..

Small-to-medium payload robots - up to 80 kgR seriesKawasaki Robot

R series

Cat. No. RS1702 M] Materials and specifications are subject to change without notice.

Kawasaki Robotics (USA), Inc.Corporate Headquarters for Americas28140 Lakeview Drive, Wixom, MI 48393, U.S.A.Phone: +1-248-446-4100 Fax: +1-248-446-4200

Global Network

Kawasaki Heavy Industries, Ltd.Tokyo Head Office/Robot Division1-14-5, Kaigan, Minato-ku, Tokyo 105-8315, JapanPhone: +81-3-3435-6852 Fax: +81-3-3437-9880

Kawasaki Heavy Industries, Ltd. Akashi Works/Robot Division1-1, Kawasaki-cho, Akashi, Hyogo 673-8666, JapanPhone: +81-78-921-2946 Fax: +81-78-923-6548

Kawasaki Robotics (UK), Ltd.Unit 4 Easter Court, Europa Boulevard, Westbrook Warrington Cheshire, WA5 7ZB, United KingdomPhone: +44-1925-71-3000 Fax: +44-1925-71-3001

Kawasaki Robotics GmbH29 Sperberweg, 41468 Neuss, GermanyPhone: +49-2131-3426-0 Fax: +49-2131-3426-22

Kawasaki Robotics Korea, Ltd.43, Namdong-daero 215beon-gil, Namdong-gu Incheon, 21633, KoreaPhone: +82-32-821-6941 Fax: +82-32-821-6947

Kawasaki Robotics (Tianjin) Co., Ltd.Bldg 3, No.16, Xiang’an Road, TEDA, Tianjin 300457, ChinaPhone: +86-22-5983-1888 Fax: +86-22-5983-1889

Kawasaki Motors Enterprise (Thailand) Co., Ltd.Rayong Robot Center119/10 Moo 4 T. Pluak Daeng, A. Pluak Daeng, Rayong 21140, Thailand Phone: +66-38-955-040-58 Fax: +66-38-955-145

KawasakiRobotics.com ISO certified in Wixom, Michigan U.S.A.

ACCREDITED

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.

Kawasaki Robot

..

Typical applications : Assembly / Dispensing / Machine tending / Material handling / Material removal / Palletizing / Welding

RS030N / RS050N / RS080NRS020NRS015XRS010LRS010NRS006LRS005LRS005NRS003N

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.

1 2

..

Standard specifications

RS003N RS005N RS005L RS006L RS010N RS010L RS015X RS020N RS030N RS050N RS080N

Type Articulated Articulated

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

Environmentalconditions

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 ⦁: Option available −: Option not available

RS003N RS005N RS005L RS006L RS010N RS010L RS015X RS020N RS030N RS050N RS080N

IP67 (JT1-3) − − − ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Wall mount ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Traverse unit − − − ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Riser (300 / 600mm) − ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Base plate − ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Mechanical stopper JT1 ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Mechanical stopper JT2 / JT3 − − − ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Solenoid valve (1 circuit) ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Solenoid valve (2 circuits) ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Solenoid valve (3 circuits) − ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Solenoid valve (4 circuits) − − − ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Sensor harness (4 circuits) ⦁ − − − − − − − − − −

Sensor harness (12 circuits) − ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Op. machine harness (7 pairs) − − − − − − ⦁ − ⦁ ⦁ ⦁

Servo-on lamp ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

Limit switch (JT1) − − − ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁ ⦁

3 4

..

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

(mm)(mm)

(mm)(mm)

RS006L / RS010NRS005N

RS005LRS003N

Motion range & dimensions

5 6

..

(mm)(mm)

(mm)(mm)

RS030N / RS050N / RS080NRS015X

RS020NRS010L 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

1701

7

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

7 8

..

Controller

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

System configuration diagram

SpecificationsE 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.

ExpandableTwo 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.

Standard

OptionAmerica

E01 / E02

E76 / E77

Europe E70 / E71

Japan & Asia E73 / E74

Dimensions (mm) W550 × D580 × H278 W500 × D420 × H259 Transformer 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), Rapid-feed 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 1øTransformer 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

Environmentalconditions

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

Teach pendant

E7X

E0X

] Option

]

POWER

REPEATTEACH

420 500

25

0

26

01

81

81

70

9

ＰＯＷＥＲ100% ＣＯＮＴＲＯＬ

REPEATTEACHOFF ON Ｒ

ＰＳ ＯＴ

ＥＭ ＣＧ

Ｅ ＹＮＥ

580 550

580 550

E01 / E02

(mm)

Transformer unit ]

E7X

] Option

External view & dimensions

9 10