kawasaki robot r series - robital · rs003n rs005n rs005l rs006l rs010n rs010l rs015x rs020n rs030n...
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R seriesKawasaki Robot
R series
Small-to-medium payload robots up to 80 kg
European Headquater, Sales and Service
Kawasaki Robotics GmbHhttp://robotics.kawasaki.comSperberweg 29, 41468 Neuss, GermanyPhone: +49-2131-3426-0 Fax: +49-2131-3426-22
Locale Office
Kawasaki Robotics (UK) Ltd.http://robotics.kawasaki.comUnit 4 Easter Court, Europa Boulevard, Westbrook Warrington Cheshire, WA5 7ZB, United KingdomPhone: +44-1925-71-3000 Fax: +44-1925-71-3001
Kawasaki Heavy Industries Russia LLC (KHI- Moscow)
http://robotics.kawasaki.com Office 1206, entrance 3, 12 Krasnopresnenskaya emb.,Moscow, Russian Federation 123610Phone: +7-495-258-2115 Fax:+7-495-258-2116
Kawasaki Heavy Industries Middle East FZE (KHI-ME)
http://robotics.kawasaki.com Dubai Aiport Free Zone, Bldg. W6, Block-A,Office No. 709, PO BOX 54878, Dubai UAEPhone: +971-(0)4-214-6730 Fax:+971-(0)4-214-6729
* Materials and specifications are subject to change without notice.
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.
ISO certified in Akashi Works.
Printed in Germany July 2016 Catalogue No. GE134
High-speed, high-performance industrial robots that raise the bar
Kawasaki’s R series robots are setting the benchmark for all small to medium duty
industrial robots. The compact design along with industry leading speed, reach, and work
range make the R series robots ideal for a wide range of applications in a multitude of
diverse industries.
FeaturesHigh-speed operationThe light weight of the R series arm together with high output, high revolution motors provide industry leading acceleration and high-speed operation. The acceleration rate automatically adjusts to suit the payload and robot posture to deliver optimum performance and the shortest cycle times.
High torqueHigh output motors combined with a rigid arm construction deliver superior wrist torque and load capacity. This high torque rating lets system designers select from a broad range of end-of-arm tooling, as well as provides more flexibility when working with complex workpieces.
Wide work rangeIn addition to extending the robot’s maximum reach, the rotation range of each axis has also been increased. The extended motion range translates to a larger usable work area with minimal dead space and greater flexibility.
Environmental protectionThe R series incorporates a double seal construction on all axes and water-resistant electrical connections, offering an IP67 classification for the wrist and IP65 for the remaining axes. If a washdown arm is required, the entire robot can be provided as IP67.
Integrated featuresBuilt-in pneumatic lines and internal wiring for sensors and solenoid valves are standard. Mounting pads and taps are provided to allow the easy installation of additional cabling, tubing or equipment.
RS030N/RS050N/RS080NRS020NRS015XRS010LRS010NRS006LRS005LRS005NRS003N
Typical applications : Assembly / Dispensing / Machine tending / Material handling/Material removal / Palletizing / Welding
2 3
Standard specifications
RS003N RS005N RS005L RS006L RS010N RS010L RS015X RS020N RS030N RS050N RS080N
Type Articulated robot Articulated robot
Degree of freedom (axes) 6 6
Max. payload (kg) 3 5 5 6 10 10 15 20 30 50 80
Max. reach (mm) 620 705 903 1,650 1,450 1,925 3,150 1,725 2,100 2,100 2,100
Positional repeatability (mm) ]1 ±0.05 ±0.02 ±0.03 ±0.05 ±0.04 ±0.06 ±0.15 ±0.05 ±0.07 ±0.07 ±0.07
Motion range(°)
Arm rotation (JT1) ±160 ±180 ±180 ±180 ±180 ±180 ±180 ±180 ±180 ±180 ±180
Arm out-in (JT2) +150 - –60 +135 - –80 +135 - –80 +145 - –105 +145 - –105 +155 - –105 +140 - –105 +155 - –105 +140 - –105 +140 - –105 +140 - –105
Arm up-down (JT3) +120 - –150 +118 - –172 +118 - –172 +150 - –163 +150 - –163 +150 - –163 +135 - –155 +150 - –163 +135 - –155 +135 - –155 +135 - –155
Wrist swivel (JT4) ±360 ±360 ±360 ±270 ±270 ±270 ±360 ±270 ±360 ±360 ±360
Wrist bend (JT5) ±135 ±145 ±145 ±145 ±145 ±145 ±145 ±145 ±145 ±145 ±145
Wrist twist (JT6) ±360 ±360 ±360 ±360 ±360 ±360 ±360 ±360 ±360 ±360 ±360
Max. speed(°/s)
Arm rotation (JT1) 360 360 300 250 250 190 180 190 180 180 180
Arm out-in (JT2) 250 360 300 250 250 205 180 205 180 180 180
Arm up-down (JT3) 225 410 300 215 215 210 200 210 185 185 160
Wrist swivel (JT4) 540 460 460 365 365 400 410 400 260 260 185
Wrist bend (JT5) 225 460 460 380 380 360 360 360 260 260 165
Wrist twist (JT6) 540 740 740 700 700 610 610 610 360 360 280
Moment(N·m)
Wrist swivel (JT4) 5.8 12.3 12.3 13 22 22 34 45 210 210 336
Wrist bend (JT5) 5.8 12.3 12.3 13 22 22 34 45 210 210 336
Wrist twist (JT6) 2.9 7 7 7.5 10 10 22 29 130 130 194
Moment of Inertia(kg·m2)
Wrist swivel (JT4) 0.12 0.4 0.4 0.45 0.7 0.7 0.8 0.9 16.8 28 34
Wrist bend (JT5) 0.12 0.4 0.4 0.45 0.7 0.7 0.8 0.9 16.8 28 34
Wrist twist (JT6) 0.03 0.12 0.12 0.14 0.2 0.2 0.25 0.3 6.6 11 13.7
Max. speed (mm/s) 6,000 9,100 9,300 13,700 11,800 13,100 19,900 11,500 13,400 13,400 12,700
Mass (kg) 20 34 37 150 150 230 545 230 555 555 555
Body color Munsell 10GY9/1 equivalent Munsell 10GY9/1 equivalent
Installation Floor, Ceiling Floor, Ceiling
Environmentalcondition
Ambient temperature (°C) 0 - 45 0 - 45
Relative humidity (%) 35 - 85 (No dew, nor frost allowed) 35 - 85 (No dew, nor frost allowed)
Power requirements (kVA) ]2 1.0 1.5 1.5 2.0 2.0 3.0 4.0 3.0 4.5 4.5 4.5
Degree of protection IP54 Wrist : IP67 Base axis : IP65 Wrist : IP67 Base axis : IP65
Controller
America E76 E77
E01 E01 E02 E01 E02Europe E70 E71
Japan & Asia E73 E74
]1: conforms to ISO9283 ]2: depends on the payload and motion patterns
Options v : Option available 1 : Option not available
RS003N RS005N RS005L RS006L RS010N RS010L RS015X RS020N RS030N RS050N RS080N
IP67 (JT1-3) 1 1 1 v v v v v v v v
Wall mount v v v v v v v v v v v
Traverse unit 1 1 1 v v v v v v v v
Riser (300/600mm) 1 v v v v v v v v v v
Base plate 1 v v v v v v v v v v
Mechanical stopper JT1 v v v v v v v v v v v
Mechanical stopper JT2/JT3 1 1 1 v v v v v v v v
Solenoid valve (1 circuit) v v v v v v v v v v v
Solenoid valve (2 circuits) v v v v v v v v v v v
Solenoid valve (3 circuits) 1 v v v v v v v v v v
Solenoid valve (4 circuits) 1 1 1 v v v v v v v v
Sensor harness (4 circuits) v 1 1 1 1 1 1 1 1 1 1
Sensor harness (12 circuits) 1 v v v v v v v v v v
Op. machine harness (7 pairs) 1 1 1 1 1 1 v 1 v v v
Servo-on lamp v v v v v v v v v v v
Limit switch (JT1) 1 1 1 v v v v v v v v
4 5
RS006L/RS010NRS005N
RS005LRS003N
(mm)(mm)
(mm) (mm)
ø9
4-ø9
2-ø6H7
ø5H7 Dp8
ø20H7Dp3
ø40h7
ø0.04
ø0.04
ø0.2
4-ø18
2-ø13H9
ø6H7 Dp6
ø25H7Dp6
ø0.06
ø0.04
ø0.3
ø40
ø30
ø18
JT6 : ±360°JT4 : ±360°
JT5 : ±145°
11
0
X
Y
X
X Y
4-M5 Dp8
45°
90
°
88±0.1
17
0
88
±0
.1
173152
15
212
5
76
13
0
130
JT1 : 180°
R210
JT1 : 180°
JT6 : ±360°JT4 : ±360°
JT5 : ±145°
JT2 : 80°
JT2 : 135°
JT3 : 118°
A
JT3 : 172°
687 903
1,0
93
39
1
242
29
53
80
80
105 410 78
82
5
11
0
R210
P
57
120118
126125
90
X
Y
X
X Y
4-M5 Dp8
45°
90
°1
5
88±0.1
17
0
88
±0
.1
173152
15
212
5
76
13
0
130
JT1 : 180°
JT1 : 180°
72
5
120118
126125
JT2 : 80°
JT2 : 135°
JT3 : 118°
A
JT3 : 172°
705
89
52
23228140
29
5
13
5
28
08
0
105 310 78
P
57
90
488
ø9
ø0.04
ø0.04
ø0.2
4-ø9
2-ø6H7
ø5H7 Dp8
ø20H7Dp3
ø40h7
15
A
100
700(RS010N)900(RS006L)
88
210194
148 207
12
8
65
04
30
80
2.4
1,0
02
.4
1,7
80 1
,98
0
43
8.2
63
8.2
1,250
1,450 1,650
1,450
305.6
437.1
10
0
R259
1,1
95
X
Y
YX
X
90
°
45°
4-M6 Dp8
92220
138±0.1220
18
4
22
01
53
±0
.130
0
13
JT2 : 105°
JT2 : 145°
JT3 : 150° JT3 : 163°
JT1 : 180°
JT1 : 180°
JT4 : ±270°
JT5 : ±145°
JT6 : ±360°
P
JT3 : 120°
JT3 : 150°
JT2 : 150°
A
JT4 : ±360°JT6 : ±360°
JT5 : ±135°JT1 : 160°
JT1 : 160°
JT2 : 60°
P
9790
108
57
3
106
25
02
50
120 250 80
347 620
249.4
84
21
77
50
12
5
R216
10
4
X
X
90
°
45°
4-M5 Dp8
15
.75
8
88
±0
.1
15
2
17
0
13
0
152
170
88 ±0.1130
Working rangebased on point P
Installation dimensions
VIEW A
Working rangebased on point P
Installation dimensions
VIEW A
Working rangebased on point P
Installation dimensions
VIEW A
Working range based on point P (RS006L)
Working range based on point P (RS010N)
Installation dimensions
VIEW A
ø14
ø9
4-ø9
ø5H7 Dp8
ø31.5
ø40
ø20H7
Dp4
ø0.04
±0.2
ø31.5
ø31.5
Motion range & dimensions
6 7
RS030N/RS050N/RS080NRS015X
RS020NRS010L
(mm)(mm)
(mm) (mm)
JT1 : 180°
JT1 : 180°
R328
JT5 : ±145°
JT4 : ±270° JT6 : ±360°
14
6
250
33
0
13
276
120 4-ø18
ø30
24
0
27
6
ø18
163±0.1
16
8±
0.1
2-ø13H9ø0.06
13
ø30
ø18
2-ø13H9
ø0.06
45°
90
°
ø75
Y
4-M6 Dp9
ø63
X
X
X
Yø0.3
ø0.04
ø40H7
Dp6
ø6H7 Dp6
1,425 1,725
2,0
40
1,0
37.
9
A
12
0
77
04
65
1,3
60
53
9.3
JT2 : 155°
JT2 : 105°
JT3 : 150°JT3 : 163°
150260170
260220
95805
P
383.9
JT1 : 180°
JT1 : 180°
4-ø18
45°
90
°
ø75 4-M6 Dp9
ø63
X
X
Yø0.3
ø0.04
Xø40H7Dp6
ø6H7 Dp6
8-ø18
2-ø13H9
ø6H7 Dp6
ø18
ø0.06ø26
JT2 : 155°
JT2 : 105°
JT3 : 150° JT3 : 163°
P
276
163±0.1250
120
24
0
27
61
68
±±
0.13
30
Y
JT4 : ±270°
JT5 : ±145°
JT6 : ±360°
14
6
R328
1,9251,625
A
2,2
40
1,005
77
04
65
500.5
1,2
37
.9
73
9.3
260220
260
1,3
60
170 95150
12
0
277
298
307
1,6
96
.5
244
JT2 : 140°
68
08
70
62
5.2
619.2
1,0
66
.5
JT3 : 135°
JT3 : 155°
P
150 1,080 165
JT2 : 105°
JT1 : 180°
JT1 : 180°
1,800 2,100
R397
JT6 : ±360°
JT5 : ±145°
JT4 : ±360°
20
6
A
15
8
2,6
30
17
Y30°
60°
X
X
6-M8 Dp13
X Y
210±0.1
8-ø18
2-ø13H9
ø8H7 Dp8
ø50H7
Dp6
ø0.06
ø0.04
ø0.3
ø26
ø18
ø80ø94
380
300
320
40
0
34
0
30
0
38
02
10
±0
.1
170
17
210±0.1
380
300
320
40
0
34
0
30
0
38
0
21
0±
0.1
170
JT2 : 105°
JT2 : 140°
JT3 : 135°JT3 : 155°
JT6 : ±360°
JT5 : ±145°
JT4 : ±360°
JT1 : 180°
JT1 : 180°
A
D.
TSM VW S/N
150 1,850
68
01
,15
0
R397
307
1,9
76
.5
298
277
244
95
2,850 3,150
1,4
67.
6
20
51
3,6
80
1,092.7
14
61
20
YXø0.3
X
Xø0.04
Y
ø40H7Dp6
4-M6 Dp9
90
°
45°
ø75
ø63
P
Working rangebased on point P
Installation dimensions
VIEW A
Working rangebased on point P
Installation dimensions
VIEW A
Working rangebased on point P
Installation dimensions
VIEW A
Working rangebased on point P
Installation dimensions
VIEW A
Motion range & dimensions
8 9
Controller
USB
RS-232C
DIO board
External-axis motor
Standard
Option
Optional board
Optional device
Ethernet
DeviceNet board, master/slave
CC-Link board, master/slave
PROFIBUS board, master/slave
PROFINET board, master/slave
Ethernet/IP board, master/slave
CAN open board, slave
EtherCAT board, master/slave
Cubic-S✽1 (area monitor/speed monitor)
Conveyor I/F board
Option switch✽2
Rapid-feed checkmode switch✽1
Transformer unit✽1
Teach pendant
Terminal software
Terminal software
Vision controller
USB Memory
Brake release switch
DIO board: 32 points eachmax. 3 boards (96 points)
✽1 E0X only✽2 E7X only
POWER
REPEATTEACH
420 500
25
02
60
18
18
17
09
POWER100% CONTROL
REPEATTEACHOFF ON R
PS OT
EM CG
E YNE
580 550
580 550
Teach pendant
System configuration diagram
Specifications
External view & dimensions
E01/E02 (mm)
Transformer unit ]
E7X
E series - An evolution of engineering excellenceKawasaki has incorporated more than 45 years of experience as a robot industry leader into the development of the most technically advanced controller available. The E Controller combines high performance, unprecedented reliability, a host of integrated features and simple operation, all in a compact design.
FeaturesCompactThe overall volume of the E Controller has been reduced compared with the previous model. The small footprint of this compact controller allows for installation in “high-density” applications. For further space saving options, an upright-position or stacked installation] is possible, without impeding performance.]E0X only
User-friendly operationThe easy-to-use teach pendant now incorporates motor power and cycle start at your fingertips. Multiple information screens can be displayed simultaneously. The intuitive teaching interface is simple to use.
Programming ease & flexibilityA rich set of programming functions come standard with the E Controller to support a wide range of applications. Functions can be combined and easily configured within a system to suit a particular application. Also, the powerful Kawasaki AS Programming Language provides sophisticated robot motion and sequence controls.
Advanced technologiesThe enhanced CPU capacity allows for more accurate trajectory control, faster program execution, and quicker loading and saving of files. In addition, memory has been expanded to meet the need for higher program storage capacity. The controller comes equipped with a USB port for external storage devices.
Easy maintenanceModular components with limited cables translate into easy diagnostics and maintenance. A host of maintenance functions are available, including self-diagnostics on hardware and application errors to minimize troubleshooting and reduce MTTR (Mean Time To Repair). Remote diagnostics via the web server function enables service support from anywhere in the world.
ExpandableThree external axes can be added to the E0X controller for a total of nine controlled axes, while two can be added to the E7X for a total of eight controlled axes. Numerous communication fieldbuses are available for controlling peripheral devices. The Kawasaki K-Logic sequencer software can be combined with user customized interface panels on the teach pendant.
E0X
E7X
Standard
OptionAmerica
E01/E02
E76/E77
Europe E70/E71
Japan & Asia E73/E74
Dimensions (mm) W550×D580×H278 W500×D420×H259Transformer unit: W580×D580×H178
(E0X only)
Structure Enclosed structure / Indirect cooling system
Number of controlled axes 7 6 Max. 9 (E0X) Max. 8 (E7X)
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. 96
Output (Channels) 32 Max. 96
Operation panelE-Stop switch, teach/repeat switch, 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 (E7X), Fast check mode switch
Cablelength
Teach pendant (m) 5 10, 15
Robot-controller (m) 5 10, 15
Mass (kg) 40 30 Transformer unit: 45 (E0X only)
Power requirements
AC200-220V ±10%, 50/60Hz, 3ø AC200-240V ±10%l 50/60Hzl 1ø]Transformer unit (E0X only)AC380-415V ±10% or AC440-480V ±10%
50/60Hz, 3ø
Class-D earth connection (Earth connection dedicated to robots), leakage current: Maximum 100mA
Environmentalcondition
Ambient temperature (°C) 0 - 45 (0 - 40 for E7x in vertical use)
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), RS-232C
]Option
]
]Option
10 11