dimensions ISO series 2 (ø) for U/165U for standard spec 6 M1 +3 ø8h7 ø15 ø16 ø based on point VIEW B ø2 3,23 ø4 5 1, 1,466 JT4±36 1,27 VIEW VIEW 5x2-M1-2/25 JT5±1 1x2-M6-12/18 Dimension: 248 ø55h7 ø4 ø15 2-ø9H M1 Dp17 ø1 Dp17 2 ø1h , 12 1 ø4 +3 ø68h7 53 ø5 5 Conventional type (ø1) for 2S ø9h JT6± JT4 ± , ,571 B 1, 1 8 ZT2S : ± 12 1 x 2 M6 12/18 JT5±1 5 x 2 M1 2/25 8 1, 6 ZT2S ø , ø15 ø15 Dimension: 231 for U/165U +3 6 M1 Dp16 ø55h7 ø15 ø16 6-M1 ø M ø 2 ø1h7 ø4 1 1,33 ø2 ø8h7 ø4 2, ø 21 2-ø1H7 ISO series 1 (ø16) for 2S +35 for standard spec ø1h7 3 Depth8 4,366 1, ø4 ø1 2 ø1h7 3 ø based on point 6-M1 51 ISO series 2 (ø) 3 ZT ZTU / ZT165U / ZT2S JT6±36 2, ZT/ZT165 7 R9 based on point 18 ISO Series 2 (ø) for standard spec 6 M1 +3 ø8h7 ø15 ø16 ø ø1h7 ø4 1,63 6 M1 Dp16 15 ø ø VIEW 5 1,6 1 5x2-M1-2/25 Releasing and loadingjt4±36 / unloading of large-sized workpieces by vision system 1x2-M6-12/18 3 1,766 Releasing work from resin molding machine Hemming process of the car door ø9h7 1, , , ø ø55h7 ø15 JT5±1 1,57 7 3, JT6±36 8

6 1% OFF ON TECH REET Controller E series The E Controller, delivering unprecedented quality with a compact size, was developed to respond to the requirements of our customers Kawasaki's past achievements and experience have led to the development of the most technically advanced controller available This industry-leading design provides improved performance and easy operation that surpasses all expectations Specifications merica Europe Japan & sia Standard E2 Dimensions W55 D H278 Transformer unit: W D H178 Features Structure Enclosed structure / Indirect cooling system Number of controlled axes 7 Max 9 ] ] Teach pendant E2 Large, color LCD touch screen display The key arrangement has been optimised through extensive studies of operator hand movements Equipped with Enable switches Compact The overall volume of the E Controller has been reduced compared with the previous model The small footprint of this compact controller allows for installation in high-density applications For further space saving options, an upright-position or stacked installation ] is possible, without impeding performance ] E only User-friendly operation The easy-to-use teach pendant now incorporates motor power and cycle start at your fingertips Multiple information screens can be displayed simultaneously The intuitive teaching interface is simple to use rogramming ease & flexibility rich set of programming functions come standard with the E Controller to support a wide range of applications Functions can be combined and easily configured within a system to suit a particular application lso, the powerful Kawasaki S rogramming Language provides sophisticated robot motion and sequence controls dvanced technologies The enhanced CU capacity allows for more accurate trajectory control, faster program execution, and quicker loading and saving of files In addition, memory has been expanded to meet the need for higher program storage capacity The controller comes equipped with a USB port for external storage devices Drive system System configuration diagram Full digital servo system Coordinate systems Joint, Base, Tool Fixed tool point Types of motion control rogramming Joint / Linear / Circular interpolated motion oint to point teaching or language based programming Memory capacity (MB) 8 General purpose signals Operation panel Cable length External operation Motor power off, Hold Input (channels) 32 Max 96 Output (channels) 32 Max 96 E-Stop switch, Teach/repeat switch, Control power light (Cycle start, motor-on, hold/run, and error reset are activated from the teach pendant) Rapid-feed check mode switch Teach pendant (m) 5 1, 15 Robot-controller (m) 5 1, 15 Mass (kg) 4 Transformer unit: 45 ower requirements Environmental conditions Body color Teach pendant C2-22V ±1%, 5/6Hz, 3ø Class-D earth connection (Earth connection dedicated to robots), Leakage current: Maximum 1m mbient temperature (C) - 45 Relative humidity (%) (no dew, nor frost allowed) Munsell 1G9/1 equivalent TFT color LCD display with touch-panel, E-Stop switch, Teach lock switch, Enable switch Transformer unit: C38-415V ±1% or C44-48V ±1% 5/6Hz, 3ø uxiliary storage unit USB memory Interface USB, Ethernet (1BSE-T), RS-232C External view & dimensions E2 Transformer unit (option) Easy maintenance Modular components with limited cables translate into easy diagnostics and maintenance host of maintenance functions are available, including selfdiagnostics on hardware and application errors to minimize troubleshooting and reduce MTTR (Mean Time To Repair) Remote diagnostics via the web server function enables service support from anywhere in the world Expandable Two external axes can be added to the E controller for a total of nine controlled axes Numerous communication fieldbuses are available for controlling peripheral devices The Kawasaki K-Logic sequencer software can be combined with user customized interface panels on the teach pendant DIO board Standard External-axis motor USB memory Teach pendant USB al device RS-232C Ethernet Rapid-feed check mode switch Brake release switch Transformer unit Terminal software Terminal software Vision controller al board DIO board: 32 points each max 3 boards (96 points) DeviceNet board, CC-Link board, ROFIBUS board, ROFINET board, Ethernet/I board, CN open board, slave EtherCT board, Conveyor I/F board Cubic-S (area monitor /speed monitor) 9 1