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EUROPE
up to 300 kg payload
Z-SERIES
3
Handling, Welding, Mounting, Tending are only four of the countless domains of the Z-Series allrounders.
The Z-Series
1. FlexibilityThe large variation is the biggest strength of this series. With payloads from 100 up to 300 kg as well as a reach starting from 1634 up to massi-ve 3530 mm can be covered. There are compact robots, shelf mount robots and standard machines integrated in one series which makes the Z-Series the most versatile of the Kawasaki robot family.
2. StandardisationThe use of interchangeable modular components in different robot models makes these machines cost effective in the sense of maintenance and repair.
3. ReliabilityThe Z-Series robots of the Kawasaki family have over the years had many model upgrades. The end result is an high stability and robustness under load proven in automotive and general industry.
4. FunctionsSignal lines and air hoses integrated in the robot arm allow the direct connection of grippers without additional wiring through the robot arm. Additionally required lines or hoses may of course be installed at the provided fastening points in a »simple and friendly« way.
5. IntegrationAn important feature of the Z-Series is the unique space saving design. A small foot print and a slim arm design lead to space saving application concepts and therefore cost.
»Simple and friendly«
INTO THE FUTURE
2
»40 years of experience and state-of-the-art robot techno-logy«An extremely compact and light-weight design forms the basis for high speeds and rigidity as well as an enormous reach.
»Your goal is our task«It was Kawasaki‘s intelligence and flexibility which made them build the most powerful robots in their class. Combined with a high-end control system,they reliably meet the demands of the most varied application fields – now, in the near and far future.
MODEL ZX130L ZX165L ZX130U ZX165U ZX200U ZX300S ZH100 ZT130L ZT130U ZT165U ZT200U
Degrees of Freedom
Maximum Reach*1 2951 mm 2810 mm 2651 mm 2651 mm 2651 mm 2501 mm 1634 mm 3530 mm 3230 mm 3230 mm 3230 mm
Maximum Payload 130 kg 165 kg 130 kg 165 kg 200 kg 300 kg 100 kg 130 kg 130 kg 165 kg 200 kg
Axis 1 ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±160 ° ±180 ° ±180 ° ±180 ° ±180 °
Axis 2 +75 ° ~ -60 ° +75 ° ~ -60 ° +75 ° ~ -60 ° +75 ° ~ -60 ° +75 ° ~ -60 ° +75 ° ~ -60 ° +120 ° ~ -60 ° +60° ~ -75° +60° ~ -75° +60 ° ~ -75 ° +60° ~ -75 °
Axis 3 +250 ° ~ -120 ° +250 ° ~ -120 ° +250 ° ~ -120 ° +250 ° ~ -120 ° +250 ° ~ -120 ° +250 ° ~ -120 ° +75 ° ~ -90 ° +165° ~ -95° +165° ~ -95° +165 ° ~ -95 ° +165° ~ -95 °
Axis 4 ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 °
Axis 5 ±130 ° ±130 ° ±130 ° ±130 ° ±130 ° ±120 ° ±130 ° ±130 ° ±130 ° ±130 ° ±130 °
Axis 6 ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 °
Axis 1 110 °/s 100 °/s 110 °/s 110 °/s 95 °/s 100 °/s 140 °/s 105 °/s 105 °/s 105 °/s 90 °/s
Axis 2 110 °/s 105 °/s 110 °/s 110 °/s 95 °/s 85 °/s 100 °/s 105 °/s 105 °/s 105 °/s 90 °/s
Axis 3 110 °/s 95 °/s 110 °/s 115 °/s 95 °/s 85 °/s 100 °/s 105 °/s 105 °/s 105 °/s 90 °/s
Axis 4 140 °/s 135 °/s 140 °/s 140 °/s 120 °/s 90 °/s 150 °/s 140 °/s 140 °/s 135 °/s 120 °/s
Axis 5 135 °/s 155 °/s 135 °/s 155 °/s 115 °/s 90 °/s 150 °/s 135 °/s 135 °/s 135 °/s 115 °/s
Axis 6 230 °/s 225 °/s 230 °/s 260 °/s 180 °/s 150 °/s 250 °/s 230 °/s 230 °/s 210 °/s 180 °/s
Axis 4 735 N·m 911 N·m 735 N·m 911 N·m 980 N·m 1715 N·m 874 N·m 735 N·m 735 N·m 911 N·m 980 N·m
Axis 5 735 N·m 911 N·m 735 N·m 911 N·m 980 N·m 1715 N·m 874 N·m 735 N·m 735 N·m 911 N·m 980 N·m
Axis 6 421 N·m 450 N·m 421 N·m 450 N·m 490 N·m 862 N·m 392 N·m 421 N·m 421 N·m 450 N·m 490 N·m
Axis 4 51,9 kg / m² 78,4 kg / m² 51,9 kg / m² 78,4 kg / m² 93,1 kg / m² 166,6 kg / m² 90 kg / m² 51,9 kg / m² 51,9 kg / m² 78,4 kg / m² 93,1 kg / m²
Axis 5 51,9 kg / m² 78,4 kg / m² 51,9 kg / m² 78,4 kg / m² 93,1 kg / m² 166,6 kg / m² 90 kg / m² 51,9 kg / m² 51,9 kg / m² 78,4 kg / m² 93,1 kg / m²
Axis 6 27,4 kg / m² 40,2 kg / m² 27,4 kg / m² 40,2 kg / m² 46,1 kg / m² 107,8 kg / m² 20 kg / m² 27,4 kg / m² 27,4 kg / m² 40,2 kg / m² 46,1 N / m²
Repeatability (Measure Point: Middle of Flange Axis 6)
± 0,3 mm ± 0,3 mm
Weight 1.400 kg 1.355 kg 1.350 kg 1.350 kg 1.350 kg 1.400 kg 750 kg 1.565 kg 1.550 kg 1.550 kg 1.550 kg
Max. linear Speed (Measure Point: Middle of Flange Axis 6)
2.500 mm/s 2.500 mm/s 2.000 mm/s 2.500 mm/s
Controller E42 E42
4 5
»Standard specifications«
*1 Distance between Centre of Axis 1 and Axis 5.
Color
Installation
Temperature
Humidity
Others
in
out
air
Protection Class
6 Axis 6 Axis
Maximum Stroke
Maximum Speed
Moment
Moment of Inertia
Ambient Conditions
Applicaton Media Upper Arm
Munsell 10GY9/1 Munsell 10GY9/1
Floor or Ceiling Floor or Ceiling
0 ~ 45 °C 0 ~ 45 °C
35 ~ 85 % (no Dew, nor Frost allowed) 35 ~ 85 % (no Dew, nor Frost allowed)
Installation Ambience must be free of: • Inflammable or corrosive Liquid or Gas
• Electric Noise Interferences
Installation Ambience must be free of: • Inflammable or corrosive Liquid or Gas
• Electric Noise Interferences
12 12 12 12 12 12 12 12 12 12 12
8 8 8 8 8 8 8 8 8 8 8
2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm 2 x Ø 12 mm
Wrist Unit: IP67 / Basic Axes: IP65 Wrist Unit: IP67 / Basic Axes: IP65
6 7
Motion Range & Dimensions Motion Range & Dimensions
288
3340
3415
1965 2651
670
1100
270
1199
601210
1300 244
Working rangebased on point P
Point P
ZX130U-165U-200U
288
670
1100
270
1199
601210
3640
4015
29512265
1600 244
Working rangebased on point P
Point P
ZX130L
288
1490
270
1100
670
1199
601210
3499
3733
2124 2810
1459 244
Working rangebased on point P
Point P
ZX165L 1199
288
2501
3190
1490
1815
3115
270
1100
670
601210
1150 248
Point P
Working rangebased on point P
ZX300S
8 9
Motion Range & Dimensions
500 1000 1500 2000 2500 3000 3500
Max
imum
Pay
load
in k
g
Maximum Reach in mm
3002752502252001751501251007550250
ZH100U
ZX300S
ZX200U
ZX165U ZX165L
ZX130U ZX130L ZT130L
ZT165U
ZT200U
Point P
Working rangebased on point P
530
580
300
200800
1634
5721062
614
1964
1550
500
228
ZH100U
1731
4571
530 1100 300
600
2103
803230
244
1300
Working rangebased on point P
Point P
ZT130U-165U-200U20
31
5160
.6
3130
3530220
3750
530 1100
600
300
Point P
1600
228
2103
Working rangebased on point P
ZT130L
Motion Range & Dimensions
10 11
Note: Not all Options can be combined.
Number of Controlled Axes 6 (optional 16)
Servo Motors Brushless AC Servomotors
Position Detectors Absolute Encoder
Servo System Full digital servo system
Programming Block or AS-Language
Coordinate Systems Joint, Base, Tool, external Tool
Motion Control Joint-, Linear- and Circular interpolated
External Motor power, Signal HOLD, etc.
Input 32 (optional 128)
Output 32 (optional 128)
Analogue Input (optional) 8/16
Analogue Output (optional) 4/8/12/16
Memory 8 MB (ca. 80.000 steps)
External Memory 2 x USB
PC, Network, etc. 2 x RS-232C, 2 x Ethernet
Fieldbus (optional)DeviceNet ©, PROFIBUS ©, PROFINET ©, INTERBUS-S ©, Ethernet/IP ©, CC-Link ©,
CANopen ©, Modbus TCP ©, Control Net ©
Teach Pendant6.4“ LCD with Touch Panel, Emergency Stop SW, Teach-Lock, Deadman SW,
Motor power, Program start, Hold/Run
Operation Panel Emergency Stop SW, Control Power, TEACH/REPEAT
Cable Length (Controller – Arm, Controller – Teach Pendant)
10 m (Arm: optional up to 40 m), (TP: optional up to 30 m)
Dimensions (WxDxH mm) 550x550x1200
Weight (kg) 180
Power Requirements AC 380-415V ± 10%, 50/60Hz, 3 Phases, 9,9kVA
Ground
Cautions to be taken to ensure safety
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.
Products 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.
BE CAREFUL: All photos 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.
Inquiries
Kawasaki Robotics GmbH Deutschland European HeadquarterSperberweg 29 · 41468 NeussE-Mail: [email protected] · www.kawasakirobot.de
Kawasaki Robotics (UK) Ltd.Units 6&7 Easter Court, Europa Boulevard, WestbrookWarrington WA5 5ZB · United KingdomE-Mail: [email protected] · www.kawasakirobot.uk.com
Agent
Printed in Germany September 2010 Catalogue No. GE117 Materials and specification are subject to change without notice.
Tel. +49-(0)2131 34 26 0Fax +49-(0)2131 34 26 22
Tel. +44-(0)1925 71 30 00Fax +44-(0)1925 71 30 01