the flexible - kawasaki

The FlexibleHeavy-DutyRobot

up to 300 kg payload

Kawasaki Robotics (USA), Inc.

HIGH QUALITY & LOW MAINTENANCE The Z-Series Robots boast industry leading

reliability and 10,000 hour maintenance intervals,

which translate to low operating costs and the

highest production efficiencies.

CYCLE TIME ADVANTAGE The Z Robots can achieve superior operating speeds

when combined with the ultra high processing speed

capabilities of Kawasaki’s latest E Controller. Faster

speeds of up to 20% as compared to previous models

translate to shorter cycle times, resulting in maximum

production.

WIDE WORK ENVELOPE The Kawasaki Z Robot combines a long reach arm

with a minimal amount of dead space for the widest

work envelope in its class. In addition, the patented

Kawasaki Hybrid Link configuration enables the arm

to rotate back over itself without having to rotate

the base joint, thereby improving efficiency and

minimizing power consumption.

SPACE SAVING DESIGN WITH INTEGRATED FEATURES The small footprint of these high payload long reach

robots allows for installations in confined areas.

The Z-Series Robots are available with integrated

pneumatic piping, wiring, and fork lift pockets,

limiting the amount of work space required and

minimizing potential interference.

THE FLEXIBLEHEAVY-DUTY ROBOT

ARM ID MEMORY Kawasaki’s Arm ID board enables the robot arm to

be interchanged with any E Controller. The ID board

stores all of the necessary servo encoder data. In the

event of a production emergency, the controller can

quickly and easily be replaced to allow for any service

and maintenance procedures to be performed. This

feature greatly limits potential system downtime.

PROGRAMMING FLEXIBILITYZ-Series Robots can be programmed in two ways, via

the robot teach pendant or a computer, and using one

of the two Kawasaki’s programming methodologies,

Block Step or AS Language. The Block Step

programming method eliminates time consuming

program teaching with auto-path generating software.

The powerful AS Language provides ultimate flexibility

via any word processor text file and enables the

programmer to create advanced logic, manipulate

program locations, integrate peripheral components

and control the application process.

UPGRADEABLE The Z-Series robot line is manufactured using modular

components and a common software platform. This

flexible design allows some models to

be modified to alter reach, payload

capacities and speed. Both

hardware and software alterations

can easily be performed in the

field. The ability to change the

robot characteristics provide for

greater flexibility to accommodate

production and system changes.

The high payload long reach Z-Series robots were developed using Kawasaki’s

advanced technology and extensive experience in automation. The versatile and

upgradeable designs are directly responsible for improved production line efficiencies in

automotive and general industry applications.

STANDARD FEATURESSix-Axis Articulated Arm

Payload Capacity 100-300 kg

Electric AC Servo Drive Motors/Encoders

Common E Controller

Large Working Envelope

High Payload

· High wrist torque and inertia capacity

· Maximum payload capacity rated at full speed and full reach

Tool Mounting Flange: ISO 9409-1

Space Saving Design

· Small footprint

· Kawasaki Hybrid Link configuration

· Minimal dead zones

Production Advantages

· Modular arm design

· High speed operation

· Rapid and adaptive acceleration and deceleration rates

Low-Cost Maintenance

· 10,000 hour maintenance intervals

· Fittings for easy lubrication (one grease type)

· Modular components for quick repairs

Programming

· Simplified “Block Step” teaching

· Advanced Kawasaki “AS Language”

· PC (Process Control) programs

· Ethernet TCP/IP, RS-232 port for PC communication

· Programmable graphical user interface (GUI)

· On-screen diagnostics

Safety

· Three-position teach pendant safety switch

· Rotational hard stops and software limits

· Continuous monitoring of speed and position

· UL approved

Assembly

Dispensing

Machine Tending

Material Handling

Material Removal

Spot Welding

The Z-Series heavy-duty robots are the workhorses of the Kawasaki Robotics product line. The robust low-maintenance

Z Robots offer payload capacities from 100 to 300 kg and are available in floor mount (ZX), shelf mount (ZT) and compact (ZH)

models to best suit the application. All Z Robots can be used with a Kawasaki 7th axis traversing unit, allowing for a flexible

and expandable work range.

APPLICATIONS

(See E Controller brochure or visit www.kawasakirobotics.com for controller features and specifications.)

Extracting workpiece from molding machine

Hemming process of the car doorReleasing and loading/unloading of large-sized workpieces using vision system

Z-SERIES SPECIFICATIONS

The FlexibleHeavy-DutyRobot

MODEL ZXE130U ZXE130L ZXE165U ZXE200S ZXE300SType Articulated

Degrees of Freedom 6 axes

Payload 130 kg 130 kg 165 kg 200 kg 300 kg

Horizontal Reach 2,651 mm 2,951 mm 2,651 mm 2,651 mm 2,501 mm

Vertical Reach 3,415 mm 4,015 mm 3,415 mm 3,415 mm 3,115 mm

Repeatability ±0.3 mm ±0.3 mm ±0.3 mm ±0.3 mm ±0.3 mm

Maximum Linear Speed 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s

Motion Range

JT1 ±180° ±180° ±180° ±180° ±180°

JT2 +75° ~ -60° +75° ~ -60° +75° ~ -60° +75° ~ -60° +75° ~ -60°

JT3 +250° ~ -120° +250° ~ -120° +250° ~ -120° +250° ~ -120° +250° ~ -120°

JT4 ±360° ±360° ±360° ±360° ±360°

JT5 ±130° ±130° ±130° ±120° ±120°

JT6 ±360° ±360° ±360° ±360° ±360°

Maximum Speed

JT1 110°/s 110°/s 110°/s 105°/s 100°/s

JT2 110°/s 110°/s 110°/s 110°/s 85°/s

JT3 110°/s 110°/s 115°/s 105°/s 85°/s

JT4 140°/s 140°/s 140°/s 120°/s 90°/s

JT5 135°/s 135°/s 155°/s 120°/s 90°/s

JT6 230°/s 230°/s 260°/s 200°/s 150°/s

Maximum Torque

JT4 735 N·m 735 N·m 911.4 N·m 1,274 N·m 1,470 N·m

JT5 735 N·m 735 N·m 911.4 N·m 1,274 N·m 1,470 N·m

JT6 421 N·m 421 N·m 451.8 N·m 686 N·m 705.6 N·m

Moment of Inertia

JT4 107.8 kg·m2 107.8 kg·m2 165.5 kg·m2 199.8 kg·m2 274.5 kg·m2



Motors Brushless AC Servomotor

Brakes All axes

Hard Stops Adjustable mechanical stopper JT1

Limit Switch End of stroke limit switch JT1

Mass 1,350 kg 1,400 kg 1,350 kg 1,400 kg 1,400 kg

Body Color Kawasaki Standard

Installation Floor

Environmental Conditions

Temperature: 0 ~ 45° C

Humidity: 35 ~ 85 % (no dew, nor frost allowed)

Vibration: Less than 0.5 G

Protection Classification Wrist: IP67 Base: IP65 * Equivalent

Built-in Utilities Pneumatic piping (ø12 x 2 lines)

Options

Linear track options

Base plate

Adjustable mechanical stopper JT2/JT3

Limit switch JT2/JT3

Signal harness (up to 24 inputs and 8 outputs)

Double/single solenoid valves (2 units max.)

Internal wiring (37 wires inside robot arm)

Air cleaning equipment (filter, regulator, mist separator)

Piping for cooling water

Wrist flange adapter with ø92 mm mounting pattern

Controller E32

MODEL ZXE130U ZXE130L ZXE165U ZXE200S ZXE300S MODEL ZHE100U ZTE 130U ZTE165U ZTE165X ZTE200SType Articulated Type Articulated

Degrees of Freedom 6 axes Degrees of Freedom 6 axes

Payload 130 kg 130 kg 165 kg 200 kg 300 kg Payload 100 kg 130 kg 165 kg 165 kg 200 kg

Horizontal Reach 2,651 mm 2,951 mm 2,651 mm 2,651 mm 2,501 mm Horizontal Reach 1,634 mm 3,230 mm 3,230 mm 2,830 mm 3,230 mm

Vertical Reach 3,415 mm 4,015 mm 3,415 mm 3,415 mm 3,115 mm Vertical Reach 2,579 mm 4,571 mm 4,571 mm 4,366 mm 4,571 mm

Repeatability ±0.3 mm ±0.3 mm ±0.3 mm ±0.3 mm ±0.3 mm Repeatability ±0.3 mm ±0.3 mm ±0.3 mm ±0.3 mm ±0.3 mm

Maximum Linear Speed 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s Maximum Linear Speed 2,000 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s 2,500 mm/s

Motion Range

JT1 ±180° ±180° ±180° ±180° ±180° Motion Range JT1 ±160° ±180° ±180° ±180° ±180°

JT2 +75° ~ -60° +75° ~ -60° +75° ~ -60° +75° ~ -60° +75° ~ -60° JT2 +120° ~ -60° +60° ~ -75° +60° ~ -75° +50° ~ -120° +60° ~ -75°

JT3 +250° ~ -120° +250° ~ -120° +250° ~ -120° +250° ~ -120° +250° ~ -120° JT3 +75° ~ -90° +165° ~ -95° +165° ~ -95° +150° ~ -65° +165° ~ -95°

JT4 ±360° ±360° ±360° ±360° ±360° JT4 ±360° ±360° ±360° ±360° ±360°

JT5 ±130° ±130° ±130° ±120° ±120° JT5 ±130° ±130° ±130° ±130° ±120°

JT6 ±360° ±360° ±360° ±360° ±360° JT6 ±360° ±360° ±360° ±360° ±360°

Maximum Speed

JT1 110°/s 110°/s 110°/s 105°/s 100°/s Maximum Speed JT1 140°/s 105°/s 105°/s 120°/s 100°/s

JT2 110°/s 110°/s 110°/s 110°/s 85°/s JT2 100°/s 105°/s 105°/s 110°/s 100°/s

JT3 110°/s 110°/s 115°/s 105°/s 85°/s JT3 100°/s 105°/s 105°/s 115°/s 90°/s

JT4 140°/s 140°/s 140°/s 120°/s 90°/s JT4 150°/s 140°/s 135°/s 140°/s 120°/s

JT5 135°/s 135°/s 155°/s 120°/s 90°/s JT5 150°/s 135°/s 135°/s 155°/s 115°/s

JT6 230°/s 230°/s 260°/s 200°/s 150°/s JT6 250°/s 230°/s 210°/s 260°/s 180°/s

Maximum Torque

JT4 735 N·m 735 N·m 911.4 N·m 1,274 N·m 1,470 N·m Maximum Torque JT4 874 N·m 735 N·m 911.4 N·m 911.4 N·m 1274 N·m

JT5 735 N·m 735 N·m 911.4 N·m 1,274 N·m 1,470 N·m JT5 874 N·m 735 N·m 911.4 N·m 911.4 N·m 1274 N·m

JT6 421 N·m 421 N·m 451.8 N·m 686 N·m 705.6 N·m JT6 392 N·m 421 N·m 450.8 N·m 450.8 N·m 686 N·m

Moment of Inertia

JT4 107.8 kg·m2 107.8 kg·m2 165.5 kg·m2 199.8 kg·m2 274.5 kg·m2 Moment of Inertia JT4 90 kg·m2 107.8 kg·m2 165.5 kg·m2 165.5 kg·m2 199.8 kg·m2

JT5 107.8 kg·m2 107.8 kg·m2 165.5 kg·m2 199.8 kg·m2 274.5 kg·m2 JT5 90 kg·m2 107.8 kg·m2 165.5 kg·m2 165.5 kg·m2 199.8 kg·m2

JT6 45.9 kg·m2 45.9 kg·m2 46.9 kg·m2 154.9 kg·m2 155.9 kg·m2 JT6 20 kg·m2 45.9 kg·m2 46.9 kg·m2 46.9 kg·m2 154.9 kg·m2

Motors Brushless AC Servomotor Motors Brushless AC Servomotor

Brakes All axes Brakes All axes

Hard Stops Adjustable mechanical stopper JT1 Hard Stops Adjustable mechanical stopper JT1

Limit Switch End of stroke limit switch JT1 Limit Switch End of stroke limit switch JT1

Mass 1,350 kg 1,400 kg 1,350 kg 1,400 kg 1,400 kg Mass 750 kg 1,550 kg 1,550 kg 1,650 kg 1,600 kg

Body Color Kawasaki Standard Body Color Kawasaki Standard

Installation Floor Installation Floor Shelf

Environmental Conditions

Temperature: 0 ~ 45° CEnvironmental Conditions

Temperature: 0 ~ 45° C

Humidity: 35 ~ 85 % (no dew, nor frost allowed) Humidity: 35 ~ 85 % (no dew, nor frost allowed)

Vibration: Less than 0.5 G Vibration: Less than 0.5 G

Protection Classification Wrist: IP67 Base: IP65 * Equivalent Protection Classification Wrist: IP67 Base: IP65 * Equivalent

Built-in Utilities Pneumatic piping (ø12 x 2 lines) Built-in Utilities Pneumatic piping (ø12 x 2 lines)

Options


Base plate




Double/single solenoid valves (2 units max.)


Air cleaning equipment (filter, regulator, mist separator)



Options


Base plate




Double/single solenoid valves (2 units max.) - excluding model ZHE100U


Air cleaning equipment (filter, regulator, mist separator) - excluding model ZHE100U



Controller E32 Controller E32

ZXE300S

ZXE130U, ZXE165U

ZXE200S

ZXE130L

Ø0.05

500

100

100

500 100100

770

770

125

125

125125

370

75

2-Ø25G8

300

300

300

INSTALLATION DIMENSIONS

1199

26511965

3415

3340

JT1±180°

1300288

1490

VIEW A

231

Ø160

Ø200

30 J30 J

2–Ø10H7 Depth 12

XØ0.04 Y

6 M10 Depth 12

X YØ0.15

Ø100H7Depth 8

X

270

1100

670

210 600.5

P

Working rangebased on point P

Ø0.15

Ø0.04

Ø160 Ø125

Ø80H7

2-Ø10H7 Depth 12


VIEW A

370

770

770

500

500

100 100

100100

300

75

300 300

125 125

125125

Ø0.052–Ø25G8

2265 2951

4015

3640

1199

JT1±180°

288 1600 228

1490

30 �30 �

6–M10 Depth 12

Depth 8X Y X

XY

270

1100

670

210 600.5

P


Ø0.05

500

100

100

500 100100

770

770

125

125

125125

370

75

2-Ø25G8

300

300

300


1199

26511965

3415

3340

JT1±180°

1300288

228

1490

VIEW A

6 M10 Depth 12

Ø160 Ø125

Ø80H7

2–Ø10H7 Depth 12

Depth 8

X YØ0.15

X

Y

XØ0.04

30q

30q

270

1100

670

210 600.5


P

Ø0.15

Ø0.04

Ø160

Ø200


VIEW A

370

770

770

500

500

100 100

100100

300

75

300 300

125 125

125125

Ø0.052–Ø25G8

2–Ø10H7 Depth 12

3115

1815

3190

2501

288

1199

JT1±180°

30�30�

YY X

X

X

6–M10 Depth 12

Ø100H7Depth 8

1490

1150 231

270

1100

670

210 600.5

P


MOTION RANGE & DIMENSIONS

(mm)

ZTE200S

ZHE100U

ZTE165X

ZTE130U, ZTE165U

2578

.819

64.4

614.

4

1062.41634.4

800200

300

572

530

379

580

:Unnecessaryto tighten bolts

X YØ0.15

Ø0.04

X

Y X

30°30°

Ø160

228

6-M10 DP 12

Ø125

Ø80H7DP8

2-Ø10H7DP12


VIEW A

205 205

290 410

2–Ø222–Ø22H9

70

7070160 160

450700

6–M16 DP30

250

500320 410

Ø0.05

500

1550

P


JT1 ±160°

2-Ø25G8Ø0.05

VIEW A

530

2103

600

1100 300

Ø160Ø200

FF

770500 100

300300300

370

770 500

100


75125 x 45°

323080

JT1±180°

30�30�

7813

0023

1

4571

1731

2–Ø10H7 Depth 12XØ0.04 Y

6 M10 Depth 12X YØ0.15

Ø100H7Depth 8X

1300

231

P


600 210530 1000

1300

228

600

2830

1466

2900

4366

1270

1330

VIEW A

Y

X

XØ0.04

X YØ0.15

30°

30°

Ø160

6-M10　Dp１２

2-Ø10H7Dp12

Ø80H7Dp8

Ø12

5Ø0.05


370

75

125

125

125

500

100

100

500 100100

770

770

125

2-Ø25G8

300

300

300

JT1±180°


P

600 210

1300

228

530

2103

600

1100 300

323080

JT1±180°

7813

0022

8

4571

1731

1300

P


228

600 210

MOTION RANGE & DIMENSIONS

(mm)

Kawasaki Robotics (USA), Inc.28140 Lakeview DriveWixom, Michigan 48393Phone: (248) 446-4100Fax: (248) 446-4200

CanadaPhone: (905) 304-7784

Mexico & South AmericaPhone: (52) 33-3110-1895

www.kawasakirobotics.com Z-Series - REV03/12© Kawasaki Robotics (USA), Inc. All rights reserved.

Technical specifications subject to change without notice.

the flexible - kawasaki

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