Kawasaki Robot K series · K series Kawasaki Robot K series Painting robots explosion-proof and...

K seriesKawasaki Robot

K series

Painting robots explosion-proofand painting package cells

Cat. No. 3L1900 Sep. ’19 F

Printed in Japan

Kawasaki Robot

] Materials and specifications are subject to change without notice.

CAUTIONS TO BE TAKEN TO ENSURE SAFETY

lFor 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.

lProducts 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.

lBe 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.

Robot Business Division

Tokyo Head Office/Robot Division1-14-5, Kaigan, Minato-ku, Tokyo 105-8315, JapanPhone: +81-3-3435-2501 Fax: +81-3-3437-9880

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

Global Network

Kawasaki Robotics (USA), Inc.28140 Lakeview Drive, Wixom, MI 48393, U.S.A.Phone: +1-248-446-4100 Fax: +1-248-446-4200

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 GmbHIm Taubental 32, 41468 Neuss, GermanyPhone: +49-2131-34260 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.1·2/F, Building 6, No.19 Xinhuan Road, TEDA, China Phone: +86-22-5983-1888 Fax: +86-22-5983-1889

Kawasaki Motors Enterprise (Thailand) Co., Ltd.(Rayong Robot Center)119/10 Moo 4 T.Pluak Daeng, A.Pluak Daeng, Rayong 21140 Thailand Phone: +66-38-955-040-58 Fax: +66-38-955-145

https://robotics.kawasaki.com/ISO certified in Akashi Works and Nishi-Kobe Works.

A selection of robots is available to match your painting application.

Kawasaki K-series robots are explosion-proof painting robots developed on Kawasaki’s concept of “Simple and friendly.” This range of robots covers all painting applications from small to large, and the fully integrated hose system provides maximum protection against external dust and dirt.

Features

A broad range of robotsKawasaki offers five basic types of painting robot from the KF121 for small workpieces to the KJ314 for inner and outer bodies of automobiles. We provide a range of robots that covers the requirements of all applications and installations.

Built-in hosesThe hollow wrist (3R) prevents paint mist from adhering on tubes and cables and can minimize the chance of painting defects.The inner diameter of the hollow wrist is either 40 or 70 mm.

Enhanced peripheral unitsA control panel is provided to enhance the ease of system development and to interface with the robot traveling unit, workpiece transfer unit, rotation unit, and other devices.

Significant painting experienceGathering painting robot experience has enabled Kawasaki to put together a robot that will match your every need. The K series has used this information and is now equipped with more advanced functions than ever, resulting in a robot of great capability.

Customer supportOur professional staff will be available for support from the initial planning stage right up to system start up. This service will be of great benefit to those new to painting applications.

Arm with internal hose

KF121 KF263KF193 KG264KF192 KF264KF194

KJ264KJ244KJ194

KF262

KJ314

KJ125 KJ155

1 2

KF121 KF192 KF193 KF194 KF262 KF263 KF264 KG264 KJ125 KJ155 KJ194(Floor, Shelf)

KJ194(Wall)

KJ244(Floor, Shelf)

KJ244(Wall)

KJ264(Floor, Shelf)

KJ264(Wall) KJ314

Type Articulated robot Articulated robot

Degree of freedom (axes) 6 6 7

Payload (kg) 5Wrist : 12Arm : 20

Wrist : 20Arm : 30

Wrist : 8Arm : 5

Wrist : 15Arm : 25

Max. reach (mm) ]1 1,240 1,973 1,973 1,978 2,665 2,665 2,668 2,665 1,299 1,545 1,940 1,940 2,490 2,490 2,640 2,640 3,100

Wrist type RBR BBR 3Rø40 ]2 3Rø70 ]2 BBR 3Rø40 ]2 3Rø70 ]2 3Rø50 ]2 3Rø70 ]2

Position repeatability (mm) ±0.2 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.15 ]3 ±0.15 ]3 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5

Motion range(°)

Arm rotation (JT1) ±160 ±150 ±150 ±150 ±150 ±150 ±150 ±120 ±160 ±160 ±120 +30 – -120 ]4 ±120 +30 – -120 ]4 ±120 +30 – -120 ]4 ±120

Arm out-in (JT2) ±90 +110 - –60 +110 - –60 +110 - –60 +110 - –60 +110 - –60 +110 - –60 +120 - –60 +130 - –80 +130 - –80 +130 - –80 +130 - –80 +130 - –80 +130 - –80 +130 - –80 +130 - –80 +130 - –80

Arm up-down (JT3) ±150 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –65 +90 - –75 +90 - –75 +90 - –65 +90 - –65 +90 - –65 +90 - –65 +90 - –65 +90 - –65 +90 - –65

Wrist swivel (JT4) ±270 ±360 ±720 ±720 ±360 ±720 ±720 ±720 ±720 ±720 ±720 ±720 ±720 ±720 ±720 ±720 ±720

Wrist bend (JT5) ±145 ±360 ±720 ±720 ±360 ±720 ±720 ±720 ±720 ±720 ±720 ±720 ±720 ±720 ±720 ±720 ±720

Wrist twist (JT6) ±360 ±360 ±410 ±410 ±360 ±410 ±410 ±410 ±410 ±410 ±410 ±410 ±410 ±410 ±410 ±410 ±410

Arm swing (JT7) — — — — — — — — — — — — — — — — ±90

Painting speed (m/s) — 1.2 1.2 1.2 1.2 1.2 1.2 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5

Allowable moment(N·m)

Wrist swivel (JT4) 7.8 33.3 33.1 35.3 33.3 33.1 35.3 79.9 21.8 21.8 56.2 56.2 56.2 56.2 56.2 56.2 56.2

Wrist bend (JT5) 7.8 28.8 26.7 27.7 28.8 26.7 27.7 61.3 17.0 17.0 43.4 43.4 43.4 43.4 43.4 43.4 43.4

Wrist twist (JT6) 2.9 7.9 7.9 7.9 7.9 7.9 7.9 15.6 8.0 8.0 22.0 22.0 22.0 22.0 22.0 22.0 22.0

Allowable moment of inertia(kg·m2)

Wrist swivel (JT4) 0.17 1.28 1.27 1.44 1.20 1.27 1.44 3.33 0.90 0.90 2.19 2.19 2.19 2.19 2.19 2.19 2.19

Wrist bend (JT5) 0.17 0.96 0.82 0.89 0.90 0.82 0.89 1.95 0.54 0.54 1.31 1.31 1.31 1.31 1.31 1.31 1.31

Wrist twist (JT6) 0.06 0.11 0.10 0.10 0.11 0.10 0.10 0.12 0.12 0.12 0.33 0.33 0.33 0.33 0.33 0.33 0.33

Mass (kg) 140 690 720 750 720 740 770 795 190 195 530, 520 520 540, 530 530 540, 530 530 720

Mounting Floor, Wall Floor, Shelf Wall Floor, Shelf Wall Floor, Shelf Wall

Installation environment

Ambient temperature (°C) 0 – 40 0 – 40

Relative humidity (%) 35 - 85 (No dew, nor frost allowed) 35 - 85 (No dew, nor frost allowed)

Power requirements (kVA) ]5 1.5 5 3 5

Explosion-proof construction

America Compliant ]6 — Compliant ]6 to be acquired Compliant ]6

Canada Compliant ]7 — Compliant ]7 to be acquired Compliant ]7

Europe Compliant ]8 to be acquired Compliant ]8

Korea Compliant ]8 to be acquired Consult with Kawasaki Compliant ]8

China Compliant ]8 to be acquired Compliant ]8

Japan & Asia(except China & Korea)

Compliant ]9 Compliant ]10

Controller

America, Canada E37 — E35 E35

Europe E47 E45 E45

Japan & Asia E27 E25 E25

] 1 : Maximum reach : The RBR (Roll Bend Roll) wrist refers to the distance from the center of JT1 to the center of JT5. The BBR (Bend Bend Roll) wrist is the distance from the center of JT1 to the center of JT4. The 3R (Roll Roll Roll) wrist of the 6-axis robots is the distance from the center of JT1 to the intersection of JT4 and JT5 axes. The 3R (Roll Roll Roll) wrist of the 7-axis robot is the distance from the center of JT7 to the intersection of JT4 and JT5 axes.

] 2 : Hose built-in] 3 : Conforms to ISO9283] 4 : Motion range of JT1 varies depending on the direction of the mounting surface. Viewing from the robot backside, when the mounting surface is located on the left, it is [+120 to -30].

When the surface is on the right side, it is [+30 to -120].] 5 : Varies depending on the payload and motion patterns.] 6 : Combination of pressurized type and intrinsically safety type (CLI ZN1 AExpxib ⅡB T4 / AExib ⅡB T4)] 7 : Combination of pressurized type and intrinsically safety type (CLI ZN1 Expxib ⅡB T4 / Exib ⅡB T4)] 8 : Combination of pressurized type and intrinsically safety type (Ⅱ2G EXpxib ⅡB T4/Exib ⅡB T4)] 9 : Combination of pressurized type and intrinsically safety type (Expib ⅡB T4 / Exib ⅡB T4)]10 : Combination of pressurized type and intrinsically safety type (f2G4 / Exib ⅡB T4)

JT6(Roll)

JT5 (Bend)JT4 (Roll)

JT6(Roll)

JT5 (Bend)

JT4 (Bend)

JT6(Roll)

JT5(Roll)

JT4 (Roll)

JT6(Roll)

JT5 (Roll)

JT4 (Roll) JT6(Roll)

JT5 (Roll)

JT4 (Roll)

※The shape of the tool mounting part at the wrist tip (flange surface) is same as that of 3R (φ70mm).

Standard specifications

Variation of Wrists

RBRKF121

BBRKF192 / KF262

3R(Ø40mm)

KF193 / KF2633R(Ø50mm※)

KJ125 / KJ1553R(Ø70mm)

KF194 / KF264 / KG264 / KJ194 / KJ244 /KJ264 / KJ314

3 4

Motion Range & Dimensions

(mm)

JT6:720°

JT5:290°

JT4:540°

JT3:480°

JT1:320°

JT2:180°

150°150°

90°90°

160°

160°

R550

R302

R550

R1,150

2-M6-Dp10

M6-Dp10

4-M6-Dp10

299.

666

±0.0

3

±0.3

2– ø13G10+0.076+0.006

65

13

5

135

1,6

30

55

06

00

40

0

18

154

100

80

117

109

64

142

249.5 329.5

50

15

47

3

234.5

13

5

65

YY

X

Z

A

X

ø2

5H

7+0

.021

0

2-ø6H7+0.012 0ø6

0

±0.2ø40

7-ø14

ø300

330

Dimensions for Base

VIEW A SECTION B-B

base

1,240

off-set : 90

CO.5

2.5

4-M6Through

B

B

(Divide into 8 equal parts)

2-M10 Eye Bolts

Purging air inlet port(Tube diameter ø12)

PWorking rangebased on point P

KF121

(mm)

23

8-ø32

137.5

95

(73

.61

)

JT5

JT4JT3

JT2

JT1

JT6

±0.1

4040

40

40

39

0

52

5

390

525

258 240

225 211

197

309

598

267

±0

.12

67

A

C

ø102

6-M6-Dp14

51

R521

Dimensions for BaseVIEW A

Detail C

SECTION B-B

1,973 557

598

45

42

,43

3

850 250

200

85

0710

7

7.5

+0

.03

5

0

0

−0

.03

5

+410°

150°

150°

–410°

–720°

60° 85

+720°

+720°

–720°

+90°

+110°

+150°

–150°

–80°

–60°

B

B

ø0.048-ø18ø5m6

+0.012+0.004

ø116

h7

ø90

H7

ø4

0

P

Working rangebased on point P

KF193

(mm)

100

280 150

140

13

0

JT5

JT3

JT2

JT1

JT6

JT4

±0.1

4040

40

40

39

0

52

5

390

525

23

258 240

143

197

143

309

598

267

±0

.12

67B

B

A

C

8-ø18

6-M6-Dp9

20

+0.012+0.004

R521

1,973

598

557

45

42

,43

3

850 250

200

85

0710

7.5

5

6

ø2

5H

7+0

.021

0

+360°

+360°

+360°

150°

150°

–360°

–360°

–360°

+90°

+110°

+150°

–150°

–80°

–60°

2x2-M6-Dp13

ø6m6ø0.02

ø40

8-ø32

4550

ø5

0h8

0

−0

.03

8

VIEW A

SECTION B-B Dimensions for Base

Detail C

P


KF192

(mm)

40

40

39

0

52

5

R521

150°

150°

4040

525

390

23

108.5

100

(86

.6)

158.5

JT5

JT4

JT6

309

598

197

228248

240258

1,978

618

557

2,4

38

45

9

850

710

C

85

0

250

22

0

JT1

JT3

JT2

±0.1267

±0

.12

67

Dimensions for Base

8-ø32

8-ø18

Detail C

+410°

60°–410°

+720°

+720°

–720°

–720°

+110°+150°

+90°

–150°

–60°

–80°

A

7.5

8

ø102

6-M6-Dp14

51

VIEW A

B

B

ø5m6+0.012+0.004

SECTION B-B

ø116

h7

+0.0

35

0ø9

0H

7

ø70

0

−0

.03

5

P


KF194

5 6


(mm)

JT3

JT2

JT1

258 240

143 143

197

309

598

A

C

6-M6-Dp9

R521

2,665

697

557

1,300 250

200

1,1

00

710

98

23

,12

5

7.5

5

6

ø2

5H

7+0

.021

0

150°

150°

+90°

+110°

+150°

–150°

–80°

–60°

+0.012+0.004

20

100

4550

280 150

140

13

0

JT5

JT6

JT4

+360°

+360°

–360°

–360°

+360° –360°

3x2-M6-Dp13

23

±0.1

4040

40

40

39

0

52

5

390

525

267

±0

.12

67B

B

300

ø40

0 −0

.03

8ø5

0h8

ø6m6ø0.02

8-ø32

8-ø18

VIEW ASECTION B-B

Dimensions for Base

Detail C

P


KF262

(mm)

23

8-ø32

137.5

95

85

(73

.61

)

JT5

JT4

JT3

JT2

JT1

JT6

±0.1

4040

40

40

39

0

52

5

390

525

258 240

225 211

197

309

598

267

±0

.12

67

A

C

ø102

6-M6-Dp14

R521

2,665

697

557

1,300 250

200

1,10

0710

98

23

,12

5

7

7.5

ø4

0

+410°

150°

150°

–410°

–720°

60°

+720°

+720°

–720°

+90°

+110°

+150°

–150°

–80°

–60°

ø5m6+0.012+0.00451

B

B

ø116

h70

−0

.03

5

ø9

0H

7+0

.03

5 0

ø0.048-ø18

VIEW A SECTION B-B Dimensions for Base

Detail C

P


KF263

(mm)

23

8-ø32

158.5

108.5

100

(86

.6)

JT5

JT4

JT3

JT2

JT1

JT6

±0.1

4040

40

40

39

0

52

5

390

525

258 240

248 228

197

309

598

267

±0

.12

67

A

C

ø102

6-M6-Dp14

R521

2,668

715

557

1,300 250

22

01,

100

710

98

53,

128

8

7.5

+410°

150°

150°

–410°

–720°

60°

+720°

+720°

–720°

+90°

+110°

+150°

–150°

–80°

–60°

ø5m6+0.012+0.004

ø0.0451

B

B

ø70

ø116

h70

−0

.03

5

ø9

0H

7+0

.03

5 0

8-ø18

VIEW A SECTION B-B Dimensions for Base

Detail C

P


KF264

(mm)

R500

120°

120°

A

D

C

C

E E

B

1,400

90

01

,10

0 3,4

00

1,0

50

2,665

+90°

+120°

+120°

+120°

–65°

–60°

165

456

JT6

150 150 609

JT4

JT5

18

0

456 377

218

114

780

JT3

JT2

JT1

8-ø20

8-ø20

51

150

115

40

40

40

19

51

95

65 325 40

ø102

ø5m6+0.012

±0.1

28

5±

0.1

+0.004

+0.02 8

ø70

25

ø116

h70

−0

.03

5

+410°

+720°

+720°

60°

–410°

–720°

–720°

SECTION E-E

6-M6 Dp14

6-M6 Dp14

Dimensions for Base

VIEW B

VIEW D

SECTION C-C

Detail A

P


KG264

7 8


(mm)

6-M6 Dp14

6-M6 Dp12


SECTION D-D

4-M8 Dp22

4-M8 Dp25 4-M8 Dp25

VIEW G

VIEW E

VIEW F

VIEW H

VIEW B SECTION C-C

Dimensions for Base

Detail A

37

23

00

30 30

59

59

305

30

30

1045 10

010

0

10

010

0

4510

C

C

ø7

0

ø1

16

h7

0 -0.0

35

851±0.02

ø5m6 +0.012+0.004

ø102

-720°

+720°

JT4

+720°

-410°

+410°

JT6

JT5 -720°

60°

100

105

D D

75 75

25

265 100

85

23

52

35

85

40

24

024

04

0

1040

35

5

JT1 center

26

52

65

175

50

35

0

475

650

E

F

B

+90°

-65°

JT3

+130°

-80°

JT2

-120°

+120°

JT1

HG

120°

120°

316

261386

194381

6

95

0A

90

0

260 260 425

R445

1,4

61

1,8

00

1,940

850 140

542

(650)

12-ø34

12-ø20

27

P

+90°

-75°

JT3

+130°

JT2

-160°

+160°

JT1

-80°

B

45

06

00

12

5

550 135

200 200

200 200

Point P


R330

160°

160°

350

A

95

01

,16

4

417

1,299

4-ø18

4-ø33

15

85

60°

100

ø70

ø116

h7 0 -0

.03

5

51±0.02

ø5m6+0.012+0.004

PARALLEL PIN6-M6 DP14

ø102

6

SECTION D-D

-410°

+410°

JT6

+720°

JT5 -720°

-720°

+720°

JT4

C

C

SECTION C-C

240

24

0

143

14

314

3

100 25

37

88

88

37

100 25

JT1 CENTER

14

814

8

(mm)

Dimensions for Base

Detail AVIEW B

D D

KJ194 (Floor)KJ125

(mm)


4-M8 Dp22

6-M6 Dp12

6-M6 Dp14

4-M8 Dp22 4-M8 Dp22

Mounting Surface

JT2 Center

VIEW E

VIEW F

VIEW G VIEW H

VIEW B

SECTION D-D

SECTION C-C

Dimensions for Base

Detail A

372300

30

30

5959

3030

30

5

50

50

50

50

100 335 335 100

C

C

ø70

ø116h7 0-0.035

851

±0

.02

ø5m6 ＋0.012＋0.004

ø102

-720°+720°

JT4

+720°

-410°+410°JT6

JT5

-720°

60°

100

10

5

27

10－ø20

10－ø34

D D

550395

32

5

605

24

5

75

40

75

29

0

945

260

40

75

32

0

35

29

0

40

24

5

31

5

445 365 4040

31

5

E

G H

F

-120°+120°

JT1

JT2

-80°

+130°JT3-65°

+90°

B

39

0

(945)

(550)

408

261261

120°

120°

R445

38

6

19

43

81 316

261

6

950

A

1,461

85

0

1,9

40

14

0

1,800

542

P

Dimensions for Base

+90°

-75°

JT3

+130°

JT2

-160°

+160°JT1

-80°

B

45

06

00

12

5

800 135

1,545

1,1

95

1,4

10

200 200

200 200

Point P


R330

160°

160°

350492

A

240

24

0

143

14

314

3

100 25

37

88

88

37

100 25

JT1 CENTER

14

814

8

4-ø18

15

85

60°

100

ø70

ø116

h7 0 -0

.03

5

51±0.02

ø5m6 +0.012+0.004

PARALLEL PIN6-M6 DP14

ø102

6

D D

SECTION D-D

-410°

+410°

JT6

+720°

JT5 -720°

-720°

+720°

JT4

C

C

SECTION C-C DETAIL AVIEW B

4-ø33

(mm)

KJ194 (Shelf)KJ155

9 10

C

C

-720°+720°

JT4

+720°

-410°+410°JT6

JT5

-720°

D D

JT1

+30° -120°

JT2

-80°

+130°JT3-65°

+90°

E

G

H

B

F

(945)

(550)

40

8

261

261

39

0

30°

R445

261

316

381

19

4

38

6

85

0

A

1,461

14

0

1,800

1,9

40

6

950

542

550395

32

5

605

24

5

75

40

75

29

0

945

260

40

3575

32

0

29

0

40

24

5

31

5

4040 365

31

5

445

27

60°

100

10

5

ø70

ø116h7 0-0.035

851

±0

.02

ø102

372300

30

30

30

5

30

30

59 59

50 50

50

10

0

50

33

53

35

10

0

ø5m6

120°

P

(ø34)

(ø20)

(mm)

+0.012+0.004


6-M6 Dp12

4-M8 Dp22

6-M6 Dp14

4-M8 Dp22

4-M8 Dp22

JT2 Center

VIEW E

VIEW F

VIEW B

VIEW H

VIEW G

SECTION D-DSECTION C-C

Dimensions for Base

Detail A

Mounting Surface

KJ194 (Wall)

(mm)

JT1 Center

37

23

00

30 30 269240286

59

59

10 4510

010

0

10

010

0

45 10

90

C

C

ø7

0

ø1

16

h7

0 -0.0

35

851±0.02

ø102

-720°

+720°

JT4

+720°

-410°

+410°

JT6

JT5 -720°

60°

100

10512－ø34

27

12－ø20

D D

75 7525

265 100

85

23

52

35

85

40

24

02

40

40

1040

35

5 26

52

65

175

50

35

0

475

650

ø5m6+0.012+0.004

6-M6 Dp14

4-M6 Dp12

4-M6 Dp12


SECTION D-D

4-M8 Dp22

4-M8 Dp25 4-M8 Dp25

VIEW G

VIEW E

VIEW F

VIEW H

VIEW B SECTION C-C

Dimensions for Base

Detail A

E

F

B

+90°

-65°

JT3

+130°-80°

JT2

-120°

+120°JT1

HG

120°

120°

R445

316

261386

194381

6

812

1401,400

95

0A

P

90

0

260260 425

2,3

50

2,490

2,0

72

(650)

KJ244 (Floor)



4-M8 Dp22

4-M6 Dp12

4-M6 Dp12

6-M6 Dp14

4-M8 Dp22 4-M8 Dp22

Mounting Surface

JT2 Center

VIEW E

VIEW F

VIEW G VIEW H

VIEW B


Dimensions for Base

Detail A

372300

30

30

26

924

02

86

59 59

335100 335 100

50

50

50

50

90

C

C

ø70

ø116h7 0-0.035

851

±0

.02

ø5m6＋0.012＋0.004

ø102

-720°+720°

JT4

+720°

-410°+410°JT6

JT5

-720°

60°

100

10

5

27

10-ø20

10-ø34

G H

408

261261

120°

120°

R445

D D

550395

32

5

605

24

5

75

40

75

29

0

945

260

40

75

32

0

35

29

0

40

24

5

31

5

445 365 4040

31

5

(mm)

F

E

B

+90°

-65°JT3 +130°

-80°

JT2

-120°+120°

JT1

6

2,0722,350

(550)

14

01

,40

0

(945)950

AP

31

6

26

13

86

19

43

81

2,4

90

81

2

39

0

KJ244 (Shelf)

372300

30

30

26

924

02

86

59 59

33

510

03

35

10

0

50 50

505090

C

C

ø70

ø116h7 0-0.035

851

±0

.02

ø5m6 ＋0.012＋0.004

ø102

-720°+720°

JT4

+720°

-410°+410°JT6

JT5

-720°

60°

100

10

5

D D

550395

32

5

605

24

5

75

40

75

29

0

945

260

40

3575

32

0

29

0

40

24

5

31

5

4040 365

31

5

445

G

H

40

8

261

261

30°

120°

R445

10-ø34

27

10-ø20

(mm)

JT1

+30° -120°

JT2

-80°

+130°JT3-65°

+90°

B

E

F

14

01

,40

0

(945)950

2,350

(550)

261

38

6

19

43

81

P A

316

6

39

0

2,072

2,4

90

81

2


4-M6 Dp12

4-M6 Dp12

4-M8 Dp22

6-M6 Dp14

4-M8 Dp22

4-M8 Dp22

JT2 Center

VIEW E

VIEW F

VIEW B

VIEW H

VIEW G


Dimensions for Base

Detail A

Mounting Surface

KJ244 (Wall)

11 12

(mm)

37

23

00

30 30 269240286

59

59

10 4510

01

00

10

01

00

45 10

90

C

C

ø7

0

ø1

16

h7

0 -0.0

35

851±0.02

ø102-720°

+720°

JT4

+720°

-410°

+410°

JT6

JT5 -720°

60°

100

10512－ø34

27

12－ø20

D D

75 7525

265 100

85

23

52

35

85

40

24

02

40

40

1040

35

5 26

52

65

175

50

35

0

475

650

E

F

B

+90°

-65°

JT3

+130°-80°

JT2

-120°

+120°JT1

HG

120°

120°

316

261386

194381

6

2,1

07

2,5

00

2,640

755

1401,400

1,1

00A

90

0

260 260 425

R445

(650)

P

ø5m6 ＋0.012＋0.004

Parallel Pin

6-M6 Dp14

4-M6 Dp12

4-M6 Dp12


JT1 Center

4-M8 Dp22

4-M8 Dp25 4-M8 Dp25

VIEW G

VIEW E

VIEW F

VIEW H

VIEW B

SECTION D-D

SECTION C-C

Dimensions for Base

Detail A

KJ264 (Floor)

372300

30

30

26

92

40

28

6

59 59

335100 335 100

50

50

50

50

90

C

C

ø70

ø116h7 0-0.035

85

1±0

.02

ø5m6 ＋0.012＋0.004

ø102

-720°+720°JT4

+720°

-410°+410°JT6

JT5

-720°

60°

100

10

5

27

10－ø20

10－ø34

JT1

+120° -120°

JT2

-80°

+130°JT3-65°

+90°

B

E

F

G H14

01

,40

0

39

0

(945)1,100

75

5

2,6

40

2,500 2,107

(550)

408

26

13

86

19

43

81

A

261261

31

6

6

120°

120°

R445

D D

550395

32

5

605

24

5

75

40

75

29

0

945

260

40

75

32

0

35

29

0

40

24

5

31

5

445 365 4040

31

5

(mm)

P

4-M8 Dp22

JT2 Center

SECTION D-D

Dimensions for Base


4-M6 Dp12

4-M6 Dp12

6-M6 Dp14

4-M8 Dp22 4-M8 Dp22

Mounting Surface

VIEW E

VIEW F

VIEW G VIEW H

VIEW B

SECTION C-C

Detail A

KJ264 (Shelf)


372300

30

30

26

92

40

28

6

59 59

33

51

00

33

51

00

50 50

505090

C

C

ø70

ø116h7 0-0.035

85

1±

0.0

2

ø5m6 ＋0.012＋0.004

ø102

-720°+720°JT4

+720°

-410°+410°JT6

JT5

-720°

60°

100

10

5

D D

550395

32

5

605

24

5

75

40

75

29

0

945

260

40

3575

32

0

29

0

40

24

5

31

5

4040 365

31

5

445

JT1

+30° -120°

JT2

-80°

+130°JT3-65°

+90°

B

E

FG

H

14

01

,40

0

(945)1,100

75

5

2,6

40

2,500 2,107

(550)

40

8

26

13

86

19

43

81

A

26

12

61

31

6

6

39

0

30°

120°

R445

10－ø34

27

10－ø20

P

(mm)


4-M8 Dp22

4-M6 Dp12

4-M6 Dp12

6-M6 Dp14

4-M8 Dp22

4-M8 Dp22Mounting Surface

VIEW E

VIEW F

VIEW B

VIEW H

VIEW G


Dimensions for BaseDetail A

JT2 Center

KJ264 (Wall)

372300

30

30

26

92

40

28

6

59 59

50

50

90 10 9010

90

-720°+720°JT4

+720°

-410°+410°JT6

JT5

-720°

60°

100

10

5

C

C

ø70

ø116h7 0-0.035

85

1±0

.02

ø5m6 ＋0.012＋0.004

ø102

12

-ø3

4

27

12

-ø2

0

D

D

22540

310

13

01

95

13

0

150 125 125 150

115 160 160 115

225 40

35

40

60

0

89

5

305

52

0

JT1

+120° -120°

JT2

-80°

+130°JT3-65°

+90°

B

E

F

G H

JT7+90°

-90°

14

01

,40

0

1,100

75

5

2,6

40

2,500 2,107

26

13

86

19

43

81

A

261261

31

6

6

600 450

37

5(5

20

)

385

120°

120°

90°

90°

R365

R445

P

(mm)


4-M8 Dp22

4-M6 Dp12

4-M6 Dp12

6-M6 Dp14

4-M8 Dp22 4-M8 Dp22

JT1 Center

VIEW E

VIEW F

VIEW B


Dimensions for Base

Detail A

VIEW HVIEW G

KJ314

13 14

550 500

1,4

00

Equipped with Enable switches.

The arrangement of keys has been optimised through extensive studies of operator hand movements.

Explosion-proof feature on the color LCD with a large-sized and easy-to-see touch panel display

Controller

External view & dimensions

Explosion-proof teach pendant

(mm)

E series

The E-controller, delivering unprecedented quality with a compact

size, was developed to respond to the requirements of our customers.

Kawasaki's past achievements and experience have led to the

development of the most technically advanced controller available.

This industry-leading design provides improved performance and

easy operation that surpasses all expectations.

FeaturesCompactWe have reduced the controller’s foot print and overall volume to make high-density layouts easy to achieve.

Explosion-proof teach pendantThe explosion-proof color LCD with its large touch panel allows users to teach, edit, and monitor information such as current position and I/O signals in the explosion-proof area. The interface panel can be customized to meet user preferences, while the backlit screen is easy to read in dark locations.

User-friendly operation systemThe operating system has now fully matured into a more user-friendly design. The operator can switch on the motors and activate the cycle start all from the teach pendant, providing more convenient system control. Two information screens can be displayed simultaneously to provide access to different types of information (for example, positional and signal information).

Painting unit control functions (option)By controlling the CCV, the electro-pneumatic regulator, and the rotation of the discharge control gear pump from the robot controller’s CPU board, this low cost, flexible system is compatible with a range of painting devices. You can also set up painting conditions and conduct discharge rate calibration on the teach pendant screen.

Using the latest technologiesThe enhanced CPU capacity has resulted in more accurate trajectory control, faster program execution, and quicker saving and loading of files, as well as other advantages. In addition the memory has been expanded to provide greater program storage capacity, while a USB port is also provided as standard for connecting external storage devices.

Easier maintenanceWith modular components and fewer cables, Kawasaki has developed a controller that is compact, and easy to maintain. A host of maintenance functions are available, including the DIAG function for self-diagnostics, a maintenance support function that can handle not only hardware errors but also application errors, a Web server that allows remote diagnostics, and more.

Highly expandableBy installing an additional amplifier, and adding workpiece transfer devices (tombow, shuttle, turntable, etc.), travel unit and gear pump, etc., the system can accept up to three external axes. The system is compatible with a large number of field buses for controlling peripheral devices. Combination with software sequencer function (KLogic), which can be edited on the teach pendant, allows easy structuring of a highly sophisticated system.

Standard

Option

External axis

USB

✽3: For details, see the “Option” field for Operation panel in the Specifications.

✽4: Standard for the E45/E47

✽5: Standard for the E35/E37 and E45/E47

Optional board

Optional device

RS-232C

Ethernet

DIO board, 32 I/O points each, max. four boards (128 points)

DeviceNET board, master/slave

CC-Link board, slave

PROFIBUS board, master/slave

EthernetIP board, master/slave

CANopen board, slave

Conveyor I/F board

Option switch✽3

100Vpower outlet✽4

Teach pendant

Terminalsoftware

Terminal software

USB Memory

Key board

Brake releaseswitch✽5

External axis motor ・Workpiece transfer/rotation

devices (tombow, shuttle, turntable)

・Travel unit ・Gear pump

System configuration diagram

Specifications

Standard

OptionAmerica E35 E37

Europe E45 E47

Japan & Asia E25 E27

Dimensions (mm) W500×D550×H1,400 –

Construction Enclosed structure/Indirect cooling system –

Controlled axes 6 Max. 9

Memory capacity (MB) 8 –

I/O signals

External operation Motor power Off, Hold –

Input (Channels) 32 Max. 128

Output (Channels) 32 Max. 128

Cable length

Robot-controller (m) 3 inside the booth, 3 outside the booth Extendable up to 40

Teach pendant (m) 10 Extendable up to 30

Mass (kg) 120 (E25/E27), 170 (E35/E37, E45/E47) –

Power requirements

E35/E37AC440–480V±10%, 60 Hz, 3ø 7.3 kVA (E35)/5.1 kVA (E37) ]1

Protective ground, leakage current: 10 mA at maximum–

E45/E47AC380–415V±10%, 50/60 Hz, 3ø 7.3 kVA (E45)/5.1 kVA (E47) ]1

Protective ground, leakage current: 10 mA at maximum–

E25/E27AC200–220V±10%, 50/60 Hz, 3ø 10 kVA (E25)/5.6 kVA (E27) ]1

Class-D ground (standard for robots), leakage current: 100 mA at maximumClass-A ground (for intrinsic explosion-proof safety circuits)

–

Installation environment

Ambient temperature (ºC) 0 - 45 –

Relative humidity (%) 35 - 85 (No dew, nor frost allowed) –

Teach pendantTFT color LCD display with touch-panel, E-Stop switch,

teach lock switch, Enable switch–

Operation panelE-stop switch, teach/repeat switch ]2, control power light

(Cycle start, motor-on, hold/run, and error rest are activated from the teach pendant.)

Cycle start switch, Motor on switch, Hold/Run switch, Error lamp,

Error reset switch.

External memory – USB Memory

External interface USB, Ethernet (100BASE-TX), RS232C –

]1: Power requirements ensure maximum operation of a robot, not those required for normal operations.]2: The E45/E47 comes with three switches to change between teach/teach 100%/repeat, as standard equipment.

15 16

Our robot is available in a “package cell” allowing production to commence almost instantly.

If you need to get your painting system operational quickly, Kawasaki painting package cells are available. These package cells arrive as a compact, ready-to-use units that can be easily installed in a limited space, allowing you to begin the painting process immediately.

Servo shuttle + KF193 Servo twister + KF121

Painting unit control panel

Line control panel

Peripheral EquipmentHigh quality, efficient spray painting can be achieved by combining high performance workpiece transfer and rotation devices, paint spray control systems of advanced technology and highly developed paint spray robots and atomizers.Kawasaki’s various types of peripheral equipment provide ideal paint spray facilities.

Package CellsTo meet customer needs, we offer packaged cells that come in various sizes and configurations, theses cells are named, servo twister, servo tombow, servo shuttle, servo spinner, servo turntable and servo wing.

Painting unit control panel (air panel)The painting unit control panel allows control of the changes to the discharge rate, atomizing air and air patterns to meet complex work applications.Functions such as automatic color change and automatic washing for each specified cycle could be incorporated to suit the customers needs.

Robot travel unitRobot travel unit synchronizes with robot motion by additional servo drives, thus allowing the painting process to take place on a moving component. Robot travel units can be used during the painting of automobiles, construction machinery, and septic tanks.

“KOSMOS” line control softwareIn painting processes where two or more robots are in operation, the KOSMOS line control panel provides real time status information and access to production management information.

Line monitoring functionThe LCD screen lets you observe the status of the entire system such as work-piece type, color, coating robot and peripheral unit operation, painting conditions, system errors etc.

Data setting functionThe graphical interface of the touch panel allows the setting and changing of the coating requirements and coating unit control panel. • Paint flow rate, atomizing air pressure, pattern air pressure and the other painting

requirement settings.• Time chart setting for color change, gun cleaning etc.• Program number setting for each work-piece type and color.• CCV number setting for each color

Statistical functionsAvailable data for production management include, production statistics, error statistics, paint consumption, etc.

Package cell

Robotcontroller

Painting booth

Servo Tombow

Manual operation box

Air panel

Safety fence

About 1,000, 1200, 1,400, 1,600 1,800

About

52

0

About

70

0

4-M8 Dp15

Table shaft details

(mm)

ø80

ø63

600

60

0

External View and Dimensions

Small sized painting applications

Servo TombowSpace saving and easy-to-install

1. Smooth movement Servo motion control provides smooth movement to

eliminate work slippage.

2. Higher painting quality For small cubical boxes (electronic appliances such as TV

cabinets, etc.), the spray gun can be oriented to each surface at a right angle. The distance between the gun and the surface can also be adjusted simply by entering a value. These features enable easy operation and enhance the painting quality.

3. Synchronous operation with the robot The Servo Tombow’s table rotation is synchronized with

the robot movements, assuring a uniform paint finish for cylindrical shaped components such as hot plates, wooden trays, automobile hubs etc. The Tombow table offers 360 degrees of rotation.

4. Preventing paint mist accumulation To reduce the problem of paint mist accumulation,

workpieces can be positioned above a water tank when spraying.

Specifications

Standard Heavy load carrying

Table load 20 kg x 2 Table 40 kg x 2 Table

No. of control axes Robot 6+Servo tombow 2

Control method Servo control

Teaching playback method PTP teaching+CP control

Position detection method Absolute encoder

Arm

Diameter (mm) 1,000, 1,200, 1,400, 1,600, 1,800

Operation angle (°) 180

Indexing time (sec) 2.0/180° 2.4/180°

Table

Operation angle Infinite revolution

Indexing angle (°) 90-deg and arbitrary angle


Uninterrupted rotary speed (rpm) Max. 90 Max. 45

Rotary direction Normal/reverse rotation

Explosion protectionAir pressurized explosion protection and intrinsically safe. Explosion-proof composite type (Expib II BT4 / Exib II BT4)

Mass (kg) Approx. 140 - 160

Color Munsell 10GY9/1 equivalent

Note: The standard arm lengths are 1,000 mm, 1,200 mm, 1,400 mm, 1,600 mm and 1,800 mm. The work loading table and loading fixtures to be prepared by the purchaser.


Servo Tombow - REnhanced space efficiency

1. Space efficient The paint robot is installed at the center of the Servo

Tombow painting system, thereby achieving greater space efficiency.

2. Adaptability to different painting conditions The tables and arm can be positioned and speed-controlled

with a high level of precision. The tables can also be continuously rotated and fixed at any desired angle, making it possible to select the best painting method for the workpiece.

3. Enhanced paint quality There are few obstacles surrounding the tables, allowing the

paint robot to freely change its posture. The lack of obstacles also means that the airflow inside the booth does not become too turbulent. These advantages lead to an improved level of paint quality.

4. Ideal for automated transportation equipment This system attaches and removes workpieces behind the

paint robot. As a result, this system can be easily combined with automated transportation equipment that uses conveyors or delivery robots.

Robotcontroller

Painting booth

Servo Tombow - R


Air panel

Safety fence

Specifications



No. of control axes Robot 6+Servo tombow 2




Arm

Diameter (mm) 1,800, 2,000, 2,200, 2,600 1,800, 2,000, 2,200


Indexing time (sec) 4/180°

Table







Mass (kg) Approx. 550–690 (excluding the manipulator base)


Note : A set of work loading tables and loading fixtures are necessary. Install the Manipulator KF121 onto a tombow-R with an arm length of 1,800 mm or 2,000 mm. Install the Manipulator KF192/193/194 onto a tombow-R with an arm length of 2,200 mm or 2,600 mm.

4-M8 Dp15

Table shaft details

600ø63

ø80

1,0

00

(mm)

About 1,800, 2,000, 2,200, 2,600

About

89

0

About

71

0


17 18

Package cell


Servo TwisterA compact but sophisticated system

1. Small installation space The minimum installation space required for this system is

2,200 mm wide x 1,966 mm long for a 600 x 600 mm table. Such compactness allows you to install this system in a narrow hand-blowing booth.

2. Rotary table functions In spite of its small size the Servo Twister provides rotary

coating, indexed coating and rotary synchronization functions.

3. 6-axis robots The Servo Twister installation uses a 6-axis, articulated robot.

4. Shared coating program The integration of the robot and painting table into one unit

allows for programs to be shared by more than one robot.

5. Short installation time The servo twister cell can be built before delivery, so that the

installation time is as shortened and in production as soon as possible.

Robotcontroller

Painting booth

Servo Twister

Manual operation boxAir panel

Safety fence

135°

135°

ø80

ø63

(mm)

500 (Arm Length 650)600 (Arm Length 800)

50

0 (

Arm

Len

gth

65

0)

60

0 (

Arm

Len

gth

80

0)

About 650, 800

Ab

out

70

0

Ab

out

52

0

4-M8 Dp15Table shaft details

External View and DimensionsSpecifications

Standard

Table load 20 kg x 2 Table

No. of control axes Robot 6+Servo twister 2


Teaching playback method PTP teaching + CP control


Arm

Length (mm) 650, 800


Indexing time (sec) 1.8/135°

Table




Uninterrupted rotary speed (rpm) Max. 90


Explosion protection

Air pressurized explosion protectionand intrinsically safe.

Explosion-proof composite type(Expib II BT4 / Exib II BT4)

Mass (kg) 120


Note : The work loading table and loading fixtures to be prepared by the purchaser.

Painting booth

Robotcontroller

Air panel

Safety fence

Manipulator base Manual operation box

Servo Shuttle

Servo Shuttle

4-M10 Dp20

Table shaft details

(mm)

4782,000, 2,700, 3,200, 4,000

55

0

240520

710

188

ø90

ø74

600

60

0


Medium sized work-piece painting cell

Servo ShuttleUltimate “table painting” type

1. Improvement in productivity Servo motion provides high speed work transfer and table

rotation with shock-less smooth start and stop motion, and also enables continuous rotation tracking with robot and any stand-by position of feeder.

2. Higher coating quality Controlling the position of the table provides the optimum

painting position. This combined with the high-speed, high-precision robot with the servo shuttle enables high-quality painting.

3. Simple teaching The simple teaching function provided by the KF series

painting robot eliminates time-consuming program teaching.

4. Increased table load The system can be used for painting large TV cabinets,

sanitary ware, automobile instrument panels etc.

5. Simple installation This complete package is simple to install, but will provide

for the painting of the most complex of components.

Specifications



No. of control axes Robot 6+Servo shuttle 2




ShuttleStroke (mm) 2,000, 2,700, 3,200, 4,000

Max. speed (mm/sec) 1,000

Table






Intermediate stop function The intermediate stop function and multiple coating control function are available.


Mass (kg) One side: 300 to 500


Note : The work loading table and loading fixtures to be prepared by the purchaser.

19 20

Package cell

Painting booth

Servo Wing


Robotcontroller

Air panel

Safety fence

(mm)

30° 1,300

30

06

80

672

2,6

70

450

1,300

ø82

ø160

ø104

ø10H7 +0.015 0

ø65H8 +0.04 05

(ø6

5H

8)

4-M8 Dp16

Dp15

Table shaft details

Pin hole for positioning



Servo WingThe installation space for “Table Painting” was made even smaller.

1. Space Saving While suitable for workpieces of a larger size than in the

Servo Shuttle, the installation space is made smaller. Because the left and right workpieces are closer together, loading and unloading work is reduced.

2. Even Small-sized Robots Cope with Large Work-pieces.

Because there is one painting position, the distance between the workpiece and the robot becomes closer, making the robot possibly smaller than that in Servo Shuttle.

3. Less teaching work Because the left and right arms can be set for the same

painting positions (one position), a single program can be used, thus making the teaching time shorter.

4. Preventing paint mist accumulation Because the arms are slim with no fixed rails, painting can

be conducted above the water, reducing soiling of the booth. In addition, the airflow turbulence inside the paint booth can be minimized.

5. Short Construction Period This device is delivered pre-assembled. So, it can be

installed in as little as one day and you can start production immediately.

Specifications

Standard

Table load 30 kg x 2 Table

No. of control axes Robot 6+Servo wing 2




ArmStroke (mm) 2,670

Indexing time (sec) 3.2

Table




Uninterrupted rotary speed (rpm) Max. 90


Intermediate stop functionThe intermediate stop function and multiple

coating control function are available.


Mass (kg) 970


Note: The arm index time indicates the time of arm movement from the intermediate stop position to the painting position.

The arm index time varies depending on the intermediate stop position.

Servo Turntable

Loading/unloadingof work-piece

Safety fence

Painting booth

RobotcontrollerAir panel



Large sized work-piece painting cell

Servo TurntableComplete surface painting is possible with uninterrupted turntable rotation1. The integrated control of the robot and table allows any

painting position to be achieved according to the work shape.

2. The system can be applied to various types of painting such as synchronous control, arbitrary-angle indexing, paint spraying with continuous rotation of the table.

SpecificationsStandard Heavy load carrying

Table load (kg) Max. 500 Max. 1,000

No. of control axes Robot 6+Servo Turntable 1




Table



Indexing time (sec) 2.5/90° 5/90°



Explosion protectionAir pressurized explosion protection and intrinsically safe.

Explosion-proof composite type (Expib II BT4 / Exib II BT4)

Mass (kg) 180 (without table jig)

Table diameter (mm) up to ø2,000


Foot switch function(Option)

Uninterrupted normal rotation, rotation stop

Uninterrupted rotation, 45-deg., 90-deg., 180-deg.,

indexing (changeable indexing angle), rotation stop

27

0

(mm)

up to ø2,000

ø640

Floorconveyor

Servo Spinner

Safety fence

RobotcontrollerAir panel

Painting booth


Servo SpinnerA new dimension in “line coating”

1. Flexible component placement Choose the optimum painting posture for the workpiece,

and reduce contamination of the paint booth.

2. Uninterrupted painting Painting can be performed with the table rotating, thus

minimizing the robot’s wait time.

SpecificationsStandard Heavy load carrying

Table load (kg) 20 60

No. of control axes Robot 6+Servo Spinner 1




Table






Explosion protection

Air pressurized explosion protection and

intrinsically safe. Explosion-proof composite

type (Expib II BT4 / Exib II BT4)

Mass (kg) 60


4-M10Dp20

Table shaft details

ø134

(mm)

ø88

23

32

80

670

600(Standard) 750(Heavy load carrying)

60

0(S

tandar

d) 7

50

(Hea

vy load

car

ryin

g)

21 22

Kawasaki Robot K series · K series Kawasaki Robot K series Painting robots explosion-proof and...

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Transcript of Kawasaki Robot K series · K series Kawasaki Robot K series Painting robots explosion-proof and...