EUROPE3 – 60 kg Payload Flexibility as a mainspring for developments Further developments in the automation of modern production lines is part of the development of Kawasaki Heavy Industries. In 1969, Kawasaki Heavy Industries produced the first Japanese-made industrial robot. Since then, Kawasaki has consistently asserted its pioneering role in the robotics industry. The experience that is gathered benefits users and is consistently used to improve the Kawasaki range of products. For example, in the development of our small to medium-sized robots in the “F Series”. Each manipulator in the “F Series” is a logically designed workhorse that combines a high working speed with a lightweight and slim arm construction. In addition, the modular design of the manipulators offers a high flexibility to optimise the reach or payload. The robot arm of the “F Series”, as a unit with the current controller from the “D Series” – gives Kawasaki customers the necessary flexibility to respond to permanent changes in working conditions with clear-cut concepts. Reduced cycle time A weight-optimised construction, the use of high-speed motors and high-efficiency gears permit an optimisation of the maximum speed and acceleration. Compact work cell layout More space means higher costs. The small base sizes and slim arm profile (integrated user signals) of the “F Series” robot arm allows a space-saving construction of working cells. Simple hardware and software modifications allow an optimisation of “F Series” robots in terms of reach or payload. A subsequent adjustment of the robot to different tasks poses no problems and can be carried out at low cost. Pre-defined configurations, for example for welding, clean rooms or DownWash also permit a simplified adaptation to specific customer requirements. Arm configuration tailored to system requirements Handling Arc Welding Installation, handling and gluing applications (FS Series) 3,000 2,950 2,950 2,800 FS10X FS20X 2,600 2,400 2,200 Max. Reach* (mm) FS30L FS60L 2,000 FS10L 1,800 1,670 1,600 1,550 1,400 1,350 1,300 1,200 FS45N FS20N FS30N FS45C FS06L FS10E FS20C 1,000 620 600 0 3 FS06N FS10C FS03N 6 10 15 20 25 30 35 40 45 50 55 60 * Distance from JT1-center to JT5-center. Max. Payload (kg) FS03N FC03N FS06N FA06N FC10C FC06N FS10C FS10E FA06L FC10E FA10N FS06L FC06L FS20C FC20C FS20N FA20N FC20N FS10L FA10L FC20N Specifications Clean room (FC Series) and arc-welding applications (FA Series) 3,000 2,950 2,950 2,800 2,600 2,400 2,200 Max. Reach* (mm) FC30L FA30L FC10L FA10L FC06L FA06E FC20N FA20N FC10E FC20C FC06N FA06N FC10C FC03N 0 3 6 10 15 20 25 30 35 40 45 50 55 FC60L 2,000 1,800 1,670 1,600 1,550 1,400 1,350 1,300 1,200 FC45N FC30N FC45C 1,000 620 600 60 * Distance from JT1-center to JT5-center. Max. Payload (kg) FS30N FS45C FC30N FC45C FS45N FC45N FS30L FA30L FC60L FC30L FS60L FS10X FS20X Standard Specifications TYPE Degrees of Freedom Maximum Reach*¹ Maximum Payload JT1 JT2 Maximum Stroke JT3 JT4 JT5 JT6 JT1 JT2 Maximum Speed JT3 JT4 JT5 JT6 JT4 Moment JT5 JT6 Moment of Inertia Repeatability mm Mass Max. linear Speed Recommended Controller*² FS03N FC03N FS06N FC06N FA06N 1,000 mm 6 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 145° ± 360° 240°/s 200°/s 250°/s 430°/s 430°/s 720°/s 12.0 N·m 12.0 N·m 6.0 N·m 0.24 kg·m² 0.24 kg·m² 0.07 kg·m² ± 0.05 mm 165 kg 8,000 mm/s D71/D40 FS06L FC06L FA06E 1,550 mm 6 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 145° ± 360° 200°/s 140°/s 200°/s 360°/s 360°/s 600°/s 12.0 N·m 12.0 N·m 6.0 N·m 0.24 kg·m² 0.24 kg·m² 0.07 kg·m² ± 0.1 mm 170 kg 9,200 mm/s D71/D40 FS10C FC10C 6 axes 1,000 mm 10 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 145° ± 360° 200°/s 140°/s 200°/s 360°/s 360°/s 600°/s 21.5 N·m 21.5 N·m 9.8 N·m 0.63 kg·m² 0.63 kg·m² 0.15 kg·m² ± 0.05 mm 165 kg 6,200 mm/s D71/D40 FS10E FC10E FS10L FC10L FA10L 1,850 mm 10 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 145° ± 360° 160°/s 140°/s 160°/s 330°/s 330°/s 500°/s 21.5 N·m 21.5 N·m 9.8 N·m 0.63 kg·m² 0.63 kg·m² 0.15 kg·m² ± 0.1 mm 280 kg 9,400 mm/s D40 FS20C FC20C FS20N FC20N FA20N 1,650 mm 20 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 145° ± 360° 160°/s 140°/s 160°/s 330°/s 330°/s 500°/s 39.3 N·m 39.3 N·m 19.6 N·m 0.88 kg·m² 0.88 kg·m² 0.25 kg·m² ± 0.1 mm 280 kg 8,500 mm/s D40 620 mm 3 kg ± 160° +150°~-60° +120°~-150° ± 360° ± 135° ± 360° 360°/s 250°/s 225°/s 540°/s 225°/s 540°/s 5.8 N·m 5.8 N·m 2.9 N·m 0.12 kg·m² 0.12 kg·m² 0.03 kg·m² ± 0.05 mm 20 kg 6,000 mm/s D70 1,450 mm 10 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 145° ± 360° 200°/s 140°/s 200°/s 360°/s 360°/s 600°/s 21.5 N·m 21.5 N·m 9.8 N·m 0.63 kg·m² 0.63 kg·m² 0.15 kg·m² ± 0.1 mm 170 kg 8,800 mm/s D71/D40 1,300 mm 20 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 145° ± 360° 160°/s 140°/s 160°/s 330°/s 330°/s 500°/s 39.3 N·m 39.3 N·m 19.6 N·m 0.88 kg·m² 0.88 kg·m² 0.25 kg·m² ± 0.1 mm 275 kg 6,900 mm/s D40 JT4 JT5 JT6 Body Color Installation Ambient conditions Temperature Humidity Vibration Others Munsell 10GY9/1 equivalent Floor or Ceiling installation ( Wall installation as option) 0 ~ 45 °C 35 ~ 85 % /(No dew, nor frost allowed.) Less than 0.5G The robot installing place should be free from inflammable or corrosive liquid or gas, electric noise interference Double solenoid valve: 1 Circuit*³ IP54 IP 65 equivalent (Wrist (axes 5 and 6) IP67)* Please contact us *²: Please contact us separately as regards the controller for the FC Series. 4 Pneumatic Circuit Degree of Protection Max. Payload on Upper Arm *¹: Distance between centre of axis JT1 and centre of axis JT5. *³: Not available for the FA Series *4: Not available for the FA Series. FS03N FS06N FS10E FS20N Specifications Standard Specifications FS30N FC30N FS30L FC30L FA30L 2,100 mm 30 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 130° ± 360° 160°/s 140°/s 160°/s 240°/s 240°/s 340°/s 176.4 N·m 176.4 N·m 98.0 N·m 7.2 kg·m² 7.2 kg·m² 3.3 kg·m² ± 0.15 mm 585 kg 11,100 mm/s D42 FS45C FC45C FS45N FC45N FS60L FC60L 6 axes 2,100 mm 60 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 130° ± 360° 160°/s 140°/s 110°/s 180°/s 175°/s 260°/s 235.2 N·m 235.2 N·m 130.3 N·m 24.8 kg·m² 24.8 kg·m² 6.7 kg·m² ± 0.15 mm 585 kg 9,000 mm/s D42 FS10X FS20X TYPE Degrees of Freedom Maximum Reach*¹ Maximum Payload JT1 JT2 JT3 JT4 JT5 JT6 JT1 JT2 JT3 JT4 JT5 JT6 JT4 JT5 JT6 JT4 JT5 JT6 Mass Max. linear Speed Recommended Controller*² 1,670 mm 30 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 130° ± 360° 160°/s 140°/s 160°/s 240°/s 240°/s 340°/s 176.4 N·m 176.4 N·m 98.0 N·m 7.2 kg·m² 7.2 kg·m² 3.3 kg·m² ± 0.15 mm 575 kg 8,900 mm/s D42 1,670 mm 45 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 130° ± 360° 160°/s 140°/s 160°/s 240°/s 240°/s 340°/s 176.4 N·m 176.4 N·m 98.0 N·m 10.8 kg·m² 10.8 kg·m² 5.0 kg·m² ± 0.15 mm 575 kg 8,900 mm/s D42 1,800 mm 45 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 130° ± 360° 160°/s 140°/s 160°/s 240°/s 240°/s 340°/s 176.4 N·m 176.4 N·m 176.4 N·m 10.8 kg·m² 10.8 kg·m² 5.0 kg·m² ± 0.15 mm 580 kg 9,700 mm/s D42 2,950 mm 10 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 145° ± 360° 160°/s 140°/s 200°/s 300°/s 360°/s 600°/s 21.5 N·m 21.5 N·m 9.8 N·m 0.63 kg·m² 0.63 kg·m² 0.15 kg·m² ± 0.23 mm 580 kg 15,000 mm/s D42 2,730 mm 20 kg ± 160° +140°~-105° +120°~-155° ± 270° ± 145° ± 360° 160°/s 140°/s 200°/s 300°/s 330°/s 500°/s 39.3 N·m 39.3 N·m 19.6 N·m 0.88 kg·m² 0.88 kg·m² 0.25 kg·m² ± 0.5 mm 585 kg 15,000 mm/s D42 Maximum Stroke Maximum Speed Moment Moment of Inertia Repeatability mm Munsell 10GY9/1 equivalent Floor or Ceiling installation ( Wall installation as option) 0 ~ 45 °C 35 ~ 85 % /(No dew, nor frost allowed.) Less than 0.5G The robot installing place should be free from inflammable or corrosive liquid or gas, electric noise interference Double solenoid valve: 1 Circuit*³ IP 65 equivalent (Wrist (axes 5 and 6) Please contact us *¹: Distance between centre of axis JT1 and centre of axis JT5. *³: Not available for the FA Series *4: Not available for the FA Series. *²: Please contact us separately as regards the controller for the FC Series. 4 IP67)* Body Color Installation Humidity Vibration Others Ambient conditions Temperature Pneumatic Circuit Degree of Protection Max. Payload on Upper Arm FS30N FS45N FS60L Motion Range & Dimensions FS03N FC03N 160° JT5:270° JT3:270° JT2:210° 8 4–M5 B Ø5H7 +0.012 0 4 Ø3 1.5 ±0.2 JT4:720° JT6:720° -0.039 0 +0.021 0 C0.5 Ø40H8 B VIEW A Sec. B-B 80 250 700 250 120 160° 130 R6 20 170 4–Ø9 152 150° 170 130 152 Dimensions for Base R25 R5 00 0 JT1:320° R2 50 12 A R129 0° R250 250 Base CN Ø14 15 0° Air Outlet 2–PT1/8 220 FS06N FC06N FA06N FS10C FC10C X 160° Sensor Harness Outlet Ø0.04 Ø6H7 +0.012 0 Depth 6 20 10 8 Ø20H7 Y Point P 157 JT5:290° 160° 5H 7D ept h6 138 ±0.2 VIEW A Y 270 Working range based on point P 1,002 140 50 50 JT1:320° 171.5 173 off-set:40 10 5° Dimensions for Base 802 12.5 4–M6 Depth 11 105 106 A 1,332 Point P 2–M12 Depth 18 450 50 R9 02 8 JT6:720° JT4:540° 125 JT3:275° 71 71 2–M12 Depth 18 140° B JT2:245° 125 125 R416 880 430 R2 34 Base VIEW B 366 R45 2 107 222 Air Inlet PT 3/8 off-set:100 138 15 5° 12 0° 199 183 270 60 ° R 25 0 100 450 4–M6 Depth 8 X 4–Ø18 138 ±0.2 220 Ø40 Ø2 R4 52 R45 2 Motion Range & Dimensions FS10E FC10E Y X Air Outlet 2–PT1/8 Sensor Harness Outlet 100 700 160° 157 X +0.2 JT5:290° Ø0.02 160° Ø6H7 +0.012 0 138 Depth 6 20 4–Ø18 220 4–M6 Depth 8 138 Z Ø40 1,451 1,251 Ø2 5H +0.2 7D epth 6 220 Y VIEW A 270 Dimensions for Base JT1:320° 171.5 173 off-set:40 106 125 51 ,3 A JT6:720° 1,781 ° R1 JT3:275° JT4:540° 140 650 140 R33 4 R643 1,080 JT2:245° 107 off-set:100 192 R701 430 199 439 183 Air Outlet 2–PT1/8 R701 769 6 Point P JT5:290° 160° Y 220 270 Working range based on point P 1,551 1,351 JT1:320° 171.5 173 off-set:40 12.5 4–M6 Depth 11 105 Dimensions for Base 106 JT4:540° 125 51 A 1,881 ,4 8 R1 JT3:275° 50 JT6:720° ° Point P 2-M12 Depth 18 140 750 50 50 1,180 71 71 2–M12 Depth 18 140 B JT2:245° 430 125 125 R691 R3 58 Base VIEW B 120° 846 155° Air Inlet PT 3/8 107 off-set:100 222 465 199 183 270 VIEW A 138 FS06L FC06L FA06E X Ø0.02 160° Sensor Harness Outlet Ø6H7 +0.012 0 Depth 6 20 4–M6 Depth 8 10 700 4–Ø18 138 ±0.2 270 10 5° R6 01 X 220 157 epth ±0.2 Y Ø40 Ø2 5H 7D 10 5° R7 01 R7 01 1 R70 Motion Range & Dimensions Air Outlet 2–PT1/8 FS20C FC20C Sensor Harness Outlet 120 550 X +0.012 160° 4–M6 Depth 8 31.5 Ø0.02 Ø6H7 0 Depth 6 X 173 ±0.2 Y Point P 183 Ø63 JT5:290° 160° Ø4 276 0H 7D ept 4-Ø18 h6 276 Z Working range based on point P 1,303 170 197 ,15 3 173 ±0.2 Y 340 1,003 JT1:320° 189.5 130 Dimensions for Base 13.6 4–M6 Depth 11 A 1,723 160 5° 12 JT4:540° off-set:60 130 R1 10 JT3:275° JT6:720° Point P 2–M12 Depth 24 65 65 600 74 85 85 2–M12 Depth 24 140 ° 150 1,170 JT2:245° R31 4 570 Base VIEW B 0 12 ° R553 443 123 off-set:150 257 Air Inlet PT 3/8 FS20N FC20N FA20N Working range based on point P 160° 4–M6 Depth 8 31.5 Air Outlet 2–PT1/8 120 139 15 5° 243 220 700 X Ø0.04 Ø6H7 +0.012 0 Depth 6 150 R523 B X 173 ±0.2 Y Point P 185 Ø63 Ø4 JT5:290° 160° 0H 276 7D ept h6 4–Ø18 Sensor Harness Outlet 1,653 1,353 JT1:320° 173 ±0.2 Y 276 340 197 13.6 off-set:60 4–M6 Depth 189.5 130 Dimensions for Base 130 ,5 A JT6:720° Point P 2,073 140 160 03 12 R1 JT3:275° 74 JT4:540° 170 800 2–M12 Depth 65 65 0 R7 85 85 2–M12 Depth 24 ° 150 JT2:245° 570 9 R39 Base R703 VIEW B 340 120° 243 220 745 ° 155 Air Inlet PT 3/8 123 off-set:150 257 150 R700 1,370 B 340 Z VIEW A 340 VIEW A R5 53 R553 10 5° 3 R70 3 Motion Range & Dimensions FS10L FC10L FA10L Working range based on point P 1,852 Air Outlet 2–PT1/8 Sensor Harness Outlet 120 X Ø0.02 800 160° Ø6H7 +0.012 0 Depth 6 31.5 4–M6 Depth 8 X Ø63 183 Y Point P Ø4 0H 173 7D epth 6 ±0.2 276 4-Ø18 JT5:290° 160° VIEW A 276 173 ±0.2 Y JT1:320° 197 13.6 off-set:60 4–M6 Depth 11 12 189.5 130 340 Dimensions for Base 130 Point P 160 A JT6:720° 2,272 JT4:540° JT3:275° 74 ° 140 2–M12 Depth 24 900 65 65 R8 R1 170 ,70 2 85 85 2–M12 Depth 24 150 1,470 B JT2:245° 150 R800 R4 41 570 Base VIEW B R802 922 15 5° Air Inlet PT 3/8 123 off-set:150 257 465 120° 243 220 FS30N FC30N FS45C FC45C Working range based on point P X Air Outlet 2–PT1/8 Sensor Harness Outlet 160 ° X 40 Ø8H7 +0.015 Depth 8 0 Ø0.02 ±0.2 218 ±0.2 300 40 Y Point P 210 40 6-M8 Depth 14 Ø80 JT5:260° 160 ° 40 300 430 8–Ø18 Ø5 7 0H VIEW A Z 1,676 1,376 Dimensions for Base JT1:320° 275 off-set:90 20 6–M6 Depth 9 80 65 150 222 65 JT4:540° 160 52 A 6 R1 JT6:720° Point P 2,206 ° 140 JT3:275° 10 200 62 62 800 105 105 2–M16 Depth 25 2-M16 Depth 25 B JT2:245° 210 210 R682 R4 28 680 1,480 Base VIEW B 253 120° R726 658 272 277 1 ° 55 185 off-set:150 322 Air Inlet PT 3/8 430 Y 218 40 165 720 340 1,552 5° 10 02 R802 De pth 6 10 5° R7 26 R726 Motion Range & Dimensions X 300 Ø80 Y Point P 210 JT5:260° 160 ° 40 430 8–Ø18 pth 6 VIEW A Dimensions for Base Working range based on point P 1,805 Z 1,505 JT1:320° 275 off-set:90 20 6–M6 Depth 9 80 65 150 R1 222 65 JT4:540° A 160 JT3:275° JT6:720° Point P 2,335 200 800 2–M16 Depth 25 62 62 R8 55 10 140 105 105 2–M16 Depth 25 ° B JT2:245° 210 210 R752 46 R4 1,480 680 Base VIEW B 120° 382 272 277 R85 5 788 1 ° 55 Air Inlet PT 3/8 185 off-set:150 322 X FS30L FC30L FA30L FS60L FC60L Air Outlet 2–PT1/8 Sensor Harness Outlet X 160 ° Ø8H7 +0.015 0 Depth 8 Ø0.02 40 40 218 ±0.2 300 40 165 1,000 40 6–M8 Depth 14 Y 210 Ø80 JT5:260° 160 ° 40 300 430 8–Ø18 VIEW A Z 1,804 Dimensions for Base JT1:320° 275 off-set:90 20 6–M6 Depth 9 80 65 150 222 65 JT4:540° A 160 JT6:720° R1 ,9 54 JT3:275° 10 2,634 140 200 950 2–M16 Depth 25 62 62 105 105 2–M16 Depth 25 ° B 1,630 JT2:245° 210 210 R901 R5 11 680 Base VIEW B 120° 1,052 R1,00 4 15 5° 185 Air Inlet PT 3/8 322 off-set:150 570 272 277 430 Y 218 ±0.2 430 Y 218 40 FS45N FC45N Air Outlet 2–PT1/8 Sensor Harness Outlet 165 850 X Ø8H7 160 ° 218 +0.015 0 ±0.2 Depth 8 Ø0.02 40 40 300 40 6–M8 Depth 14 ±0.2 7 0H Ø5 De ,65 5 10 5° R855 0 Ø5 pth De H7 6 10 5° ,0 R1 04 R1,0 04 Motion Range & Dimensions 157 4–M6 Depth 8 20 Ø2 5H 7D epth 6 FS10X Sensor Harness Outlet Air Outlet 2–PT1/8 160° X Ø0.04 Ø6H7 +0.012 0 100 1,700 Depth 6 Y Point P JT5:290° 160° Ø40 Working range based on point P 2,952 2,652 VIEW A 218 40 ±0.2 ±0.2 X 40 300 40 10 5° 300 430 8–Ø18 Dimensions for Base JT1:320° off-set:90 2 ,80 R2 275 6–M6 Depth 9 80 222 106 Point P JT4:540° 3,482 A 140 ° 150 20 65 65 JT6:720° 10 JT3:275° 105 105 2–M16 Depth 25 200 62 62 1,100 2–M16 Depth 25 210 R896 680 JT2:245° VIEW B Base 272 277 1,865 15 2 5° 120° R1,70 185 off-set:150 322 Air Inlet PT 3/8 120 185 1,600 4–M6 Depth 8 Y Point P JT5:290° 160 ° Ø63 Ø4 0 H7 31.5 FS20X X 16 0° 1,307 Ø0.02 6H7 +0.012 0 Depth 6 De pth 6 X 218 ±0.2 40 218 ±0.2 40 300 40 Working range based on point P Z 2,730 2,403 VIEW A 300 40 10 5° 8–Ø18 430 Dimensions for Base R2 JT1:320° off-set:90 275 222 6–M6 Depth 9 80 20 65 65 3,233 140° A JT6:720° 2–M16 Depth 25 950 200 62 210 62 R1 132 Point P JT4:540° 150 JT3:275° 10 105 430 Y 105 2–M16 Depth 25 R888 JT2:245° 680 VIEW B 272 277 15 1,650 5° 120° 185 03 R1,6 off-set:150 322 1,168 210 R1,343 1,630 B 210 R1,438 1,780 B 430 Y 218 40 R1 ,70 2 R1,70 2 ,55 3 ,60 3 R1 ,60 3 Ergonomic operation The Teach Pendant (TP) is a combination of control keyboard and an easy-read, 6.4 inch colour LCD touchscreen. 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 becomes an ergonomic user platform for operating the robot Modular and flexible control design • Connection of peripheral equipment Standard I/O connections and a number of field bus interfaces such as Interbus, Profibus, CC-Link and DeviceNet etc. are available as interfaces to the peripheral equipment. 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 communication The 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 axes A further two axes can be integrated in the standard controller without any problems and without an additional 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. 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 innovative 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 technology A RISC, 64-bit high-speed dual processor provides the computing power. The use of a fully digitally controlled servo-system has significantly improved operating performance, 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. User-friendly design A 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 problems. 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. D-series Controller Specifications MODEL Structure Number of controlled axes Servo motor Position detector Drive System Programming Coordinate systems Types of motion control Genral Ext. operatin signals purpose Input signals signals Output signals Memory capacity External Storage Communication interface D 70/71 D 40 self standing main enclosure D 42 6 6 + additional axes AC servo motor Absolute encoder Full digital servo system Block teaching or AS language Joint, Base, Tool Joint, Linear, Circular interpolated motions External motor power off, External Hold 32 channels (including dedicated signals) 32 channels (including dedicated signals) 1 MB (including system memory), approx. 5,000 steps PCMCIA card slot RS232C Ethernet 6 + additional axes PC, Network, etc. Fieldbus Teach Pendant Operation Panel Cable length Weight (kg) Power requirements Robot dedicated grounding Ambient temperature/humidity Color Input/Output signals Options Memory capacity Fieldbus Coordinate system Teach Pendant Robot Controller 6.4“ TFT color LCD with touch panel, 640x480 VGA, Emergency stop SW, Teach Lock SW, Deadman SW, 58 hard keys (Robot manual ope. keys, Cursor keys, etc.) Basic switches: Motor Power ON, Cycle start, Error Reset, Emergency stop, RUN/HOLD, TEACH/REPEAT, etc. 10m (optional: 5m, 15m, 20m, 25m, 30m) 10m (optional: 5m, 15m, 20m, 25m, 30m, 35m, 40m) 272/308mm x 500mm x 520mm 30kg AC 200/220V ± 10%, 50/60 Hz, 1 Phase, 5,4 KVA 600mm x 550mm x 1,200mm 155kg 600mm x 550mm x 1,200mm 190kg Dimensions (WxDxH) AC 380/400/415/440V ± 10%, 50/60 Hz, 3-phase 5,9 KVA 11,4 KVA 0-45°C, 35-85% RH without condensation Munsell 10GY9/1 equivalent 64/96/128 channels (including didicated signals) D-class ground (Ground for Robot), Max. leakage current 100mmA 4 MB (including system memory), approx. 35,000 steps CC-Link, DeviceNet, Profibus-DP, Interbus-S, ControlNet Fixed tool point External View & Dimensions D70 D71 500 36 550 600 470 272 D40 D42 ÇbÇnÇmÇsÇqÇnÇk Å@ÇoÇnÇvÇdÇq ÇsÇdÇ`ÇbÇg ÇqÇdÇoÇdÇ`Çs ÇlÇnÇsÇnÇq ÇoÇnÇvÇdÇq ÇbÇxÇbÇkÇd ÇrÇsÇ`ÇqÇs ÇdÇqÇqÇnÇq ÇdÇqÇqÇnÇq ÇqÇtÇm ÇqÇdÇrÇdÇs ÇgÇnÇkÇc SIDE VIEW FRONT VIEW 1,200 520 SIDE VIEW FRONT VIEW SIDE VIEW REAR VIEW 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 Sperberweg 29 · 41468 Neuss · Germany e-mail:
[email protected] · www.kawasakirobot.de Munich Office: Konrad-Zuse-Platz 12 · 81829 München · Germany e-mail:
[email protected] · www.kawasakirobot.de Kawasaki Robotics (UK) Ltd. Units 6&7 Easter Court, Europa Boulevard, Westbrook Warrington WA5 5ZB · United Kingdom e-mail:
[email protected] · www.kawasakirobot.uk.com French Office: Parc d‘activites de la clef de Saint-Pierre Rond Point de l‘Epine des champs 78996 Elancourt Cedex, France e-mail:
[email protected] · www.kawasakirobot.fr Tel. +49 -(0) 2131 3426-0 Fax +49 -(0) 2131 3426-22 Tel. +49 -(0) 89 454591-30 Fax +49 -(0) 89 454591-45 Tel. Fax +44 -(0)1925 71 3000 +44 -(0)1925 71 3001 Tel. Fax +33 -(0)1 30 68 9522 +33 -(0)1 30 68 9139 Agent printed in Germany Jan. 2008 � No. GE108 Materials and specifications are subject to change without notice.