Z series en

EUROPE

Z-SERIES up to 300 kg payload

»Simple and friendly« INTO THE FUTURE Handling, Welding, Mounting, Tending are only four of the countless domains of the Z-Series allrounders.

»40 years of experience and state-of-the-art robot technology«

The Z-Series 1. Flexibility

4. Functions

An extremely compact and light-weight design forms the basis for high speeds and rigidity as well as an enormous reach.

The 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 massive 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.

Signal 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.

»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.

2. Standardisation The use of interchangeable modular components in different robot models makes these machines cost effective in the sense of maintenance and repair.

5. Integration An 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.

3. Reliability The 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.

2

3

»Standard specifications« MODEL

ZX130L

ZX165L

ZX130U

Degrees of Freedom Maximum Reach*

Maximum Payload

Maximum Speed

Moment

Moment of Inertia

ZH100

ZT130L

ZT130U

ZT165U

ZT200U

6 Axis

2951 mm

2810 mm

2651 mm

2651 mm

2651 mm

2501 mm

1634 mm

3530 mm

3230 mm

3230 mm

3230 mm

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

1.550 kg

1.550 kg

1.550 kg

Weight

± 0,3 mm 1.400 kg

1.355 kg

1.350 kg

Max. linear Speed (Measure Point: Middle of Flange Axis 6)

± 0,3 mm 1.350 kg

1.350 kg

2.500 mm/s

Controller

1.400 kg

750 kg

2.500 mm/s

2.000 mm/s

1.565 kg

2.500 mm/s

E42

Color Installation Temperature Humidity Others

Applicaton Media Upper Arm

ZX300S

130 kg

Repeatability (Measure Point: Middle of Flange Axis 6)

Ambient Conditions

ZX200U

6 Axis

1

Maximum Stroke

ZX165U

E42

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

in

12

12

12

12

12

12

12

12

12

12

12

out

8

8

8

8

8

8

8

8

8

8

8

air

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

Protection Class

Wrist Unit: IP67 / Basic Axes: IP65

Wrist Unit: IP67 / Basic Axes: IP65

*1 Distance between Centre of Axis 1 and Axis 5.

4

5

Motion Range & Dimensions

Motion Range & Dimensions 1965

Working range based on point P

2651

Working range based on point P

2951 288

288

1300

244

244 210

3640

Point P

670

670

1100

1100

4015

Point P

601

270

601

270

210

1600

1199

ZX130L

1199

ZX130U-165U-200U

2124

1815

2810

2501

Working range based on point P

Working range based on point P

288 288

1459

244

210

1150

248

601

601

6

3115

670

1490

1490

1100 670

ZX165L

3190

Point P

1100

Point P

3499 3733

270

270

210

3340 3415

2265

1199

ZX300S

1199

7

Motion Range & Dimensions 228

Motion Range & Dimensions

800

Working range based on point P

Working range based on point P

200

1100

300

300

530

614

500

ZH100U

Point P

572

1062

ZT130U-165U-200U

1634

300

1100

Point P

8

220

228

2031

1600

600

5160.6

2103

3130

530

Maximum Payload in kg

Working range based on point P

ZT130L

244

1731

1300

530

600

4571

1550

580

2103

1964

Point P

300 275 250 225 200 175 150 125 100 75 50 25 0

80

3230

ZX300S

ZT200U

ZX200U ZX165U ZX165L ZX130U

ZT165U

ZX130L ZT130L

ZH100U

500

1000

1500

2000

2500

3000

3500

3530 3750

Maximum Reach in mm 9

MODEL

E42

Number of Controlled Axes

CONTROLLER

Servo Motors

4. Functions

The E-Controller as consistent further development of the existing control concept has been developed in close cooperation with Kawasaki‘s customers.

In this way, a state-of-the-art high-end product has been created - offering the familiar ease of operation and exceptionally high power.

Integrated software functions support the most various applications. Through individual combination and programming, highly complex systems may be designed and realized. (e.g. Soft Absorber, Collision Detection, Conveyor Tracking and many more).

A maximum of 10 external axes may be integrated, up to three of which in the controller housing (E4x).

All established bus systems (Interbus, Profibus, ProfiNet…) are supported. The integrated Soft PLC may be edited via Teach Pendant or even more comfortably at the PC. Custom-tailored user interfaces may be programmed and used for the simplified control of the robot and also peripheral devices.

3. User-friendly system Motor power ON and program start may be activated directly via the manual control unit. The parallel display of two information screens (e.g. position and signal data) facilitates the process control.

Brushless AC Servomotors

Position Detectors

1. Control

2. Compact and upgradeable

6 (optional 16)

5. System Ultra-fast execution of programs, loading and storing processes as well as a precise continuouspath control and much more thanks to the up-todate processor design and powerful components.

8 MB RAM (80,000 steps) and USB interface as standard.

6. Maintenance »Simple and friendly« Due to the optimized modular configuration of the Kawasaki control, maintenance work is exceptionally user-friendly. Furthermore, integrated service and diagnosis tools guarantee increased safety in operation. Remote diagnosis via Ethernet is also included in the standard package.

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

Signals

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

Data Interfaces

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 Pendant

6.4“ 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

<100Ω, Max. Leakage Current 10mA

Safety Category

3, Performance Level d (EN ISO13849-1:2008)

Ambience Temperature / Humidity

0-45°C / 35-85% (no Dew, nor Frost allowed)

Color

Munsell 10GY9/1

Note: Not all Options can be combined.

E42 550

1200

550

10

11

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 Headquarter Sperberweg 29 ∙ 41468 Neuss E-Mail: info@kawasakirobot.de ∙ www.kawasakirobot.de

Tel. +49-(0)2131 34 26 0 Fax +49-(0)2131 34 26 22

Kawasaki Robotics (UK) Ltd. Units 6&7 Easter Court, Europa Boulevard, Westbrook Warrington WA5 5ZB ∙ United Kingdom E-Mail: info@kawasakirobot.uk.com ∙ www.kawasakirobot.uk.com

Tel. +44-(0)1925 71 30 00 Fax +44-(0)1925 71 30 01

Agent

Printed in Germany September 2010 Catalogue No. GE117

Materials and specification are subject to change without notice.