Z series. Kawasaki Robot. Kawasaki Robot. Large payload robots up to 300 kg. Z series CAUTIONS TO BE TAKEN TO ENSURE SAFETY

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1 Z series Kawasaki Robot Z series Large payload robots up to 3 kg ROBOT DIVISION Tokyo Head Office/Robot Division , Kaigan, Minato-ku, Tokyo , Japan hone: Fax: kashi Works/Robot Division 1-1, Kawasaki-cho, kashi, Hyogo , Japan hone: Fax: Global Network Kawasaki Robotics (US), Inc Lakeview Drive, Wixom, MI 48393, U.S.. 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. 1 2/F, Building 6, No.19 inhuan Road, TED, 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. ISO certified in kashi Works. ] Materials and specifications are subject to change without notice. Cat. No. 3L1731 Sep. 16 S rinted in Japan

2 Wide motion range, long reach and large motion angle of the wrist enable various applications in industrial fields. Spot welding, material handling, sealing,...by producing many different robots to suit various applications, Kawasaki has greatly contributed to automated production lines for automotive and general industries. Kawasaki is introducing the new Z series heavy-duty robot, which is developed using Kawaski s advanced technology and extensive experience in robotics. The Z-series consists of eleven models and is available in floor mounting (Z), shelf mounting (ZT) and compact (ZH) types. Features Improved cycle time The cycle time has been greatly improved by reduction of the mass and adoption of the E-controller. Wide work envelope The Z-series has wide work envelope due to long reach and small dead space. Joint 1 travel is 36 degrees with mechanical hard stops. ZT165U Upgradability The Z165U can be upgraded to a faster robot or higher payload robot by adding simple hardware and software at the user site. The alteration at the production site is easier and economical. This means that an exact model selection at the design stage is not required. 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 ZS ZL Z165U Z2S Z3S ZH1U rm type rticulated type rticulated type Degree of freedom (axes) 6 (7 : option) 6 (7 : option) Max. payload (kg) ositional repeatability ]1 ±.3 ±.3 xis Max. stroke () Max. speed (/s) Max. stroke () Max. speed (/s) Max. stroke () Max. speed (/s) Max. stroke () Max. speed (/s) Max. stroke () Max. speed (/s) Max. stroke () Max. speed (/s) rm rotation () ±18 ±18 11 ±18 11 ±18 15 ±18 1 ±16 14 xis work rm out-in () envelope rm up-down () and Wrist swivel (JT4) ±36 18 ±36 14 ±36 14 ±36 ±36 9 ±36 15 Max. speed Wrist bend (JT5) ± 18 ± 5 ± 155 ± ± 9 ± 15 Wrist twist (JT6) ±36 28 ±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, Moment Wrist bend (JT5) ,274 1, (N m) ]3 Wrist twist (JT6) Moment Wrist swivel (JT4) of Inertia Wrist bend (JT5) (kg m 2 ) ]3 Wrist twist (JT6) Mass (kg) 1,35 1,4 1,35 1,4 1,4 Mounting Floor Floor Integrated function ir piping ( mm dia. x 2) ir piping ( 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 sol.1+single sol.1, 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 sol.1+single sol.1, 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) ] merica Controller Europe Japan & sia E2 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 ZTS ZT165U ZT2S rm type rticulated type Degree of freedom (axes) 6 (7 : option) Max. payload (kg) ositional repeatability ]1 ±.3 xis Max. stroke () Max. speed (/s) Max. stroke () Max. speed (/s) Max. stroke () Max. speed (/s) rm rotation () ±18 ±18 15 ±18 1 xis work rm out-in () envelope rm up-down () and Wrist swivel (JT4) ±36 18 ±36 5 ±36 Max. speed Wrist bend (JT5) ± 18 ± 5 ± 115 Wrist twist (JT6) ±36 28 ±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 Moment Wrist bend (JT5) ,274 (N m) ]3 Wrist twist (JT6) Moment Wrist swivel (JT4) of Inertia Wrist bend (JT5) (kg m 2 ) ]3 Wrist twist (JT6) Mass (kg) 1,55 1,55 1,6 Mounting Shelf Integrated function ir piping ( 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 sol.1+single sol.1, FRL unit, Internal hoses of cooling water for welding gun, Wiring for solenoid valve for grippers (DC24V) Color Munsell 1G9/1 equivalent ower requirements (kv) ]4 7.5 merica Controller Europe Japan & sia 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 3 4

4 Motion range & dimensions Z3S ISO series 2 (ø) for S/165U 6 M1 +.3 ø8h7 ø.15 6 ø 1, ,19 3, M1 Depth 17 ø.15 Dimension: 248 ø.4 1, ,49 3 Depth 17 2 H ø2 VIEW ø ø68h7 Depth Conventional type () for 2S 6 ø.15 1,1 1, M1 Depth 17 Dimension: 248 ø H , ,34 3, Depth 17 ø2 ø ø68h7 Depth 2, ,815 ø.15 Dimension: M1 Conventional type () based on point 1, for S/165U M1 Depth 16 ø55h7 ø.15 6 Z2S 1 ø.15 Dimension: 231 ø M1 5 ø R1, ø.4 JT5 ± 5 x 2 M1 2/25 1 x 2 M6 /18 1, ø 2 H7 2,651 ø2 JT6±36 2 H ,965 JT4± ø based on point ø.4 ISO series 1 (6) for 2S +.35 H7 3 Depth8 ZS ± Z165U Z2S ± 1, JT5 2 H7 3 1 x 2 M6 / JT6±36 JT4± x 2 M1 2/25 89 R1,2 18 R R5 17 Interference radius around the rotational axis ISO series 1 (6) +.35 H7 3 Depth8 Interference radius around the rotational axis 9 ZS/Z165U/Z2S 1,199 VIEW ZL ZH1U ISO Series 2 (ø) 6 M1 +.3 ø8h7 ø.15 Interference radius around the rotational axis R JT4± R1, x 2 M1 2/25 1 x 2 M6 /18 16 ISO series 2 (ø) ø 6 JT6±36 JT5± 3 JT5 ± 6-M1 2 H JT6±36 ø.4 ø.15 ø8h7 JT4± ,6 ø 6 based on point 6 M1 Depth ø55h7 ø H based on point 3 ø ,55 2, ,64 7 1,1 25 ø55h ø9H7 ø.4 5 VIEW 379 1,62.4 1, ø22 ø22 ø.5 3 1, ø22H9 7 1, , M1 Depth M16 Depth , ø.5 VIEW ø ,951 2,265 ø ,

5 Motion range & dimensions ZT165 ISO series 2 (ø) for S/165U 6 M1 +.3 ø8h7 ø.15 6 ø based on point VIEW B ø2 3,23 ø55h7 ø.4 1,3 9 JT4±36 VIEW 5x2-M1-2/25 JT5± 1x2-M6-/18 1,27 ø.15 2-ø9H M1 Depth 17 Depth 17 2 H , ø ø68h7 Depth 8 JT6±36 2,83 Dimension: 248 ø.4 ZT/ZT Conventional type () for 2S 3 ø.4 JT6± , ,731 9 JT4 ±36 1,3 B 1, ZT2S : ± 1 x 2 M6 /18 JT5± 5 x 2 M1 2/ ,571 ZT2S ø for S/165U M1 Depth 16 ø55h7 ø ø , 1 ø.15 Dimension: 231 ø M1 6-M1 2,9 6 ø8h ø.4 1,33 ø2 2 H7 ø 21 2-H7 ISO series 1 (6) for 2S +.35 H7 3 Depth8 3 4,366 1,1 ø H7 18 based on point ø.15 6-M1 3 ISO series 2 (ø) ZTS/ZT165U/ZT2S VIEW R based on point ISO Series 2 (ø) 6 M1 +.3 ø8h7 ø.15 6 ø 3 Hemming process of the car door H7 ø.4 1,63 6 M1 Depth ø.5 Releasing and loading / unloading of large-sized workpieces by vision system ø.4 VIEW 5 1, , ,2 1 4, ø55h7 ø.15 1, x2-M1-2/ JT4±36 1x2-M6-/18 JT5± Dimensions for Base 1,57 7 3, JT6±36 Releasing work from resin molding machine 8

6 Controller E series The E-Controller, with unprecedented quality and compact size, was created in response to customer demand. Kawasaki s collaboration of past achievements and experience has lead to the development of the most technically advanced controller available. This industry leading design provides increased performance and easy operation that exceeds expectations. Teach pendant External view & dimensions E2 Transformer unit ] ] ] E2 Large, color LCD touch screen display. The key arrangement has been optimised through extensive studies of operator hand movements. Equipped with Enable switches Features Compact Small footprint of the E controller makes it easy to achieve high-density layouts. nd overall volume has been reduced greatly compared with the previous model. s a result, an upright-position installation or stacked installation is possible, in order to save installation space. User-friendly operation system The operation system has now fully developed into a more user-friendly design. The operator can turn on the motors and activate the cycle start all from the teach pendant, thereby realizing a more convenient system control. The two information screens can be displayed simultaneously, enabling the operator to view different types of information easily (for example, positional and signal information). bundance of functions The large variety of unique functions makes it possible to support a wide range of applications. These functions can be combined and easily configured within a system to suit a particular application. Likewise, the built-in Kawasaki S Language provides sophisticated robot motion and sequence controls. Incorporating the latest technologies The enhanced CU capacity allows for more accurate trajectory control, faster program execution, and quicker saving and loading of files, and countless other advantages. In addition, the memory has been expanded to answer the need for higher program storage capacity. USB port is equipped as a external storage conduit. Easier maintenance With modular components and fewer cables, Kawasaki has developed a controller that is compact and easy to maintain. host of maintenance functions are available, including the DIG function for self-diagnostics, a maintenance support function that can handle not only hardware errors but also application errors. In addition to the DIG function, there are other additional functions, such as a Web server that enables engineers to perform remote diagnostics. Highly expandable This is expandable to up to three external axes with additional amplifiers. The system is compatible with a large number of field buses that are used for controlling peripheral devices. Users can combine the Kawasaki KLogic software sequencer function, which can be edited on the teach pendant, with the user-customizable interface panels to create a highly sophisticated system. Specifications Standard merica Europe E2 Japan & sia Dimensions W55 D H278 Transformer unit: W D H178 Structure Enclosed structure / Indirect cooling system Number of controlled axes 7 Max. 9 Drive system Full digital servo system Coordinate systems Joint, Base, Tool Fixed tool point Types of motion control Joint/Linear/Circular Interpolated motion rogramming oint to point teaching or language based programming Memory capacity (MB) 8 General External operation Motor power off, Hold purpose Input (Channels) 32 Max. 96 signals Output (Channels) 32 Max. 96 E-Stop switch, teach/repeat switch, control power light Operation panel (Cycle start, motor-on, hold/run, and error reset are activated from the teach pendant.) Rapid-feed check mode switch Cable Teach pendant (m) 5 1, 15 length Robot-controller (m) 5 1, 15 Mass (kg) 4 Transformer unit: 45 ower requirements Environmental mbient temperature (C) condition Relative humidity (%) Body color Teach pendant System configuration diagram DIO board Standard External-axis motor USB Memory Teach pendant USB C2-22V ±1%, 5/6Hz, 3ø Class-D earth connection (Earth connection dedicated to robots), leakage current: Maximum 1m - 45 ( - 4 for E7x in vertical use) (no dew, nor frost allowed) Munsell 1G9/1 equivalent TFT color LCD display with touch-panel, E-Stop switch, teach lock switch, Enable switch al device RS-232C Ethernet Rapid-feed check mode switch Brake release switch Transformer unit Terminal software Terminal software Vision controller ]Transformer unit C38-415V ±1% or C44-48V ±1% 5/6Hz, 3ø uxiliary storage unit USB Memory Interface USB, Ethernet (1BSE-T), RS-232C 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