r-series4 5 model rs003n rs005n*2 rs005l rs006l rs010n rs010l rs020n rs030n rs050n rs080n degrees of...
TRANSCRIPT
EUROPE
up to 80 kg payload
R-SERIES
3
»Simple and friendly«
INTO THE FUTURE
Kawasaki Robotics invents itself anew. As innovative robot ge-neration, the R-SERIES meets the increasing demands of its customers.
THE R-SERIES
1. High speedMaximum acceleration and speed through the con-sistent utilization of highoutput motors following an innovative and light-weight design. The acceleration is automatically matched to the carried load and position of the robot. In this way, the best possible performance and optimum cycle times are granted and achieved.
2. TorqueExtensive gripper designs and bulky workpieces cause no problem at all. This leaves more room for creative solutions.
3. WorkspaceThe large reach in the individual weight classes allow for high flexibility in practice.
»40 years of experience and state-of-the-art robot techno-logy«An extremely compact and light-weight design forms the basis for high speeds and rigidity as well as an enormous reach.
»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 and in the near & far future.
4. ProtectionDouble sealings at the hand axes 4 - 6 make the robot qualify for protection class IP67. Axes 1 - 3 fulfill the requirements of protection class IP65 (op-tional: IP67).
5. FunctionsSignal lines and air hoses integrated in the robot arm allow for the direct connection of e.g. grippers without additional wiring through or at the robot arm. Additionally required lines or hoses may of course be assembled at the provided fasteningpoints in a „simple and friendly“ way.
4 5
MODEL RS003N RS005N*2 RS005L RS006L RS010N RS010L RS020N RS030N RS050N RS080N
Degrees of Freedom
Maximum Reach*1 620 mm 705 mm 903 mm 1650 mm 1450 mm 1925 mm 1725 mm 2100 mm 2100 mm 2100 mm
Maximum Payload 3 kg 5 kg 5 kg 6 kg 10 kg 10 kg 20 kg 30 kg 50 kg 80 kg
Axis 1 ±160 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 °
Axis 2 +150 ° ~ -60 ° +135 ° ~ -80 ° +135 ° ~ -80 ° +145 ° ~ -105 ° +145 ° ~ -105 ° +155 ° ~ -105 ° +155 ° ~ -105 ° +140 ° ~ -105 ° +140 ° ~ -105 ° +140 ° ~ -105 °
Axis 3 +120 ° ~ -150 ° +118 ° ~ -172 ° +118 ° ~ -172 ° +150 ° ~ -163 ° +150 ° ~ -163 ° +150 ° ~ -163 ° +150 ° ~ -163 ° +135 ° ~ -155 ° 135 ° ~ -155° 135 ° ~ -155°
Axis 4 ±360 ° ±360 ° ±360 ° ±270 ° ±270 ° ±270 ° ±270 ° ±360 ° ±360 ° ±360 °
Axis 5 ±135 ° ±145 ° ±145 ° ±145 ° ±145 ° ±145 ° ±145 ° ±145 ° ±145 ° ±145 °
Axis 6 ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 °
Axis 1 360 °/s 355 °/s 300 °/s 250 °/s 250 °/s 190 °/s 190 °/s 180 °/s 180 °/s 180 °/s
Axis 2 250 °/s 355 °/s 300 °/s 250 °/s 250 °/s 205 °/s 205 °/s 180 °/s 180 °/s 180 °/s
Axis 3 225 °/s 410 °/s 300 °/s 215 °/s 215 °/s 210 °/s 210 °/s 185 °/s 185 °/s 160 °/s
Axis 4 540 °/s 460 °/s 460 °/s 365 °/s 365 °/s 400 °/s 400 °/s 260 °/s 260 °/s 185 °/s
Axis 5 225 °/s 460 °/s 460 °/s 380 °/s 380 °/s 360 °/s 360 °/s 260 °/s 260 °/s 165 °/s
Axis 6 540 °/s 740 °/s 740 °/s 700 °/s 700 °/s 610 °/s 610 °/s 360 °/s 360 °/s 280 °/s
Axis 4 5,8 N∙m 12,3 N∙m 12,3 N∙m 13,0 N∙m 22,0 N∙m 22,0 N∙m 45,0 N∙m 210,0 N∙m 210,0 N∙m 336,0 N∙m
Axis 5 5,8 N∙m 12,3 N∙m 12,3 N∙m 13,0 N∙m 22,0 N∙m 22,0 N∙m 45,0 N∙m 210,0 N∙m 210,0 N∙m 336,0 N∙m
Axis 6 2,9 N∙m 7,0 N∙m 7,0 N∙m 7,5 N∙m 10,0 N∙m 10,0 N∙m 29,0 N∙m 130,0 N∙m 130,0 N∙m 194,0 N∙m
Axis 4 0,12 kg∙m² 0,4 kg∙m² 0,4 kg∙m² 0,45 kg∙m² 0,7 kg∙m² 0,7 kg∙m² 0,9 kg∙m² 16,8 kg∙m² 28,0 kg∙m² 34,0 kg∙m²
Axis 5 0,12 kg∙m² 0,4 kg∙m² 0,4 kg∙m² 0,45 kg∙m² 0,7 kg∙m² 0,7 kg∙m² 0,9 kg∙m² 16,8 kg∙m² 28,0 kg∙m² 34,0 kg∙m²
Axis 6 0,03 kg∙m² 0,12 kg∙m² 0,12 kg∙m² 0,14 kg∙m² 0,2 kg∙m² 0,2 kg∙m² 0,3 kg∙m² 6,6 kg∙m² 11,0 kg∙m² 13,7 kg∙m²
Repeatability (Measure Point: Middle of Flange Axis 6)
± 0,05 mm ± 0,02 mm ± 0,03 mm ± 0,05 mm ± 0,04 mm ± 0,06 mm ± 0,05 mm ± 0,07 mm ± 0,07 mm ± 0,07 mm
Weight 20 kg 34 kg 35 kg 150 kg 150 kg 230 kg 230 kg 555 kg 555 kg 555 kg
Max. linear Speed (Measure Point: Middle of Flange Axis 6)
6.000 mm/s 9.000 mm/s 9.300 mm/s 13.700 mm/s 11.800 mm/s 13,100 mm/s 11.500 mm/s 13,400 mm/s 13,400 mm/s 12,700 mm/s
Controller E70 E71 E71 E40/E71 E40/E71 E40 E40 E42 E42 E42
Color
Installation
Temperature
Humidity
Vibration
Others
in
out
air
Protection Class
6 Axes 6 Axes
Maximum Stroke
Maximum Speed
Moment
Moment of Inertia
Ambient Conditions
Applicaton Media Upper Arm (RS005 Base)
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)
< 0.5 G < 0.5 G
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
4 12 12 12 12 12 12 12 12 12
4 8 8 8 8 8 8 8 8 8
2 x Ø4 mm 2 x Ø 6 mm 2 x Ø 6 mm 2 x Ø 8 mm 2 x Ø 8 mm 2 x Ø 8 mm 2 x Ø 8 mm 2 x Ø 10 mm 2 x Ø 10 mm 2 x Ø 10 mm
Wrist Unit: IP67 / Basic Axes: IP65
*1 Distance between Centre of Axis 1 and Axis 5.*2 Technical Data conditionally
Wrist Unit: IP67 / Basic Axes: IP65
»Standard specifications«
JT3 JT3
JT2
A
JT4±360°
JT6±360°
JT5±135°
JT1
JT1
JT2 600
1200
15001500
9790
108
573
106
250
250
120 250 80
347 620
249.4
84
217
750
125
1600
1600 R216
104
X
Xø0.04
900
450
ø20H7 Dp4
ø5H7 Dp8
ø40
ø31.5±0.2
4-M5 Dp8
15.7
5
ø14
ø9
8
88±0
.1
152
170
130
4-ø9
152
170
88±0.1130
Arbeitsbereichbasierend auf Punkt P
Punkt P
Ansicht A
Sockelmaße
6 7
JT6±360°JT4±360°
JT5±145°
JT1180°
180°JT1
JT2JT2
JT3
A
118°
172° JT3
687 903
1093
391
242
295
380
80
105 410 78
825
110
R210
80°
135°
Punkt P
Arbeitsbereich basierendauf Punkt P
57
120118
126125
90
ø0.04
X
Y
X
ø0.2 X Y
ø5H7 Dp8
4-M5 Dp8
ø40h
7
ø31.5
450
ø20H7Dp3
900
ø0.04
ø9
15
88±0.1
170
88±0
.1
173
152
152
125
76
130
130
4-ø9
2-ø6H7
Ansicht A
Sockelmaße
JT2 JT2
JT3 JT3
A
JT1
JT1
180°
180°
JT4±270°
JT5±145°
JT6±360°
Punkt P
Arbeitsbereich basierendauf Punkt P
100
88
210194
148 207
128
650
430
145°
105°
150°
163°
100
900
R259
1002
.4
16501450
638.
2
1980
437.1
1195
ø0.04
Y
YXø0.3
X
X
900
450
ø40
øH7 Dp6
4-M6 Dp8
ø25H7 Dp6
ø62
ø0.06
4-ø18
2-ø13H9
92
220
138±0.1220
184
220
153±
0.1
300
ø18
13
ø30
Ansicht A
Sockelmaße
RS003N RS005L
RS005N RS006L
JT6±360°JT4±360°
JT5±145°
JT1180°
180°
JT2JT2
A
JT3
118°
JT3
172°
ø0.04
X
Y
X
ø0.2 X Y
ø0.04
2-ø6H7
4-ø9
130
130
76
125
152
152
173
88±0
.1
170
88±0.1
10
ø6
Dp3ø20H7
90°
45°ø5H7 Dp8
4-M5 Dp8
ø40h
7
ø31.5
120118
126125
90
23
135°
80°
R210
110
725
78310105
8028
029
5
228 223
895
705491
JT1
Arbeitsbereich basierendauf Punkt P
Punkt P
Ansicht A
Sockelmaße
Motion Range & Dimensions Motion Range & Dimensions
8 9
JT2
JT2
JT3 JT3
A
JT1
JT1
180°
180°
JT4±270°
JT5±145°
JT6±360°
100
700 88
210194
148 207
128
650
430
145°
105°
163°
150°
802.
417
80
438.
2
1250 1450
305.6
100
R259
1195
Xø0.04
Y
YXø0.3
X
90°
45°
ø40
ø6H7 Dp6
4-M6 Dp8
ø25H7Dp6
ø62
ø0.06
4-ø18
2-ø13H9
92
220
138±0.1220
184
220
153±
0.1
300
13
ø18
ø30
Ansicht A
Sockelmaße
Arbeitsbereich basierendauf Punkt P
Punkt PJT2
JT2
JT3 JT3
JT6±360°
JT5±145°
JT4±270°
180°
180°
JT1
JT1
A
1037
.920
40
17251425
539.
3
465
770
150 805 95
383.9260220
260170
1360
146
120
155°
105°
150°
163°
R328Y
Ø0.04 X
X
Ø0.3 X Y
Ø75
45°
90°
Ø63
Ø40H7Dp6
Ø6H7 Dp6
4-M6 Dp9
ø0.06
ø15
ø9
7
276
276
163±0.1
330
250
168±
0.1
240
120 4-ø18
2-Ø13H9
Ansicht A
Sockelmaße
Arbeitsbereich basierendauf Punkt P
Punkt P
JT2
JT2
JT3JT3
JT1
JT1
180°
180°
JT4±270°
JT5±145°
JT6±360°
A
Arbeitsbereichbasierend auf Punkt P
Punkt P
770
465
19251625
1237
.9
146
739.
3
2240
163°
95150
260220
260
1360
170
150°
105°
155°
120
R328
1005
500.5
Y
ø0.04 X
X
ø0.3 X Y
ø75
45°
90°
ø63
ø40H7Dp6
ø6H7 Dp6
4-M6 Dp9
ø0.06
Sockelmaße
ø15
ø9
7
276
276
163±0.1
330
250
168±
0.1
240
120 4-ø18
2-ø13H9
Ansicht A
JT2 JT2
JT3
JT3
JT6±360°
JT5±145°
JT4±360°
JT1
JT1
A
180°
180°
206
150 1080 165
680
870
105°
140°
1800 2100
625.
2
158
2630
1066
.5
135°
R397
277
298
307
1696
.5
244
619.2
155°
X
X
Y
X
Ø0.3
YØ0.06
Ø80
Ø50H7Dp6.5
Ø94
30°
6-M8 Dp13
60°
Ø8H7 Dp8
Ø0.06
210±0.1
380
300
170
320
400
340
300
380
210±
0.1
2-Ø13H9
8-Ø18
Ø26
Ø18
17
Punkt P
Arbeitsbereich basierendauf Punkt P
Sockelmaße
Ansicht A
RS010L
RS020N
RS030/050/080N
RS010N
Motion Range & Dimensions Motion Range & Dimensions
10 11
TOP VIEW
420 500
250
550 550
1200
E70/E71 E40/E42
Note: Not all Options can be combined.
Number of Controlled Axes
Servo Motors Brushless AC Servomotors
Position Detectors Absolute Encoder
Servo System Full digital servo system
Programming Block or AS-Language
Coordinate Systems Joint, Base, Tool (Option: external Tool)
Motion Control Joint-, Linear- and Circular interpolated
External Motor power, Signal HOLD, etc.
Input
Output
Analogue Input (optional) 8/16
Analogue Output (optional)
Memory 8 MB (ca. 80.000 steps)
External Memory 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 Pendant6.4“ TFT 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)
10m (Arm: optional up to 40m), (TP: optional up to 30m)
Dimensions (WxDxH mm)
Weight (kg)
Power Requirements
Ground
Safety Category 3. Performance Level d (EN ISO13849-1:2008)
MODEL E70 E71 E40 E42
Signals
AC 380-415V ± 10%, 50/60Hz, 3 Phases, 4,9kVA
(E40) / 9,9kVA (E42)
550x550x1200
180
Ambience Temperature / Humidity0-45°C (horizontal) / 0-40°C (vertically),
35-85% (no Dew, nor Frost allowed)
Surface Zinc coated / chromed Color: Munsell 10GY9/1
145
<100Ω, Leakage Current ≤ 30mA <100Ω, Max. Leakage Current 10mA
Data Interfaces
30
500x420x250
4/8/12 4/8/12/16
32 (optional 96) 32 (optional 128)
32 (optional 128)32 (optional 96)
AC 200-240V ± 10%, 50/60Hz, 1 Phase,1,5kVA
(E70) / 3kVA (E71)
0-45°C, 35-85% (no Dew, nor Frost allowed)
6 (optional 8) 6 (optional 16)
1. ControlThe 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 operati-on and exceptionally high power.
2. Compact and upgradeableA 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 inter-faces may be programmed and used for the simpli-fied control of the robot and also peripheral devices.
3. User-friendly systemMotor power ON and program start may be activa-ted directly via the manual control unit. The parallel display of two information screens (e.g. positionand signal data) facilitates the process control.
4. FunctionsIntegrated software functions support the most va-rious applications. Through individual combination and programming, highly complex systems may bedesigned and realized. (e.g. Soft Absorber, Collisi-on Detection, Conveyor Tracking and many more).
5. SystemUltra-fast execution of programs, loading and storing processes as well as a precise continuous-path control and much more thanks to the up-to-date 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.
CONTROLLER
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 Deutschland Hauptsitz NeussSperberweg 29 ∙ 41468 NeussE-Mail: [email protected] ∙ www.kawasakirobot.de
Kawasaki Robotics (UK) Ltd.Units 6&7 Easter Court, Europa Boulevard, WestbrookWarrington WA5 5ZB ∙ United KingdomE-Mail: [email protected] ∙ www.kawasakirobot.uk.com
Agent
Printed in Germany April 2010 Catalogue No. GE117 Materials and specification are subject to change without notice.
Tel. +49-(0)2131 342 60Fax +49-(0)2131 34 26 22
Tel. +44-(0)1925 71 30 00Fax +44-(0)1925 71 30 01