The Flexible Heavy-Duty Robot

The Flexible Heavy-Duty Robot up to kg payload Kawasaki Robotics (USA), Inc.

THE FLEXIBLE HEAVY-DUTY ROBOT The high payload long reach Z-Series robots were developed using Kawasaki s advanced technology and extensive experience in automation. The versatile and upgradeable designs are directly responsible for improved production line efficiencies in automotive and general industry applications. HIGH QUALITY & LOW MAINTENANCE The Z-Series Robots boast industry leading reliability and 10,000 hour maintenance intervals, which translate to low operating costs and the highest production efficiencies. CYCLE TIME ADVANTAGE The Z Robots can achieve superior operating speeds when combined with the ultra high processing speed capabilities of Kawasaki s latest E Controller. Faster speeds of up to 20% as compared to previous models translate to shorter cycle times, resulting in maximum production. WIDE WORK ENVELOE The Kawasaki Z Robot combines a long reach arm with a minimal amount of dead space for the widest work envelope in its class. In addition, the patented Kawasaki Hybrid Link configuration enables the arm to rotate back over itself without having to rotate the base joint, thereby improving efficiency and minimizing power consumption. SACE SAVING DESIGN WITH INTEGRATED FEATURES The small footprint of these high payload long reach robots allows for installations in confined areas. The Z-Series Robots are available with integrated pneumatic piping, wiring, and fork lift pockets, limiting the amount of work space required and minimizing potential interference. ARM ID MEMORY Kawasaki s Arm ID board enables the robot arm to be interchanged with any E Controller. The ID board stores all of the necessary servo encoder data. In the event of a production emergency, the controller can quickly and easily be replaced to allow for any service and maintenance procedures to be performed. This feature greatly limits potential system downtime. ROGRAMMING FLEXIBILITY Z-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. UGRADEABLE The Z-Series robot line is manufactured using modular components and a common software platform. This flexible design allows some models to be modified to alter reach, payload capacities and speed. Both hardware and software alterations can easily be performed in the field. The ability to change the robot characteristics provide for greater flexibility to accommodate production and system changes.

The Z-Series heavy-duty robots are the workhorses of the Kawasaki Robotics product line. The robust low-maintenance Z Robots offer payload capacities from 100 to kg and are available in floor mount (ZX), shelf mount (ZT) and compact (ZH) models to best suit the application. All Z Robots can be used with a Kawasaki 7th axis traversing unit, allowing for a flexible and expandable work range. STANDARD FEATURES Six-Axis Articulated Arm ayload Capacity 100- kg Electric AC Servo Drive Motors/Encoders Common E Controller Large Working Envelope High ayload High wrist torque and inertia capacity Maximum payload capacity rated at full speed and full reach Tool Mounting Flange: ISO 9409-1 Space Saving Design Small footprint Kawasaki Hybrid Link configuration Minimal dead zones roduction Advantages Modular arm design High speed operation Rapid and adaptive acceleration and deceleration rates Low-Cost Maintenance 10,000 hour maintenance intervals Fittings for easy lubrication (one grease type) 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 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 www.kawasakirobotics.com for controller features and specifications.) ALICATIONS Assembly Dispensing Machine Tending Material Handling Material Removal Spot Welding Extracting workpiece from molding machine Releasing and loading/unloading of large-sized workpieces using vision system Hemming process of the car door

The Flexible Heavy-Duty Robot Z-SERIES SECIFICATIONS MODEL ZXE1U ZXE1L ZXE165U ZXE200S ZXES Type Degrees of Freedom Articulated ayload 1 kg 1 kg 165 kg 200 kg kg Horizontal Reach 2,651 mm 2,951 mm 2,651 mm 2,651 mm 2,501 mm Vertical Reach 3,415 mm 4,015 mm 3,415 mm 3,415 mm 3,115 mm Repeatability ±0.3 mm ±0.3 mm ±0.3 mm ±0.3 mm ±0.3 mm Maximum Linear Speed 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s Motion Range Maximum Speed Maximum Torque Moment of Inertia Motors Brakes Hard Stops Limit Switch 6 axes JT1 ±180 ±180 ±180 ±180 ±180 JT2 +75 ~ -60 +75 ~ -60 +75 ~ -60 +75 ~ -60 +75 ~ -60 JT3 +250 ~ -120 +250 ~ -120 +250 ~ -120 +250 ~ -120 +250 ~ -120 JT4 ±360 ±360 ±360 ±360 ±360 JT5 ±1 ±1 ±1 ±120 ±120 JT6 ±360 ±360 ±360 ±360 ±360 JT1 110 /s 110 /s 110 /s 105 /s 100 /s JT2 110 /s 110 /s 110 /s 110 /s 85 /s JT3 110 /s 110 /s 115 /s 105 /s 85 /s JT4 140 /s 140 /s 140 /s 120 /s 90 /s JT5 135 /s 135 /s 155 /s 120 /s 90 /s JT6 2 /s 2 /s 260 /s 200 /s 150 /s JT4 735 N m 735 N m 911.4 N m 1,274 N m 1,470 N m JT5 735 N m 735 N m 911.4 N m 1,274 N m 1,470 N m JT6 421 N m 421 N m 451.8 N m 686 N m 705.6 N m JT4 107.8 kg m 2 107.8 kg m 2 165.5 kg m 2 199.8 kg m 2 274.5 kg m 2 JT5 107.8 kg m 2 107.8 kg m 2 165.5 kg m 2 199.8 kg m 2 274.5 kg m 2 JT6 45.9 kg m 2 45.9 kg m 2 46.9 kg m 2 154.9 kg m 2 155.9 kg m 2 Brushless AC Servomotor All axes Adjustable mechanical stopper JT1 End of stroke limit switch JT1 Mass 1,350 kg 1,400 kg 1,350 kg 1,400 kg 1,400 kg Body Color Installation Environmental Conditions Kawasaki Standard Floor Temperature: 0 ~ 45 C Humidity: 35 ~ 85 % (no dew, nor frost allowed) Vibration: Less than 0.5 G rotection Classification Wrist: I67 Base: I65 * Equivalent Built-in Utilities Options Controller Linear track options Base plate Adjustable mechanical stopper JT2/JT3 Limit switch JT2/JT3 Signal harness (up to 24 inputs and 8 outputs) Double/single solenoid valves (2 units max.) Internal wiring (37 wires inside robot arm) Air cleaning equipment (filter, regulator, mist separator) iping for cooling water Wrist flange adapter with ø92 mm mounting pattern neumatic piping (ø12 x 2 lines) E32

MODEL ZHE100U ZTE 1U ZTE165U ZTE165X ZTE200S Type Degrees of Freedom Articulated ayload 100 kg 1 kg 165 kg 165 kg 200 kg Horizontal Reach 1,634 mm 3,2 mm 3,2 mm 2,8 mm 3,2 mm Vertical Reach 2,579 mm 4,571 mm 4,571 mm 4,366 mm 4,571 mm Repeatability ±0.3 mm ±0.3 mm ±0.3 mm ±0.3 mm ±0.3 mm Maximum Linear Speed 2,000 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s Motion Range JT1 ±160 ±180 ±180 ±180 ±180 6 axes JT2 +120 ~ -60 +60 ~ -75 +60 ~ -75 +50 ~ -120 +60 ~ -75 JT3 +75 ~ -90 +165 ~ -95 +165 ~ -95 +150 ~ -65 +165 ~ -95 JT4 ±360 ±360 ±360 ±360 ±360 JT5 ±1 ±1 ±1 ±1 ±120 JT6 ±360 ±360 ±360 ±360 ±360 Maximum Speed JT1 140 /s 105 /s 105 /s 120 /s 100 /s JT2 100 /s 105 /s 105 /s 110 /s 100 /s JT3 100 /s 105 /s 105 /s 115 /s 90 /s JT4 150 /s 140 /s 135 /s 140 /s 120 /s JT5 150 /s 135 /s 135 /s 155 /s 115 /s JT6 250 /s 2 /s 210 /s 260 /s 180 /s Maximum Torque JT4 874 N m 735 N m 911.4 N m 911.4 N m 1274 N m JT5 874 N m 735 N m 911.4 N m 911.4 N m 1274 N m JT6 392 N m 421 N m 450.8 N m 450.8 N m 686 N m Moment of Inertia JT4 90 kg m 2 107.8 kg m 2 165.5 kg m 2 165.5 kg m 2 199.8 kg m 2 Motors Brakes Hard Stops Limit Switch JT5 90 kg m 2 107.8 kg m 2 165.5 kg m 2 165.5 kg m 2 199.8 kg m 2 JT6 20 kg m 2 45.9 kg m 2 46.9 kg m 2 46.9 kg m 2 154.9 kg m 2 Brushless AC Servomotor All axes Adjustable mechanical stopper JT1 End of stroke limit switch JT1 Mass 750 kg 1,550 kg 1,550 kg 1,650 kg 1,600 kg Body Color Kawasaki Standard Installation Floor Shelf Environmental Conditions Temperature: 0 ~ 45 C Humidity: 35 ~ 85 % (no dew, nor frost allowed) Vibration: Less than 0.5 G rotection Classification Wrist: I67 Base: I65 * Equivalent Built-in Utilities Options Controller Linear track options Base plate Adjustable mechanical stopper JT2/JT3 Limit switch JT2/JT3 Signal harness (up to 24 inputs and 8 outputs) neumatic piping (ø12 x 2 lines) Double/single solenoid valves (2 units max.) - excluding model ZHE100U Internal wiring (37 wires inside robot arm) Air cleaning equipment (filter, regulator, mist separator) - excluding model ZHE100U iping for cooling water Wrist flange adapter with ø92 mm mounting pattern E32

MOTION RANGE & DIMENSIONS ZXE1U, ZXE165U ZXE1L 1965 2651 2265 2951 288 1 288 1600 210 600.5 210 600.5 270 1100 3340 3415 270 3640 4015 1490 1100 670 1490 670 1199 1199 ZXE200S 1965 100 500 100 2-Ø25G8 210 600.5 125 100 270 500 125 100 STALLATION DIMENSIONS 1199 1100 670 1490 6 288 M10 Depth 1 12 Ø0.15 X Y VIEW A 2651 Y Ø80H7 231 X Depth 8 Ø125 3415 3340 2 Ø10H7 Depth 12 Ø0.04 X ZXES 210 600.5 270 1100 670 370 2 Ø25G8 100 500 1815 100 INSTALLATION DIMENSIONS 1490 1199 75 100 500 100 288 6 M10 Depth 12 Ø0.15 X Y Ø80H7 X Depth 8 Ø125 2-Ø10H7 Depth 12 Y Ø0.04 X 2501 VIEW A 1150 231 3115 3190 370 100 500 100 75 100 500 100 2 Ø25G8 INSTALLATION DIMENSIONS X Ø100H7 Depth 8 Ø200 2 Ø10H7 Depth 12 Y Ø0.04 X VIEW A (mm) 6 M10 Depth 12 Ø0.15 X Y

MOTION RANGE & DIMENSIONS ZHE100U ZTE1U, ZTE165U 200 800 5 1100 1550 580 1964.4 2578.8 600 210 2103 600 78 4571 5 1 1 500 JT1 ±160 1731 614.4 379 572 1634.4 1062.4 80 32 ZTE165X 6 M16 D 70 250 700 450 160 160 70 13 :Unnecessary 6-M10 D 12 to tighten bolts Ø0.15X Y Ø80H7 D8 X Ø125 ZTE200S 5 1100 1 320 410 290 410 500 70 600 210 2 Ø22H9 205 205 2 Ø22 5 1000 INSTALLATION DIMENSIONS 600 Y VIEW A 1 2-Ø10H7 D12 Ø0.04X 1466 2900 4366 1 231 600 210 2103 600 JT1 ±180 78 1 231 4571 1731 1270 28 80 32 (mm) 75 100 125 370 500 100 125 0 125 2-Ø25G8 500 100 6-M10 Dp Ø0.15 X Y Y Ø125 100 500 F F X 500 100 2-Ø25G8 125 x 45 Ø200 Ø100H7 Depth 8 2 Ø10H7 Depth 12 Ø0.04 X Y 6 M10 Depth 12 Ø0.15 X Y

Kawasaki Robotics (USA), Inc. 28140 Lakeview Drive Wixom, Michigan 48393 hone: (248) 446-4100 Fax: (248) 446-4200 Canada hone: (905) 4-7784 Mexico & South America hone: (52) 33-3110-1895 www.kawasakirobotics.com Z-Series - REV03/12 Kawasaki Robotics (USA), Inc. All rights reserved. Technical specifications subject to change without notice.