3 Kawasaki ZD MD
Transcript of 3 Kawasaki ZD MD
EUROPE
50– 400 kg Payload
Robots for palletising and handling applications
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.
Cautions to be taken to ensure safety
Kawasaki Robotics GmbHSperberweg 29 · 41468 Neuss · Germany Tel.e-mail: [email protected] · www.kawasakirobot.de Fax
Munich Office:Konrad-Zuse-Platz 12 · 81829 München · Germany Tel.e-mail: [email protected] · www.kawasakirobot.de Fax
Kawasaki Robotics (UK) Ltd.Units 6&7 Easter Court, Europa Boulevard, WestbrookWarrington WA5 5ZB · United Kingdom Tel.e-mail: [email protected] · www.kawasakirobot.uk.com Fax
French Office:Parc d‘activites de la clef de Saint-Pierre Rond Point de l‘Epine des champs 78996 Elancourt Cedex, France Tel.e-mail: [email protected] · www.kawasakirobot.fr Fax
Inquiries
+49 -(0)21313426-0+49 -(0)21313426-22
+49 -(0)89 454591-30+49 -(0)89 454591-45
+44 -(0)1925 713000+44 -(0)1925 713001
+33 -(0)130 68 9522+33 -(0)130 68 9139
Agent
printed in Germany Feb. 2008 • Preliminary Version Materials and specifications are subject to change without notice.
Large working range and high payloadThe FD50N, the most compact model with payload of 50kg, covers a vertical working range of 1,944 mm, the ZD130S/250S 2,200 mm and the MD400N 2,710 mm. The flexible processing of several pal-lets with a centrally arranged robot can be easily realised.
Performance optimised for cycle timeIn standardised tests the FD50N achieved a maximum performance of 2,400 cycles per hour, the ZD130S 1,800 cycles per hour and the MD400N 400 cycles per hour*¹.
Compact designThe design of the FD50N and MD400N with a compensating fifth axis that replaces the more com-plicated parallelogram and the smaller footprint of all models as well as the omission of a projecting counterweight enormously reduce the space requirements of the robot arm. This permits the design and realisation of space-saving and thus lower-cost concepts.
*¹ FD50N Test: 75mm vertical 900mm horizontal 75mm vertical / linear 50kg ZD130S Test: 400mm vertical 2000mm horizontal 400mm vertical / linear 60kg MD400N Test: 400mm vertical 2000mm horizontal 400mm vertical / linear 400kg
Applications for palletizing
From speed to power:The Kawasaki palletizing robot group
In all branches of industry, from pharmaceuticals to foods, specialists from the automation branch encounter permanently changing requirements.High quality demands combined with smaller numbers of pieces or changing products on a production line challenge the flexibility of concepts and plants as well as the creativity of design engineers.Kawasaki also faces up to these challenges in the field of palletising applications. The group of palletizing robots offers all possibilities for implementing the required flexibility in auto-mation and production. Small weights with a high cycle time or high parts weight. The Kawasaki palletizing robots face up to every challenge from 50kg to 400kg.
SpecificationsMODEL
*1: Operating angle axis 5: ± 10 degrees perpendicular to the ground. *2: Total weight without optional extras.
Motion Range & Dimensions
AVIEW
8–Ø11
JT1
JT1
JT3
JT3
JT2
‚i‚s‚Q
A
±360°
370
75
125
125
125
500
10
01
00
500 100100
770
77
0
125
30
300
300
300
27
01
,25
0
2,2
00
3,0
75.3
300
998 2,257
255
50˚
90˚
180˚
180˚
R510
P
Motion range
of point P
25˚
15˚
67
0
81
0
33
8.2
300 1,450
120˚
15 (
Wid
th o
f an
inst
alle
d fla
nge)
1,600
1,8
00
1,130.9
R2,875.3
Ø150Ø180
8–Ø22
8–Ø22
Base Installation Dimensions
2–Ø25G8Ø0.05
JT4
MD400N
ZD130SZD250S
Ø0.02
VIEW A
Ø50H7 Depth 6
40
Ø80
6–M8 Depth 14
Ø8H7 +0.015 0 Depth 8
Y
XX
B
A
JT4:720°
JT1:314°
JT3:235°
Y
X
JT2:235°
Z
VIEW B
277
off-s
et:90
15
0
218
±0.2
218 ±0.2
430
40
8–Ø18
40
40
30040
20
300
150
185
322
6–M6 Depth 9
1,6
30
68
0
157°
157°
16
0
2,104
R511
43
0
2–M16 Depth 25
21
0
105105
95
0
21
0
1,000
272
222275
65 65
10
140°
R1,0
04
80
1,2
17
21
0
62 62
2–M16 Depth 25200
Point P
Point P
Working range based on point P
2,0
43
JT5:±10°
165
95°
30°
205°
30°
Base Installation
Dimensions
JT4±360°
JT3
JT3
JT2JT2
JT1
JT1
A
1,160
110
250
2,510
325
90°45°
R678
Interference radius
around swivel arm
180°
180°
2,065
1,740
598
600600
623
42
0
3,5
21
1,175
14°
Fork-pocketFork-pocket
1,967
125°
588
Note:
1. Fork-pocket is optional.
2. Operating angle of the JT5 is
more or less than 10 degrees
perpendicular to the ground
Ø0.05
10 500 10
770135
37
0
125 125
10
500
10
77
0
12
51
25
300
300
300
2–Ø25G8
Y
X YØ0.2
Ø0.04 X
X
VIEW A
Ø250
6–M12 Depth 29
Ø200
30°
60°
2–Ø12H7+0.018
0 Depth 12
Depth 8.5
Ø125H7
Base Installation
Dimensions
8-Ø22
8–Ø40
28
+0.040
0
FD50N
Type of armDegrees of freedomReach *¹
Max. payload JT1 JT2 JT3 JT4 JT5 JT1 JT2 JT3 JT4Working range in mm
Palletising performance data FD vertical: 75 mm, horizontal: 900 mmZD/MD vertical: 400 mm, horizontal: 2.000 mm
RepeatabilityWrist joint moment of inertiaWeight*²
3255 mm
± 180°+90°~-50°+15°~-120°
± 360°—
W 1,800 x D 1,600 x H 2,200
± 0.5 mm
1,350 kg
Max.stroke
3142 mm400 kg± 180°
+90°~-45°+14°~-125°
± 360°± 10°*¹80°/s70°/s70°/s
180°/sW 1,300 x D 1,300 x H 2,710.4
740 Zyklen/Std.(mit 400 kg Last)
± 0.5 mm200 kg/m²2,650 kg
2100 mm50 kg± 157°
+140°~-95°+30°~-205°
± 360°± 10°*¹180°/s150°/s180°/s350°/s
W 1,100 x D 1,100 x H 1,944.7
2.400 Zyklen/Std.(mit 50 kg Last)
± 0.15 mm4.4 kg/m² (JT4)
580 kg
Max.speed
Articulated arm5 axes
ZD130S ZD250S MD400NFD50N
4 axes (option: 5 axes) 5 axes (option: 6 axes)
130 kg
135°/s110°/s130°/s400°/s
1800 Zyklen/Std.(60 kg, 60°)
1500 Zyklen/Std.(130 kg, 60°)
50 kg/m²
250 kg
95°/s95°/s95°/s
190°/s
850 Zyklen/Std.(250 kg, 60°)
100 kg/m²
SpecificationsErgonomic operationThe Teach Pendant (TP) is a combination of control keyboard and an easy-read, 6.4 inch colour LCD touch-screen. A new hardware structure for the TP reduces the key response time and the ergonomic arrangement of the keys helps the operator achieve optimised inputs and programming. The workflow is optimised and the TP beco-mes an ergonomic user platform for operating the robot
Special software combined with standards Application Software Modules facilitate programming for a wide range of applications such as palletising, handling, spot welding, gluing and arc welding. The simplified block programming and Kawasaki‘s high level robot language (AS-language) provides enormous possibilities for innova-tive movement- and process control. Using the available options – such as servo-welding, network support and a high-performance visualisation system – a platform is created to find flexible solutions for even the most complex of applications.
High performance through modern control technologyA RISC, 64-bit high-speed dual processor provides the computing power. The use of a fully digitally controlled servo-system has significantly improved operating perfor-mance, cycle time and path accuracy. The controller is of course fully downwardly compatible. This means that the D controller can be integrated in existing old systems with no problems.
Modular and flexible control design• Connection of peripheral equipmentStandard I/O connections and a number of field bus inter-faces such as Interbus, Profibus, CC-Link and DeviceNet etc. are available as interfaces to the peripheral equip-ment. The peripheral equipment is connected directly and permits the system‘s high flexibility.Furthermore, K-Logic (integrated software PLC) allows the creation of a highly complex Integrated system at a minimum cost.
• Network communicationThe controller also supports network communication via Ethernet to communicate with a host computer and for an easy upload and download of the programs to be run. Furthermore, the status of the robot can be monitored per remote access via an Intranet/Internet connection.
• Extension with additional axesA further two axes can be integrated in the standard controller without any problems and without an additio-nal housing. Three or more additional axes are available by selecting SSCNET-compatible motors. This allows multi-axial systems to be easily configured to match the customer‘s requirements.
User-friendly designA reduction of the controller‘s internal wiring and the use of modular assemblies facilitates servicing and ensures shorter working times when repairing or replacing parts with no long and costly downtimes. What‘s more, supporting service functions such as data storage help the user locate the causes of existing pro-blems.
Teach Pendant
• Large LCD colour monitor with touchscreen functions.
• Ergonomically arranged cursor keys.
• The key layout has been optimised with respect to the frequency of use by the operator.
• Deadman‘s switch with three positions on rear.
External View & DimensionsD42D43D44 ‚q‚d‚o‚d‚`‚s‚s‚d‚`‚b‚g
‚d‚q‚q‚n‚q
?@‚o‚n‚v‚d‚q‚b‚n‚m‚s‚q‚n‚k
SIDE VIEW FRONT VIEW SIDE VIEW REAR VIEW
1,2
00
550 600
470
160
‚q‚t‚m
‚b‚x‚b‚k‚d‚r‚s‚`‚q‚s
‚g‚n‚k‚c
‚l‚n‚s‚n‚q‚o‚n‚v‚d‚q
‚q‚d‚r‚d‚s‚d‚q‚q‚n‚q
Controller
DesignNumber of controlled axesServomotorPosition detectionDrive systemProgrammingCoordinates SystemsTypes of motion control Ext. control signals Input signals Output signalsStorage capacityExternal memory PC, network, etc. Field bus
Teach pendant
Control panel
Teach Pendant Robot controllerDimensions (WxDxH)Weight
Necessary power supply
Own earthing of the robottemperature/humidityColour
D 42 / D43 / D44MODEL
STANDARD
4 axes ( 5 axes*¹ )
Axis, basis, tool
32 channels32 channels
1 MB: approx. 10,000 program stepsPCMCIA card slotRS232C, Ethernet
6.4 inch TFT LCD touchscreen, 640x480 VGA, „E-Stop“, teach lock switch, deadman‘s switch, 58 hardware keys
(keys for manual operation of the robot, cursor keys, etc.)
Basic switch: motor voltage on, cycle start, error reset, „E-Stop“, run/hold, teach/repeat, etc.
10m10m
600mm x 550mm x 1,200mm130 kg
A.C. 380/400/415/440/460/480 V ± 10%, 50/60 Hz, 3 phases, 11,4 KVA
< 100 Ω; maximum leakage current 100 mA0-45°C, 35-85% humidity without dew formation and frost
Munsell 10GY9/1 or equivalent
OPTIONAL
Maximum 16 axes*²
Fixed tool point
64/96/128 channels64/96/128 channels
2 /4 /8 MB: approx. 20,000/40,000/80,000 program steps
RS485CC-Link, DeviceNet, Profibus-DP,
ControlNET, AB Remote I/O, Interbus
5m, 15m, 20m, 25m, 30m5m, 15m, 20m, 25m, 30m, 35m, 40m
approx. 200 kg (with transformer)
A.C. 200/220V ± 10%, 50/60 Hz, 3 phases, 11,4 KVA
< 100 Ω; max. leakage current 100 mA (with transformer)
Cable length
Standalone main housing
A.C. servomotorAbsolute encoder
Fully digitally controlled servo-systemBlock teaching or AS language
Movement with axis, linear and circle interpolationMotor voltage Off, HoldMulti-
purpose signals
*¹ MD, FD ± 10 degrees axe JT5. *² Please contact us if you use 8 axes or more.
Data com-munication interface