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: info@kawasakirobot.de · www.kawasakirobot.de Fax

Munich Office:Konrad-Zuse-Platz 12 · 81829 München · Germany Tel.e-mail: info@kawasakirobot.de · www.kawasakirobot.de Fax

Kawasaki Robotics (UK) Ltd.Units 6&7 Easter Court, Europa Boulevard, WestbrookWarrington WA5 5ZB · United Kingdom Tel.e-mail: info@kawasakirobot.uk.com · 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: info@kawasakirobot.fr · 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