kawasaki robot k series · kawasaki robot k series] ... kawasaki robotics (usa), inc. kawasaki...
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Painting robots explosion-proof and painting package cellsK series
Kawasaki Robot
K series
Cat. No. KS1706 M] Materials and specifications are subject to change without notice.
ISO certified in Wixom, Michigan U.S.A.
ACCREDITED
CAUTIONS TO BE TAKEN TO ENSURE SAFETY
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 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.
l 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.
Kawasaki RobotKawasaki Robotics (USA), Inc.Corporate Headquarters for Americas28140 Lakeview Drive, Wixom, MI 48393, U.S.A.Phone: +1-248-446-4100 Fax: +1-248-446-4200
Global Network
Kawasaki Heavy Industries, Ltd.Tokyo Head Office/Robot Division1-14-5, Kaigan, Minato-ku, Tokyo 105-8315, JapanPhone: +81-3-3435-6852 Fax: +81-3-3437-9880
Kawasaki Heavy Industries, Ltd. Akashi Works/Robot Division1-1, Kawasaki-cho, Akashi, Hyogo 673-8666, JapanPhone: +81-78-921-2946 Fax: +81-78-923-6548
Kawasaki Robotics (UK), Ltd.Unit 4 Easter Court, Europa Boulevard, Westbrook Warrington Cheshire, WA5 7ZB, United KingdomPhone: +44-1925-71-3000 Fax: +44-1925-71-3001
Kawasaki Robotics GmbH29 Sperberweg, 41468 Neuss, GermanyPhone: +49-2131-3426-0 Fax: +49-2131-3426-22
Kawasaki Robotics Korea, Ltd.43, Namdong-daero 215beon-gil, Namdong-gu Incheon, 21633, KoreaPhone: +82-32-821-6941 Fax: +82-32-821-6947
Kawasaki Robotics (Tianjin) Co., Ltd.Bldg 3, No.16, Xiang’an Road, TEDA, Tianjin 300457, ChinaPhone: +86-22-5983-1888 Fax: +86-22-5983-1889
Kawasaki Motors Enterprise (Thailand) Co., Ltd.Rayong Robot Center119/10 Moo 4 T. Pluak Daeng, A. Pluak Daeng, Rayong 21140, Thailand Phone: +66-38-955-040-58 Fax: +66-38-955-145
KawasakiRobotics.com
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KJ314
KJ264KJ194KF121
Features
A broad range of robotsKawasaki offers five basic types of painting robot from the KF121 for small workpieces to the KJ314 for inner and outer bodies of automobiles. We provide a range of robots that covers the requirements of all applications and installations.
Built-in hosesThe hollow wrist (3R) prevents paint mist from adhering on tubes and cables and can minimize the chance of painting defects. The inner diameter of the hollow wrist is either 40 or 70 mm.
Enhanced peripheral unitsA control panel is provided to enhance the ease of system development and to interface with the robot traveling unit, workpiece transfer unit, rotation unit, and other devices.
Significant painting experienceGathering painting robot experience has enabled Kawasaki to put together a robot that will match your every need. The K series has used this information and is now equipped with more advanced functions than ever, resulting in a robot of great capability.
Customer supportOur professional staff will be available for support from the initial planning stage right up to system start up. This service will be of great benefit to those new to painting applications.
Arm with internal hose
Kawasaki K series robots are explosion-proof painting robots developed on Kawasaki’s concept of “Simple and Friendly.” This range of robots covers all painting applications from small to large, and the fully integrated hose system provides maximum protection against external dust and dirt.
A selection of robots is available to match your painting application.
1 2
..
Standard specifications
KF121 KJ194 Floor KJ194 Shelf KJ194 Wall KJ264 Floor KJ264 Shelf KJ264 Wall KJ314
Degrees of freedom (axes) 6 6 7
Max. payload (kg) 5 Wrist: 15 Arm: 25 Wrist: 15 Arm: 25 Wrist: 15 Arm: 25 Wrist: 15 Arm: 25 Wrist: 15 Arm: 25 Wrist: 15 Arm: 25 Wrist: 15 Arm: 25
Wrist type RBR 3Rø70 ]5 3Rø70 ]5 3Rø70 ]6 3Rø70 ]5 3Rø70 ]5 3Rø70 ]5 3Rø70 ]5
Motion range(°)
Arm rotation (JT1) ±160 ±120 ±120 +30 - –120 ]6 ±120 ±120 +30 – -120 ]6 ±120
Arm out-in (JT2) ±90 +130 - –80 +130 - –80 +130 - –80 +130 - –80 +130 - –80 +130 - –80 +130 - –80
Arm up-down (JT3) +150 +90 - –65 +90 - –65 +90 - –65 +90 - –65 +90 - –65 +90 - –65 +90 - –65
Wrist swivel (JT4) ±270 ±720 ±720 ±720 ±720 ±720 ±720 ±720
Wrist bend (JT5) ±145 ±720 ±720 ±720 ±720 ±720 ±720 ±720
Wrist twist (JT6) ±360 ±410 ±410 ±410 ±410 ±410 ±410 ±410
Arm swing (JT7) — — — — — — — ±90
Moment(N·m)
Wrist swivel (JT4) ±160 ±120 ±120 +30 - –120 ]6 ±120 ±120 +30 - –120 ]6 ±120
Wrist bend (JT5) ±90 +130 - –80 +130 - –80 +130 - –80 +130 - –80 +130 - –80 +130 - –80 +130 - –80
Wrist twist (JT6) ±150 +90 - –65 +90 - –65 +90 - –65 +90 - –65 +90 - –65 +90 - –65 +90 - –65
Moment of Inertia(kg·m2)
Wrist swivel (JT4) ±270 ±720 ±720 ±720 ±720 ±720 ±720 ±720
Wrist bend (JT5) ±145 ±720 ±720 ±720 ±720 ±720 ±720 ±720
Wrist twist (JT6) ±360 ±410 ±410 ±410 ±410 ±410 ±410 ±410
Positional repeatability (mm) ]1 ±0.2 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5
Max. reach (mm) ]2 1,240 1,940 1,940 1,940 2,640 2,640 2,640 3,100
Max. speed (mm/s) 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5
Mass (kg) 140 530 520 520 540 530 530 720
Body color Munsell 10GY9/1 equivalent Munsell 10GY9/1 equivalent
Installation Floor, Wall Floor Shelf Wall Floor Shelf Wall Wall
Explosion protection
America Combination of pressurized type and intrinsically safety type (CLI ZN1 AExpxib IIB T4 / AExib IIB T4) Combination of pressurized type and intrinsically safety type (CLI ZN1 AExpxib IIB T4 / AExib IIB T4)
Canada Combination of pressurized type and intrinsically safety type (CLI ZN1 Expxib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (CLI ZN1 Expxib IIB T4 / Exib IIB T4)
Europe, China, Korea Combination of pressurized type and intrinsically safety type (II2G Expxib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (II2G Expxib IIB T4 / Exib IIB T4)
Japan & Asia ]3 Combination of pressurized type and intrinsically safety type (Expib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (Expib IIB T4 / Exib IIB T4)
Environmental conditions
Ambient temperature (°C) 0 – 40 0 – 40
Relative humidity (%) 35 – 85 (no dew, nor frost allowed) 35 – 85 (no dew, nor frost allowed)
Power requirements (kVA) ]4 1.5 5 5
Controller
America 37 E35 E35
Europe 47 E45 E45
Japan & Asia 27 E25 E25
]1: Conforms to ISO9283 ]2: Maximum reach: The RBR (Roll Bend Roll) wrist refers to the distance from the center of JT1 to the center of JT5. The BBR (Bend Bend Roll) wrist is the distance from the top arm center line to the
JT4 axis. The 3R (Roll Roll Roll) wrist is the distance from JT1 to the axis cross-point between JT4 and JT5. ]3: Other than China and Korea ]4: Depends on the payload and motion patterns ]5: Hose built-in ]6: Operating range of JT1 is depend on the side of mounting surface. The range is “+120 - −30” in the case of the left side. The range is “+30 - −120” in the case of the right side.
KF121 KF192 / KF262
KF193 / KF263 KJ194 / KJ264 / KJ314
3R (ø70 mm)
RBR BBR
3R (ø40 mm)
JT6(Roll)
JT6(Roll)
JT5 (Bent)JT4 (Roll)
JT6(Roll)
JT5 (Bent)
JT4 (Bent)
JT6(Roll)
JT5(Roll)
JT4 (Roll)
JT5 (Roll)
JT4 (Roll)
KF121 KF192 / KF262
KF193 / KF263 KJ194 / KJ264 / KJ314
3R (ø70 mm)
RBR BBR
3R (ø40 mm)
JT6(Roll)
JT6(Roll)
JT5 (Bent)JT4 (Roll)
JT6(Roll)
JT5 (Bent)
JT4 (Bent)
JT6(Roll)
JT5(Roll)
JT4 (Roll)
JT5 (Roll)
JT4 (Roll)
Wrist types
3 4
..
G
261
261
408
H
1,4611,800
542
(550)
JT1+130°
JT2
–65°
+90°
ABPoint P
JT3
6
F
14
08
50
1,9
40
–120°+30°
–80°
(945)950
Working rangebased on Point P
30°
120°
R445
Mountingsurface
4-M8 22 Deep
5050
10
0335
VIEW H
5050
335
10
04-M8 22 Deep
VIEW G
4-M8 22 Deep
3030
300 372
VIEW E
59 59
6-M6 12 Deep
305
3030
VIEW F
94540605
DD
32
032
5
40
315
315
245
245
40
29
02
90
357526075754036540445
550395
JT2
Cent
er
Installation dimensions
10-ø20
27
10-ø34
SECTION D-D42
5
E
261
38
6316
194
381
410° 410°JT6
720°
720°
JT5
100
720°720°
JT4
105
60°
Detail A
+0.0
251
C
6-M614 Deep
C+0.012+0.004ø5m6
Parallel Pin
ø102
VIEW B
8
0-0.035ø116h7
ø70
SECTION C-C
HG
261261408
1,4611,800
542
39
0
(550)
JT1+130°
JT2
–65°
+90°
A
BPoint P
JT3
6
F
14
08
50
1,9
40
–120°+120°
–80°
(945)950
Working rangebased on Point P
4-M8 22 Deep
5050
100335
VIEW H
5050
335100
4-M8 22 Deep
VIEW G
120° 120°
R445
Mountingsurface
3030
372300
4-M8 22 Deep
VIEW E
59 59
6-M6 12 Deep
305
3030
VIEW F
94540605
DD
32
032
5
40315
315
245
245
40
29
02
90
357526075754036540445
550395
JT2
Cent
er
Installation dimensions
10-ø20
27
10-ø34
SECTION D-D
E
261
38
6316
194
381
410° 410°JT6
720°
720°
JT5
100
720°720°
JT4
105
60°
Detail A
+0.0
251
C
6-M614 Deep
C+0.012+0.004ø5m6
Parallel Pin
ø102
VIEW B
8
0-0.035ø116h7
ø70
SECTION C-C
425
HG
261386
316
194381
6
95
09
00
542
(650)
–120°
+120°
JT1
–80°
+130°
JT2
–65°
JT3
+90°
A
B
FPoint P
140850
1,940
1,8
00
1,4
61
Working rangebased on Point P
260260
E
10
010
0
4-M8 25 Deep
1045
VIEW H
10
010
0
4-M8 25 Deep
4510
VIEW G
59
59
6-M6 12 Deep
3053030
VIEW F
30
037
2
4-M8 22 Deep3030
VIEW E
650475175
1040DD
852
35
235
85
4024
024
040
265
265
35
0355
501002657575
25
JT1 Center
Installation dimensions
12-ø20
27
12-ø34
SECTION D-D
R445
120°
120°
100720°720°
JT5
720°
720°
JT4
410°
410°
JT6
105 60°
Detail A
8
ø70
0 -0.0
35
ø116h7
SECTION C-C
+0.0251
C
+0.012+0.004ø5m6
Parallel Pin
C6-M614 Deep
ø102
VIEW B
JT6: 720°
JT5: 290°
JT4: 540°
JT3: 480°
JT1: 320°
JT2: 180°
150°150°
90°90°
160°
160°
R550
R302
R550
R1,150
2-M6-10/16
M6-10/16
4-M6-10/16
299.
666
±0.0
3
±0.3
2– ø13G10+0.076+0.006
65
13
5
135
1,6
30
55
06
00
40
0
18
154
100
80
117
109
64
142
249.5 329.5
50
15
47
3
234.5
13
5
65
YY
X
Z
A
X
ø2
5H
7+0
.021
0
2-ø6H7+0.012 0ø6
0
±0.2ø40
7-ø14
ø300
330
Installation dimensions
VIEW A SECTION B-B
Base
1,240
off-set: 90
CO.5
2.5
4-M6Through
B
B
(Divide into 8 equal parts)
2-M10 Eye bolts
Purging air inlet port(Tube diameter ø12)
(mm)(mm)
(mm)(mm)
KJ194 WallKJ194 Floor
KJ194 ShelfKF121
Motion range & dimensions
5 6
..
JT1
+30° −120°
JT2
−80°
+130°JT3−65°+90°
B
E
FG
H
14
01
,40
0
(945)1,100
75
5
2,6
40
2,500 2,107
(550)
R444
40
8
25
53
80
18
83
75
P A
26
12
61
31
6
6
39
0
30°
120°
D D
75 75 260 75
40
24
52
45
40
40
35
10-ø20
605
945
32
5
29
02
90
395 550
32
0
(ø34)
27
(ø20)
−720°+720°
JT4
+720°
−410°+410°JT6
JT5
−720°
60°
10
5
100
C
C
ø70
ø116h7 0−0.035
85
1}±
0.0
2
ø5m6 +0.012+0.004
ø102
372300
30
30
26
92
40
28
6
59 59
335100
335100
50
50
50
50
90
Parallel pin
Working rangebased on point P
Counterbore ø34(Ref. SECTION D-D)
4-M8 Dp22
8-M6 Dp12
6-M6 Dp14
4-M8 Dp22
4-M8 Dp22
Mounting surface
JT2 Center
VIEW E
VIEW F
VIEW B
VIEW H
VIEW G
SECTION D-D
SECTION C-C
Installation dimensionsDetail A
JT1
+120° −120°
JT2
−80°
+130°JT3−65°+90°
B
E
F
G H14
01
,40
0
39
0
(945)1,100
75
5
2,6
40
2,500 2,107
(550)
R444
408
25
53
80
18
83
75
P A
261261
316
6
120°
120°
D D
75 75 260 75
40
24
524
54
0
40
35
10-ø20
605
945
32
5
29
02
90
395 550
32
0
(ø34)
27
(ø20)
−720°+720°
JT4
+720°
−410°+410°JT6
JT5
−720°
60°
10
5
100
C
C
ø70
ø116h7 0−0.035
851
}±0
.02
ø5m6 +0.012+0.004
ø102
372300
30
30
26
924
02
86
59 59
335100 335 100
50
50
50
50
90
Counterbore ø34(Ref. SECTION D-D)
Working rangebased on point P
4-M8 Dp22
8-M6 Dp12
6-M6 Dp14
Parallel pin
4-M8 Dp22 4-M8 Dp22
Mounting surface
JT2 Center
VIEW E
VIEW F
VIEW G VIEW H
VIEW B
SECTION D-DSECTION C-C
Installation dimensions
Detail A
E
F
B
+90°
−65°
JT3
+130
°
−80°
JT2
−120°
+120°JT1
G H
R444120°
120°
316
255380
188375
6
2,1
07
2,5
00
2,640
755
1401,400
1,1
00
A
P
90
0
260 260 425(655)
D D
75 7525
265 100
85
23
52
35
85
40
24
02
40
40
10
40
35
5
12-ø20
26
52
65
475
50
35
0
655
(ø34)
27
(ø20)
−720°
+720°
JT4
+720°
−410°
+410°
JT6
JT5 −720°
60°
105
100
C
C
ø7
0
ø1
16
h7
0 −0.0
35
851}±0.02
ø5m6 +0.012−0.004
ø102
37
23
00
30 30 269240286
59
59
10 4510
01
00
10
01
00
45 10
90
Parallel Pin
6-M6 Dp14
8-M6 Dp12
Working rangebased on point P
Counterbore ø34(Ref. SECTION D-D)
JT1 Center
4-M8 Dp22
4-M8 Dp25 4-M8 Dp25
VIEW G
VIEW E
VIEW F
VIEW H
VIEW B
SECTION D-D
SECTION C-C
Installation dimensions
Detail A
(mm)
(mm)(mm)
KJ264 Wall
KJ264 ShelfKJ264 Floor
Motion range & dimensions
7 8
..
JT1
+120°−120°
JT2
−80°
+130°JT3−65°
+90°
B
E
F
G H
JT7+90°
−90°
14
01
,40
0
1,100
75
5
2,6
40
2,1072,500
R444
25
53
80
18
83
75
P A
261261
31
6
6
600 450
37
5(5
20
)
385
120°
120°
90°
90°
R365
D
D
22540
310
12-ø20
13
01
95
13
0
150 125 125 150
115 160 160 115
225 40
35
40
60
0
89
5
305
52
0
(ø3
4)
27
(ø2
0)
−720°+720°
JT4
+720°
−410°+410°JT6
JT5
−720°
60°
10
5
100
C
C
ø70
ø116h7 0−0.035
85
1}±
0.0
2
ø5m6 +0.012+0.004
ø102
372300
30
30
26
92
40
28
6
59 59
50
50
90 10 9010
90
Working rangebased on point P
Counterbore ø34(Ref. SECTION D-D)
Parallel pin
4-M8 Dp22
8-M6 Dp12
6-M6 Dp14
4-M8 Dp22 4-M8 Dp22
JT1 Center
VIEW E
VIEW F
VIEW B
SECTION D-DSECTION C-C
Installation dimensions
Detail A
VIEW HVIEW G (mm)
KJ314
Motion range & dimensions
9 10
..
Controller
550 500
1,400
Equipped with Enable switches.
The arrangement of keys has been optimised through extensive studies of operator hand movements.
Explosion-proof feature on the color LCD with a large-sized and easy-to-see touch panel display.
(mm)
External view & dimensions
Explosion-proof teach pendant
FeaturesCompactWe have reduced the controller’s foot print and overall volume to make high-density layouts easy to achieve.
Explosion-proof teach pendantThe explosion-proof color LCD with its large touch panel allows users to teach, edit, and monitor information such as current position and I/O signals in the explosion-proof area. The interface panel can be customized to meet user preferences, while the backlit screen is easy to read in dark locations.
User-friendly operation systemThe operating system has now fully matured into a more user-friendly design. The operator can switch on the motors and activate the cycle start all from the teach pendant, providing more convenient system control. Two information screens can be displayed simultaneously to provide access to different types of information (for example, positional and signal information).
Painting unit control functions (option)By controlling the CCV, the electro-pneumatic regulator, and the rotation of the discharge control gear pump from the robot controller’s CPU board, this low cost, flexible system is compatible with a range of painting devices. You can also set up painting conditions and conduct discharge rate calibration on the teach pendant screen.
Using the latest technologiesThe enhanced CPU capacity has resulted in more accurate trajectory control, faster program execution, and quicker saving and loading of files, as well as other advantages. In addition the memory has been expanded to provide greater program storage capacity, while a USB port is also provided as standard for connecting external storage devices.
Easier maintenanceWith modular components and fewer cables, Kawasaki has developed a controller that is compact, and easy to maintain. A host of maintenance functions are available, including the DIAG function for self-diagnostics, a maintenance support function that can handle not only hardware errors but also application errors, a Web server that allows remote diagnostics, and more.
Highly expandableBy installing an additional amplifier, and adding workpiece transfer devices (tombow, shuttle, turntable, etc.), travel unit and gear pump, etc., the system can accept up to three external axes. The system is compatible with a large number of field buses for controlling peripheral devices. Combination with software sequencer function (KLogic), which can be edited on the teach pendant, allows easy structuring of a highly sophisticated system.
The E Controller, delivering unprecedented quality with a compact
size, was developed to respond to the requirements of our customers.
Kawasaki's past achievements and experience have led to the
development of the most technically advanced controller available.
This industry-leading design provides improved performance and
easy operation that surpasses all expectations.
E series
Standard
Option
External axis
USB
✽3: For details, see the “Option” field for Operation panel in the Specifications.
✽4: Standard for the E45/E47
✽5: Standard for the E35/E37 and E45/E47
Optional board
Optional device
RS-232C
Ethernet
DIO board, 32 I/O points each, max. four boards (128 points)
DeviceNET board, master/slave
CC-Link board, slave
PROFIBUS board, master/slave
EthernetIP board, master/slave
CAN open board, slave
Conveyor I/F board
Option switch ✽3
100Vpower outlet ✽4
Teach pendant
Terminalsoftware
Terminal software
USB memory
Key board
Brake releaseswitch ✽5
External axis motor• Workpiece transfer/rotation
devices (tombow, shuttle, turntable)
• Travel unit• Gear pump
System configuration diagram
]1: The E45/E47 comes with three switches to change between teach/teach 100%/repeat, as standard equipment.]2: Power requirements ensure maximum operation of a robot, not those required for normal operations.
Standard
OptionAmerica E35/E37
Europe E45/E47
Japan & Asia E25/E27
Dimensions (mm) W500 × D550 × H1,400
Structure Enclosed structure/Indirect cooling system
Number of controlled axes 6 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
Programming Point to point teaching or language based programming
Memory capacity (MB) 8
Generalpurposesignals
External operation Motor power Off, Hold
Input (channels) 32 Max. 128
Output (channels) 32 Max. 128
Operation panelE-Stop switch, Teach/repeat switch ]1, Control power light
(Cycle start, motor-on, hold/run, and error reset are activated from the teach pendant)
Cycle start switch, Motor-on switch, Hold/run switch, Error light,
Error reset switch
Cablelength
Robot-controller (m) 5 Possible to extend up to 40
Teach pendant (m) 5 5, 15, 20, 25
Mass (kg) 120 (E25/E27), 170 (E35/E37, E45/E47)
Power requirements
E35/E37AC440–480V±10%, 60 Hz, 3ø 7.3 kVA (E35)/5.1 kVA (E37) ]2
Protective ground, Leakage current: Maximum 10 mA
E45/E47AC380–415V±10%, 50/60 Hz, 3ø 7.3 kVA (E45)/5.1 kVA (E47) ]2
Protective ground, Leakage current: Maximum 10 mA
E25/E27AC200–220V±10%, 50/60 Hz, 3ø 10 kVA (E25)/5.6 kVA (E27) ]2
Class-D ground (standard for robots), Leakage current: Maximum 100 mAClass-A ground (for intrinsic explosion-proof safety circuits)
Environmental conditions
Ambient temperature (ºC) 0 - 45
Relative humidity (%) 35 - 85 (no dew, nor frost allowed)
Body color Munsell 10GY9/1 equivalent
Teach pendantTFT color LCD display with touch-panel, E-Stop switch,
Teach lock switch, Enable switch
Auxiliary storage unit – USB memory
Interface USB, Ethernet (100BASE-TX), RS232C
Specifications
11 12
..
Servo shuttle
Servo twister
If you need to get your painting system operational quickly, Kawasaki painting package cells are available. These package cells arrive as a compact, ready-to-use units that can be easily installed in a limited space, allowing you to begin the painting process immediately.
Our robot is available in a “package cell” allowing production to commence almost instantly.
Line control panel
Painting unit control panel
Package CellsTo meet customer needs, we offer packaged cells that come in various sizes and configurations, theses cells are named, servo twister, servo tombow, servo shuttle, servo spinner, servo turntable and servo wing.
Painting unit control panel (air panel)The painting unit control panel allows control of the changes to the discharge rate, atomizing air and air patterns to meet complex work applications.
Functions such as automatic color change and automatic washing for each specified cycle could be incorporated to suit the customers needs.
Robot travel unitRobot travel unit synchronizes with robot motion by additional servo drives, thus allowing the painting process to take place on a moving component. Robot travel units can be used during the painting of automobiles, construction machinery, and septic tanks.
“KOSMOS” line control softwareIn painting processes where two or more robots are in operation, the KOSMOS line control panel provides real time status information and access to production management information.
Line monitoring functionThe LCD screen lets you observe the status of the entire system such as workpiece type, color, coating robot and peripheral unit operation, painting conditions, system errors, etc.
Data setting functionThe graphical interface of the touch panel allows the setting and changing of the coating requirements and coating unit control panel.
• Paint flow rate, atomizing air pressure, pattern air pressure, and the other painting requirement settings
• Time chart setting for color change, gun cleaning, etc.• Program number setting for each workpiece type and
color
• CCV number setting for each color
Statistical functionsAvailable data for production management include production statistics, error statistics, paint consumption, etc.
High quality, efficient spray painting can be achieved by combining high performance workpiece transfer and rotation devices, paint spray control systems of advanced technology and highly developed paint spray robots and atomizers. Kawasaki’s various types of peripheral equipment provide ideal paint spray facilities.
Peripheral Equipment
13 14
..
Package cell
Specifications
Standard Heavy load carrying
Table load (kg) 20 x 2 Table 40 x 2 Table
No. of control axes Robot 6 + Servo tombow 2
Control method Servo control
Teaching playback method PTP teaching + CP control
Position detection method Absolute encoder
Arm
Diameter (mm) 1,000, 1,200, 1,400, 1,600
Operation angle (°) 180
Indexing time (sec) 2 / 180°
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 0.8 / 90° 1.2 / 90°
Uninterrupted rotary speed (rpm) Max. 90 Max. 45
Rotary direction Normal / Reverse rotation
Explosion protectionAir pressurized explosion protection and intrinsically safe
Explosion-proof composite type (Expib II BT4 / Exib II BT4)
Mass (kg) 110 (Diameter: 1,000 mm), 150 (Diameter: 1,400 mm)
Color Munsell 10GY9/1 equivalent
Note: The standard arm lengths are 1,000 mm and 1,400 mm. The work loading table and loading fixtures to be prepared by the purchaser.
Robotcontroller
Painting booth
Servo Tombow
Manual operation box
Air panel
Safety fence
External view and dimensions
About 1,000, 1,400
Abo
ut 5
00
Abo
ut 7
00
4-M8Dp15
Table shaft details
ø80
ø63
600
600
Small sized painting applications
Servo TombowSpace saving and easy-to-install
1. Smooth movementServo motion control provides smooth movement to eliminate work slippage.
2. Higher painting qualityFor small cubical boxes (electronic appliances such as TV cabinets, etc.), the spray gun can be oriented to each surface at a right angle. The distance between the gun and the surface can also be adjusted simply by entering a value. These features enable easy operation and enhance the painting quality.
3. Synchronous operation with the robotThe Servo Tombow’s table rotation is synchronized with the robot movements, assuring a uniform paint finish for cylindrical shaped components such as hot plates, wooden trays, automobile hubs, etc. The Tombow table offers 360 degrees of rotation.
4. Preventing paint mist accumulationTo reduce the problem of paint mist accumulation, workpieces can be positioned above a water tank when spraying.
4-M8Dp15/20
Table shaft details
600ø63
ø80
1,00
0
About 2,200A
bout
890
Abo
ut 7
10
Robotcontroller
Painting booth
Servo Tombow - R
Manual operation box
Air panel
Safety fence
External view and dimensions
Specifications
Standard Heavy load carrying
Table load (kg) 20 x 2 Table 40 x 2 Table
No. of control axes Robot 6 + Servo tombow 2
Control method Servo control
Teaching playback method PTP teaching + CP control
Position detection method Absolute encoder
Arm
Diameter (mm) 1,000, 1,200, 1,400, 1,600 1,800, 2,000, 2,200
Operation angle (°) 180
Indexing time (sec) 4 / 180°
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 1.0 / 90° 1.7 / 90°
Uninterrupted rotary speed (rpm) Max. 90 Max. 45
Rotary direction Normal / Reverse rotation
Explosion protectionAir pressurized explosion protection and intrinsically safe
Explosion-proof composite type (Expib II BT4 / Exib II BT4)
Mass (kg) Approx. 550–690 (excluding the manipulator base)
Color Munsell 10GY9/1 equivalent
Note: A set of work loading tables and loading fixtures are necessary. Install the Manipulator KF121 onto a tombow-R with an arm length of 1,800 mm or 2,000 mm. Install the Manipulator KF192 / 193 / 194 onto a tombow-R with an arm length of 2,200 mm or 2,600 mm.
Small sized painting applications
Servo Tombow - REnhanced space efficiency
1. Space efficientThe paint robot is installed at the center of the Servo Tombow painting system, thereby achieving greater space efficiency.
2. Adaptability to different painting conditionsThe tables and arm can be positioned and speed-controlled with a high level of precision. The tables can also be continuously rotated and fixed at any desired angle, making it possible to select the best painting method for the workpiece.
3. Enhanced paint qualityThere are few obstacles surrounding the tables, allowing the paint robot to freely change its posture. The lack of obstacles also means that the airflow inside the booth does not become too turbulent. These advantages lead to an improved level of paint quality.
4. Ideal for automated transportation equipmentThis system attaches and removes workpieces behind the paint robot. As a result, this system can be easily combined with automated transportation equipment that uses conveyors or delivery robots.
(mm) (mm)
15 16
..
Package cell
135°
135°
ø80
ø63
500 (Arm Length 650)600 (Arm Length 800)
500
(Arm
Len
gth
650)
600
(Arm
Len
gth
800)
About 650, 800
Abo
ut 7
00
Abo
ut 5
00
4-M8 Dp15Table shaft details
Robotcontroller
Painting booth
Servo Twister
Manual operation boxAir panel
Safety fence
External view and dimensions
Specifications
Standard
Table load (kg) 20 x 2 Table
No. of control axes Robot 6 + Servo twister 2
Control method Servo control
Teaching playback method PTP teaching + CP control
Position detection method Absolute encoder
Arm
Length (mm) 650, 800
Operation angle (°) 135
Indexing time (sec) 1.8 / 135°
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 0.8 / 90°
Uninterrupted rotary speed (rpm) Max. 90
Rotary direction Normal / Reverse rotation
Explosion protection
Air pressurized explosion protectionand intrinsically safe
Explosion-proof composite type(Expib II BT4 / Exib II BT4)
Mass (kg) 120
Color Munsell 10GY9/1 equivalent
Note: The work loading table and loading fixtures to be prepared by the purchaser.
Small sized painting applications
Servo TwisterA compact but sophisticated system
1. Small installation spaceThe minimum installation space required for this system is 2,200 mm wide x 1,966 mm long for a 600 x 600 mm table. Such compactness allows you to install this system in a narrow hand-blowing booth.
2. Rotary table functionsIn spite of its small size, the Servo Twister provides rotary coating, indexed coating and rotary synchronization functions.
3. 6-axis robotsThe Servo Twister installation uses a 6-axis, articulated robot.
4. Shared coating programThe integration of the robot and painting table into one unit allows for programs to be shared by more than one robot.
5. Short installation timeThe Servo Twister cell can be built before delivery, so that the installation time is as shortened and in production as soon as possible.
4-M10Dp20
Table shaft details
(mm)
4772,000, 2,700, 3,200, 4,000
552
240520
710
188
ø90
ø74
600
600
Painting booth
Robotcontroller
Air panel
Safety fence
Manipulator base Manual operation box
Servo Shuttle
Servo Shuttle
External view and dimensions
Specifications
Standard Heavy load carrying
Table load (kg) 20 x 2 Table 60 x 2 Table
No. of control axes Robot 6 + Servo shuttle 2
Control method Servo control
Teaching playback method PTP teaching + CP control
Position detection method Absolute encoder
ShuttleStroke (mm) 2,000, 2,700, 3,200, 4,000
Max. speed (mm / sec) 1,000
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 0.8 / 90° 1.2 / 90°
Uninterrupted rotary speed (rpm) Max. 90 Max. 45
Rotary direction Normal / Reverse rotation
Intermediate stop function The intermediate stop function and multiple coating control function are available
Explosion protectionAir pressurized explosion protection and intrinsically safe
Explosion-proof composite type (Expib II BT4 / Exib II BT4)
Mass (kg) One side: 230 to 310 One side: 350 to 405
Color Munsell 10GY9/1 equivalent
Note: The work loading table and loading fixtures to be prepared by the purchaser.
1. Improvement in productivityServo motion provides high speed work transfer and table rotation with shock-less smooth start and stop motion, and also enables continuous rotation tracking with robot and any stand-by position of feeder.
2. Higher coating qualityCombining controlled table positioning with a high speed precision robot and Servo Shuttle, results in high-quality painting.
3. Simple teachingThe simple teaching function provided by the KF series painting robot eliminates time-consuming program teaching.
4. Increased table loadPaint large items such as automobile instrument panels, etc.
5. Simple installationThis complete package is simple to install, but will provide for the painting of the most complex of components.
Medium sized work-piece painting cell
Servo ShuttleUltimate “table painting” type
(mm)
17 18
..
Package cell
Painting booth
Servo Wing
Manual operation box
Robotcontroller
Air panel
Safety fence
(mm)
30° 1,300
300
680
672
2,67
0
500
1,300
ø82
ø160
ø104
ø10H7 +0.015 0
ø65H8 +0.04 05 (
ø65H
8)
4-M8 Dp16/22
Dp15
Table shaft details
Pin hole for positioning
External view and dimensions
Specifications
Standard
Table load (kg) 30 x 2 Table
No. of control axes Robot 6 + Servo wing 2
Control method Servo control
Teaching playback method Servo control
Position detection method Absolute encoder
ArmStroke (mm) 2,670
Indexing time (sec) 3.2
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 1.2 / 90°
Uninterrupted rotary speed (rpm) Max. 90
Rotary direction Normal / Reverse rotation
Intermediate stop functionThe intermediate stop function and multiple
coating control function are available
Explosion protectionAir pressurized explosion protection and intrinsically safe Explosion-proof composite type (Expib II BT4 / Exib II BT4)
Mass (kg) 970
Color Munsell 10GY9/1 equivalent
Note: The arm index time indicates the time of arm movement from the intermediate stop position to the painting position.
The arm index time varies depending on the intermediate stop position.
1. Space SavingWhile suitable for workpieces of a larger size than in the Servo Shuttle, the installation space is made smaller. Because the left and right workpieces are closer together, loading and unloading work is reduced.
2. Even Small-sized Robots Cope with Large Workpieces
Because there is one painting position, the distance between the workpiece and the robot becomes closer, making the robot possibly smaller than that in Servo Shuttle.
3. Less teaching workBecause the left and right arms can be set for the same painting positions (one position), a single program can be used, thus making the teaching time shorter.
4. Preventing paint mist accumulationBecause the arms are slim with no fixed rails, painting can be conducted above the water, reducing soiling of the booth. In addition, the airflow turbulence inside the paint booth can be minimized.
5. Short Construction PeriodThis device is delivered pre-assembled. So, it can be installed in as little as one day and you can start production immediately.
Medium sized work-piece painting cell
Servo WingThe installation space for “Table Painting” was made even smaller.
610
278
233
4-M10Dp20
Table shaft details
ø134
ø134
ø88
Floorconveyor
Servo Spinner
Safety fence
RobotcontrollerAir panel
Painting booth
External view and dimensions
Specifications
Standard Heavy load carrying
Table load (kg) 20 60
No. of control axes Robot 6 + Servo Spinner 1
Control method Servo control
Teaching playback method PTP teaching + CP control
Position detection method Absolute encoder
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 0.8 / 90° 1.1 / 90°
Uninterrupted rotary speed (rpm) Max. 90 Max. 45
Rotary direction Normal / Reverse rotation
Explosion protectionAir pressurized explosion protection and intrinsically safe
Explosion-proof composite type (Expib II BT4 / Exib II BT4)
Mass (kg) 60
Color Munsell 10GY9/1 equivalent
1. Flexible component placementChoose the optimum painting posture for the workpiece, and reduce contamination of the paint booth.
2. Uninterrupted paintingPainting can be performed with the table rotating, thus minimizing the robot’s wait time.
Medium sized work-piece painting cell
Servo SpinnerA new dimension in “line coating”
(mm)19 20
..
Package cell
Servo Turntable
Loading/unloadingof work-piece
Safety fence
Painting booth
RobotcontrollerAir panel
450
ø650, ø1,000, ø1,500, ø2,000
ø640
External view and dimensions
Specifications
Standard Heavy load carrying
Table load (kg) Max. 500 Max. 1,000
No. of control axes Robot 6 + Servo Turntable 1
Control method Servo control
Teaching playback method PTP teaching + CP control
Position detection method Absolute encoder
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle 45-deg., 90-deg., 180-deg and arbitrary angle
Indexing time (sec) 2.5 / 90° 5 / 90°
Uninterrupted rotary speed (rpm) Max. 10 Max. 5
Rotary direction Normal / Reverse rotation
Explosion protectionAir pressurized explosion protection and intrinsically safe
Explosion-proof composite type (Expib II BT4 / Exib II BT4)
Mass (kg) 510 560
TableDiameter (mm) ø650, ø1,000, ø1,500, ø2,000
High (mm) 450
Color Munsell 10GY9/1 equivalent
Option: Foot switch functionUninterrupted normal rotation,
Rotation stop
Uninterrupted rotation, 45-deg., 90-deg., 180-deg., Indexing
(changeable indexing angle), Rotation stop
Large sized work-piece painting cell
Servo TurntableComplete surface painting is possible with uninterrupted turntable rotation
1. The integrated control of the robot and table allows any painting position to be achieved according to the work shape.
2. The system can be applied to various types of painting such as synchronous control, arbitrary-angle indexing, paint spraying with continuous rotation of the table.
(mm)
21 22