EUROPE

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 as photographs 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 Germany
Headquarter Neuss: Tel. + 49 - (0) 2131 3426 - 0
Sperberweg 29 · 41468 Neuss Fax + 49 - (0) 2131 3426 - 22
Munich Office: Tel. + 49 - (0) 89 454591- 30
Konrad-Zuse-Platz 12 · 81829 München Fax + 49 - (0) 89 454591- 45
Osnabrück Office: Tel. + 49 - (0) 541 4069398 - 0
Rheiner Str. 195a · 49078 Osnabrück Fax + 49 - (0) 541 4069398 - 11
e-mail: [email protected] · www.kawasakirobot.de
Kawasaki Robotics (UK) Ltd.
Units 6&7 Easter Court, Europa Boulevard, Westbrook Tel. + 44 - (0)1925 71 3000
Warrington WA5 5ZB · United Kingdom Fax + 44 - (0)1925 71 3001
e-mail: [email protected] · www.kawasakirobot.uk.com
French Office:
Parc d‘activites de la clef de Saint-Pierre
Rond Point de l‘Epine des champs Tel. + 33 - (0)1 30 68 9522
78996 Elandourt Cedex, France Fax + 33 - (0)1 30 68 9139
e-mail: [email protected] · www.kawasakirobot.fr

Agent

printed in Germany Apr. 2008 • GE109 Materials and specifications are subject to change without notice.
100 – 300 kg Payload
 Improved cycle times
Automotive and A weight-optimised construction, the use of high-speed motors and high-efficiency gears permit an
optimisation of the maximum speed and acceleration.

General Industries, … Large working range

and low power consumption
The Z Series has a broad working range thanks to the large reach and small blind angle. Axis 1 can
be pivoted around 360° and has mechanical locks. Through the use of the patented hybrid link con-
figuration by Kawasaki the power consumption during the robot movements could be reduced.

Space saving and easy installation

through a small foot print
More space means higher costs. The small base sizes and slim arm profile of the Z Series robot arm
allows a space-saving construction of working cells.

Protective configurations IP65, IP67

The Kawasaki Z-Series high performance robots provide Protection class IP65 applies for the robot arm and IP67 for the wrist part. This means that the
flexibility as well as the ability, at high payloads and long Z Series can be used without problems in rough working environments.
reach, to suit all applications, including welding, handling,
tending and much more. With twelve different versions,
divided into three distinct design groups the Z-series can
provide the right model for all future applications. Convertability
Whether it‘s the “ZX” for floor mounting, the “ZT” for shelf Simple hardware and software modifications allow an optimisation of the ZX165U in terms of reach or
mounting or the “ZB” as a compact arm, the Z-series can payload. A subsequent adjustment of the robot to different tasks poses no problems and can be car-
do it all. All Z-Series robots are powered by the D-Controller, ried out at low cost
flexible Controller Unit.

Spot welding Palletizing Spot welding

Specifications Specifications
TYP ZB100L ZB150S ZT130L ZT130U ZT165U ZT200U ZX130L ZX130U ZX165L ZX165U ZX200U ZX300S TYP

Type of arm Articulated arm Articulated arm Type of arm

Degrees of freedom 6 axes (optional 7 axes) 6 axes (optional 7 axes) Degrees of freedom
Reach 1,655 mm 1,365 mm 3,530 mm 3,230 mm 3,230 mm 3,230 mm 2,951 mm 2,651 mm 2,810 mm 2,651 mm 2,651 mm 2,501 mm Reach
Maximum Payload 100 kg 150 kg 130 kg 130 kg 165 kg 200 kg 130 kg 130 kg 165 kg 165 kg 200 kg 300 kg Maximum Payload
JT1 ± 160° ± 160° ± 180° ± 180° ± 180° ± 180° ± 180° ± 180° ± 180° ± 180° ± 180° ± 180° JT1
JT2 +120°~-70° +120°~-70° +60°~-75° +60°~-75° +60°~-75° +60°~-75° +75°~-60° +75°~-60° +75°~-60° +75°~-60° +75°~-60° +75°~-60° JT2
JT3 +100°~-150° +100°~-150° +165°~-95° +165°~-95° +165°~-95° +165°~-95° +250°~-120° +250°~-120° +250°~-120° +250°~-120° +250°~-120° +250°~-120° JT3
Maximum Maximum
JT4 ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° JT4
stroke stroke
JT5 ± 130° ± 130° ± 130° ± 130° ± 130° ± 130° ± 130° ± 130° ± 130° ± 130° ± 130° ± 120° JT5
JT6 ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° ± 360° JT6
JT7 standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm standard 2,000 mm JT7
JT1 100°/s 100°/s 105°/s 105°/s 105°/s 90°/s 110°/s 110°/s 100°/s 110°/s 95°/s 100°/s JT1
JT2 100°/s 100°/s 105°/s 105°/s 105°/s 90°/s 110°/s 110°/s 105°/s 110°/s 95°/s 85°/s JT2
JT3 90°/s 90°/s 105°/s 105°/s 105°/s 90°/s 110°/s 110°/s 95°/s 110°/s 95°/s 85°/s JT3
Maximum Maximum
JT4 135°/s 135°/s 140°/s 140°/s 135°/s 120°/s 140°/s 140°/s 135°/s 135°/s 120°/s 90°/s JT4
speed Speed
JT5 135°/s 135°/s 135°/s 135°/s 135°/s 115°/s 135°/s 135°/s 135°/s 135°/s 115°/s 90°/s JT5
JT6 210°/s 210°/s 230°/s 230°/s 210°/s 180°/s 230°/s 230°/s 210°/s 210°/s 180°/s 150°/s JT6
JT7 1,000 mm/s 1,000 mm/s 1,000 mm/s 1,000 mm/s 1,000 mm/s 1,000 mm/s 1,000 mm/s 1,000 mm/s 1,000 mm/s 1,000 mm/s 1,000 mm/s 1,000 mm/s JT7
Repeatability ± 0,3mm ± 0,3mm Repeatability
JT4 0 N·m 911.4 N·m 735 N·m 735 N·m 911,4 N·m 980 N·m 7.35 N·m 7.35 N·m 911.4 N·m 911.4 N·m 980 N·m 1,715 N·m JT4
Moment*
JT5 0 N·m 911.4 N·m 735 N·m 735 N·m 911,4 N·m 980 N·m 7.35 N·m 7.35 N·m 911.4 N·m 911.4 N·m 980 N·m 1,715 N·m JT5 Moment*
JT6 0 N·m 450.8 N·m 421 N·m 421,4 N·m 450,8 N·m 490 N·m 221.4 N·m 221.4 N·m 450.8 N·m 450.8 N·m 490 N·m 862.4 N·m JT6
JT4 78.4 kg/m² 78.4 kg/m² 51.9 kg/m² 51.9 kg/m² 78.4 kg/m² 93.1 kg/m² 51.94 kg/m² 51.94 kg/m² 78.4 kg/m² 78.4 kg/m² 93.1 kg/m² 166.6 kg/m² JT4
Moment Moment
JT5 78.4 kg/m² 78.4 kg/m² 51.9 kg/m² 51.9 kg/m² 78.4 kg/m² 93.1 kg/m² 51.94 kg/m² 51.94 kg/m² 78.4 kg/m² 78.4 kg/m² 93.1 kg/m² 166.6 kg/m² JT5
of inertia of inertia
JT6 40.18 kg/m² 40.18 kg/m² 27.4 kg/m² 27.44 kg/m² 40.18 kg/m² 46.1 kg/m² 27.44 kg/m² 27.44 kg/m² 40.18 kg/m² 40.18 kg/m² 46.1 kg/m² 107.8 kg/m² JT6
Weight 915 kg 900 kg 1,565 kg 1,550 kg 1,550 kg 1,550 kg 1,400 kg 1,350 kg 1,355 kg 1,355 kg 1,350 kg 1,400 kg Weight
1,500 mm/s 1,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s
Recommended Controller D42 D42 Recommended Controller
Installation Floor Floor Installation
Integrated functions Air Line (12 mm Ø) Air lines (12 mm Ø x 2), wiring for the solenoid valves of the grab (A.C. 24V) Air lines (12 mm Ø x 2), wiring for the solenoid valves of the grab (A.C. 24V) Integrated functions
Mechanical stopper JT1/JT2/JT3, special colour, internal wiring for end effector, Mechanical stopper JT1/JT2/JT3, special colour, internal wiring for end effector,
Mechanical stopper JT1/JT2/JT3,
Optional twin solenoid valve 1/2, single solenoid valve 1/2, twin solenoid valve 1 + single twin solenoid valve 1/2, single solenoid valve 1/2, twin solenoid valve 1 + single solenoid valve 1, Optional
special colour.
solenoid valve 1, 1 filter control unit, internal hoses for welding gun cooling water 1 filter control unit, internal hoses for welding gun cooling water
Colour Munsell 10GY9/1 or equivalent Munsell 10GY9/1 or equivalent Colour

ZB100L ZB150S ZT130L ZT130U ZX130L ZX130U ZX300S

ZT165U ZX165U
ZT200U ZX200U
Motion Range & Dimensions Motion Range & Dimensions
150 510 395
700
1.30

ZB100L ZT130U
JT1 65 570 65
JT4±360° JT6±360°
160° 50 50 • ISO 9409-1 Series 2 (Ø125)
for 130S/165U Unnecessary
6–M10 Depth 12 for standard spec.

25
50
ZT165U
:Unnecessary

90
+0.030
6–M10 Depth 12

142
to tighten bolts Ø0.15 X Y
Ø80H7 0
JT5±130° Depth 8
X
10 x 2–M6–12/18
Ø0.15 X Y
Ø80H7 JT5±130°
X 5 x 2–M10–20/25
Depth 8

ZT200U
JT4±360° Ø160 Ø125
JT6±360°
Ø125
1,300 24.40
Ø160

700
650

300
+0.015
4-Ø40 2–Ø10H7 0 Depth 12

30
°
Ø0.04 X 4,571
30° Y
173.05
Point P 2–Ø10H7 Depth 12

23

30
°
Ø0.04 X
4-Ø22 30° Y
JT1

25
50
160° 410
ISO FLANGE
* Dimension:228

Working range Installations Dinensions

based on point P
6–M10 Depth 16
1,665 1,131 B
Ø0.15 X Y
Ø55H7
X
Depth 12 210 600.5 78 1,300 24.40
* 850 250
195 427 Ø160 Ø92

80
58
770

90
100 500 100
A
2–Ø25G8 125 125
Ø0.05

300

90
125
60

100
°

3,230
Ø9H7 Depth12
A 30° Y Ø0.04 X
165°

JT3 JT3
1,960

300
300 300
JT2 150° JT2
JT2
70
° OPTION FLANGE 60

770

500
° °
JT2 75
565

565
Point P * Dimension:244

1,100
VIEW A
0°
2,547.5

JT3
12

1,315
JT3
0°

75
°
10

95

100

125
370

8–Ø22

545
545

30
329

530
JT3

80
150°

JT1 180°

JT1 180°
474
587.5

0
957 708

600

2,103

ZB150S ZX130U
6–M10 Depth 12
75 770
JT1 Ø0.15 X Y
700 100 500 100 2–Ø25G8 Ø80H7
Ø0.05 180˚ Depth 8
X

JT1 65 570 65 125 125

R5

100
17

ZX165U
160° 50 50 150 510 395
Ø160 Ø125

125
:Unnecessary
6–M10 Depth 12 to tighten bolts 13
25
50

JT4±360˚ JT6±360˚

300
Ø0.15 X Y
Ø80H7 +0.030

ZX200U
JT5±130° 0
X
Depth 8 2–Ø10H7 Depth 12

500
370

770

30
˚
Ø0.04 X
30˚ Y
JT4±360°
Ø125

90
JT6±360° Ø160

300

142
5 x 2–M10–20/25 ISO FLANGE
JT5±130˚
10 x 2–M6–12/18
700
650

300

* Dimension:228

100
JT1

125
4-Ø40 180˚
300

2-Ø10H7 +0.015
0 Depth 12 1,300 244
30

Point P ,28
9
°

Ø0.04 X
23

8–Ø22
30° Y R1

JT1 4–Ø22
25
50

410 ISO FLANGE 1,965 2,651

30
160°
* Dimension:228

Working range Installation Dimensions

based on point P Installation Dimensions
6-M10 Depth 16
Ø0.15 X Y
Ø55H7 +0.030
0
X
Depth 12

Ø160 Ø92
288
1,365 831 195 427
* 550 250 210 600.5
JT2
JT2
60

˚
60
°

+0.015 75

80
58

90
Ø9H7 0
Depth 12 ˚

30°
1,115

Y Ø0.04 X A
A
JT3

270

90
150° OPTION FLANGE
JT2 * Dimension:244
70
°

3,340

3,415
VIEW A
565

565

Point P
JT2
0°
1,947.5

12

1,315

JT3
0°
10

1,100
216

JT3

* TOOL, HAND, etc. may interfere

70
˚
545

545

with robot arm depending on

1,490
JT3
832.5

0˚
angle of wrist axes.

1,225
JT3 12

150°

670
287.5

474 467
1,199
826 539
Motion Range & Dimensions Motion Range & Dimensions
• ISO 9409-1 Series 2 (Ø125)
Unnecessary

ZX130L ZX300S
Interference radius around JT1 6–M10 Depth 12 for standard spec.
75 770 the rotational axis
180° Ø0.15 X Y
Ø80H7 • ISO 9409-1 Series 1 (Ø160)
100 500 100 R5 X Unnecessary
2–Ø25G8 17 Depth 8 +0.035
for standard spec.
Ø0.05 75 770 Ø100H7 0

125 125 150 510 695 X Depth 8

125
Interference radius around
100

30
13 Ø160 Ø125 100 500 100
2–Ø25G8 the rotational axis JT1 180°

°
Ø0.05
JT4±360° JT6±360° 125 125
R5

100
17

30°
150 360 395
300

125
13
2–Ø10H7 +0.015
Depth 12

90
0
370

500

770

142
JT4±360° JT6±360° 0

30

300
Ø20

°
Ø0.04 X Y
30° Y
5 x 2–M10–20/25 0
16
300

JT5±130° Ø

370

500

770
10 x 2–M6–12/18 6–M10 Depth 12
+0.015
2–Ø10H7 0 Depth 12

90
300
Link H

142
Y Ø0.15 X Y
JT1 Ø0.04 X
100

180°
125

1,600
JT5±120°
300 Rear side interference area
89 5 x 2–M10–20/25
Link H

100
R1,2 • Conventional Type (Ø92)

125
6–M10 Depth 16 JT1 10 x 2–M6–12/18
300
8–Ø22 Ø0.15 X Y +0.030 180°
Ø55H7 0
1,150 248
• Conventional Type (Ø113)
Depth 12
X Rear side interference area +0.030

89 Ø68H7 0

8–Ø22 R1,2 X
Depth 12

30
Ø160 Ø92
30

°
Dimensions for Base 1,815 250.05

30

30°
60
°
+0.015
Ø9H7 0
Depth 12 Dimensions for Base 0
Ø20
2,265 2,951 30° Y Ø0.04 X 3 10–M10 Depth 17
11
Ø
Ø0.15 X Y
+0.015
2–Ø10H7 0
Depth 17
288
Y
Ø0.04 X

210 600.5
VIEW A
JT2 JT2
° 288
60
75

80
58
°
Link H 210 600.5
JT2

90 90
A JT2
° 75
60 °
270

Link H

58

80
3,640

90
A

4,015

270

90

3,115

3,190
1,100

JT3

1,100
70
°
1,490

JT3
JT3
0°

1,225
12

70
°
1,490
JT3
0°
670

12

1,225
670
1,199

1,199

5 x 2–M10–20/25

ZX165L
JT1 180°
75 770 R
51
2–Ø25G8 7 150 669 395 Unnecessary
100 500 100 6–M10 Depth 12 to tighten bolts
Interference radius around 13 Point P
142

125 125 Ø0.05 the rotational axis Ø0.15 X Y

Ø80H7
90
100

X
JT4±360° JT6±360° Depth 8

5
Ø160 Ø12
125
300

500

8–Ø22
370

770

10 x 2–M6–12/18 JT5±130°
300

125

JT1 2–Ø10H7
89
30

,2 180° Depth 12
30

R1 LINK H * Dimension
30° Y
ISO FLANGE 228 Ø0.04 X
100

Rear side
300 Interference area 1,459 * OPTION FLANGE 244
ISO FLANGE
Installation Dimensions *Dimension:228

2,124 2,810
6–M10 Depth 16
Ø0.15 X Y
Ø55H7
X
Working range Depth 12
based on point P Ø92
Ø160
60
°

288 2–Ø9H7
30° Y Depth 12
Ø0.04 X
210 600.5 JT2
°
60 JT2
LINK H 75
Point P OPTION FLANGE
° * Dimension:244
90

80
58

VIEW A
A
270

90

3,499
3,733
1,100

JT3
70
1,490

JT3
1,225

0°
12
670

1,199
 Controller

Ergonomic operation Modular and Specifications

• Optimised work at the teach pendant flexible control design
The Teach Pendant (TP) is a combination of control MODEL D 42
• Connection of peripheral equipment
keyboard and an easy-read, 6.4 inch colour LCD touch- Standard I/O connections and a number of field bus inter-
screen. A new hardware structure for the TP reduces the STANDARD OPTION
faces such as Interbus, Profibus, CC-Link and DeviceNet
key response time and the ergonomic arrangement of Design Standalone main housing
etc. are available as interfaces to the peripheral equip-
the keys helps the operator achieve optimised inputs and ment. The peripheral equipment is connected directly Number of controlled axes 6 axes Maximum 16 axes*¹
programming. The workflow is optimised and the TP beco- and permits the system‘s high flexibility. Servomotor A.C. servomotor
mes an ergonomic user platform for operating the robot. Furthermore, K-Logic (integrated software PLC) allows Position detection Absolute encoder
the creation of a highly complex Integrated system at a Drive system Fully digitally controlled servo-system
minimum cost Programming Block teaching or AS language
Special software Coordinates Systems Axis, basis, tool Fixed tool point
• Network communication
combined with standards The controller also supports network communication via Types of motion control Movement with axis, linear and circle interpolation
Applications Software Modules facilitate programming for Ethernet to communicate with a host computer and for Multi- Ext. control signals Motor voltage Off, Hold
a wide range of applications such as palletizing, handling, an easy upload and download of the programs to be run. purpose Input signals 32 channels 64/96/128 channels
signals
spot welding, bonding and arc welding. The simplified Furthermore, the status of the robot can be monitored Output signals 32 channels 64/96/128 channels
block programming and Kawasaki‘s high level robot per remote access via an Intranet/Internet connection. Storage capacity 1 MB: approx. 10,000 program steps 2/4/8 MB: approx. 20,000/40,000/80,000 program steps
language (AS-language) provide enormous possibilities External memory PCMCIA card slot
for innovative movement- and process control. Using the • Extension with aditional axes Data com- PC, network, etc. RS232C, Ethernet RS485
available options – such as servo-welding, network sup- A further two axes can be integrated in the standard
munication Field bus CC-Link, DeviceNet, Profibus-DP,
port and a high-performance visualisation system – controller without any problems and without an additio- interface ControlNET, AB Remote I/O, Interbus
a platform is created to find flexible solutions for even nal housing. Three or more additional axes are available
the most complex of applications. by selecting SSCNET-compatible motors. This allows 6.4 “ TFT LCD touchscreen, 640x480 VGA, “E-Stop”,
multi-axial systems to be easily configured to match the Teach pendant teach lock switch, deadman‘s switch, 58 hardware keys
customer‘s requirements. (keys for manual operation of the robot, cursor keys, etc.)

High performance through Control panel

Basic switch: motor voltage on, cycle start, error reset,
“E-Stop”, run/hold, teach/repeat, etc.
modern control technology
A RISC, 64-bit high-speed dual processor provides the
User-friendly design Cable
length
Teach Pendant
Robot controller
10 m
5 m, 15 m, 20 m, 25 m, 30 m, 35 m, 40 m
5 m, 15 m, 20 m, 25 m, 30 m
10 m
computing power. The use of a fully digitally controlled A reduction of the robot‘s internal wiring and the use of Dimensions (WxDxH) 600 mm x 550 mm x 1,200 mm
servo-system has significantly improved operating perfor- modular assemblies facilitates servicing and ensures Weight approx. 200 kg (with transformer)
130 kg
mance, cycle time and path accuracy. In addition, system shorter working times when repairing or replacing parts
with no long and costly downtimes. Necessary A.C. 380/400/415/440/460/480 V ± 10%, A.C. 200/220 V ± 10%,
errors have been reduced to a minimum through collision
power supply 50/60 Hz, 3 phases, 11,4 KVA 50/60 Hz, 3 phases, 11,4 KVA
detection/automatic stop and path recovery after an emer- What‘s more, supporting service functions
gency stop. such as data storage help the user locate Own earthing of the robot < 100 Ω; maximum leakage current 100 mA < 100 Ω; max. leakage current 100 mA (with transformer)
The controller is of course fully downwardly compatible. the causes of existing problems. The temperature/humidity 0-45° C, 35-85% humidity without dew formation and frost
This means that the D controller can be integrated in exi- service software includes restoration Colour Munsell 10GY9/1 or equivalent
sting old systems with no problems. procedures* in the event of system * ¹ Please contact us if you use 7 axes or more.
errors (Z Series) and an Ethernet
interface allows a remote system
diagnosis. 160 550 600

* In the event of system errors the service and support

External View & Dimensions
Teach Pendant function of the Z Series offers procedures to display:
possible sources of errors and probabilities as well D42

470
• Large LCD colour monitor with as diagnosis, replacement instructions and times to
remedy faults.
touchscreen functions.
‚b‚n‚m‚s‚q‚n‚k
?@‚o‚n‚v‚d‚q ‚l‚n‚s‚n‚q ‚b‚x‚b‚k‚d
‚o‚n‚v‚d‚q ‚r‚s‚`‚q‚s

‚s‚d‚`‚b‚g ‚q‚d‚o‚d‚`‚s

‚d‚q‚q‚n‚q
‚d‚q‚q‚n‚q
‚q‚d‚r‚d‚s ‚g‚n‚k‚c ‚q‚t‚m

• Ergonomically arranged cursor keys.

• The key layout has been optimised

1,200
with respect to the frequency of use
by the operator.

• Deadman‘s switch with three positions

on rear.
SIDE VIEW FRONT VIEW SIDE VIEW REAR VIEW