M series. Kawasaki Robot. Kawasaki Robot. Extra large payload robots up to 1,500 kg. M series CAUTIONS TO BE TAKEN TO ENSURE SAFETY

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1 M series Kawasaki Robot M series Extra large payload robots up to 1, kg ROBOT DIVISION Tokyo Head Office/Robot Division 1-14-, Kaigan, Minato-ku, Tokyo 1-831, Japan Phone: Fax: kashi Works/Robot Division 1-1, Kawasaki-cho, kashi, Hyogo , Japan Phone: Fax: Global Network Kawasaki Robotics (US), Inc. 14 Lakeview Drive, Wixom, MI 48393, U.S.. Phone: Fax: Kawasaki Robotics (UK) Ltd. Unit 4 Easter Court, Europa Boulevard, Westbrook Warrington Cheshire, W 7ZB, United Kingdom Phone: Fax: Kawasaki Robotics GmbH 29 Sperberweg, Neuss, Germany Phone: Fax: Kawasaki Robotics Korea, Ltd. 43, Namdong-daero 21beon-gil, Namdong-gu, Incheon, 21633, Korea Phone: Fax: Kawasaki Robotics (Tianjin) Co., Ltd. Bldg 3, No.16, iang an Road, TED, Tianjin 47 China Phone: Fax: Kawasaki Motors Enterprise (Thailand) Co., Ltd. (Rayong Robot Center) 119/1 Moo 4 T.Pluak Daeng,.Pluak Daeng, Rayong 2114 Thailand Phone: Fax: Kawasaki Robot CUTIONS TO BE TKEN TO ENSURE SFET 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. ISO certified in kashi Works. ] Materials and specifications are subject to change without notice. Cat. No. 3L16 Feb 16 S Printed in Japan

2 Maximum payload 1, kg Incorporating a compact profile design with long reach and high wrist torque The M series this powerful robot developed by Kawasaki Heavy Industries, a pioneer of industrial robot manufacture, has a maximum payload of 1, kg. Its superior design gives it the power to lift and manipulate heavy loads with great ease and high accuracy. Kawasaki s own mechanism makes the waist more compact and allows it to support a larger payload capacity. Features Compact profile The M adopts a new link structure for the JT3 (upper and lower arms), while the MG adopts Kawasaki s own hybrid link mechanism and ball screws for the JT3. Two large motors to drive them make the counterweight unnecessary and the robot s waist compact. High wrist torque The MG1HL have superb wrist torque. This torque increases the offset distance from the twist flange surface to the center of gravity of a workpiece. Its application offers excellent results when working with off-centered workpieces. High rigidity The second and third axes that affect the accuracy of hand motions use highly rigid ball screws with minimal backlash. This reduces arm deflection while enabling high positioning accuracy. (MG) Wide motion range Kawasaki s original hybrid link mechanism along with the ball screws used in the second and third axes ensures a wide work envelope when the arm moves forward. (MG) Many variations Four M models (6-axis type, 3-7 kg) and two MG models (6-axis type, 1, - 1, kg) are floor mounting types. The MT4N (6-axis, 4kg) is a shelf mounting type. These models are for assembling and handling applications. M3L M42L MN M7N MT4N MG1HL MG1HL 1 2

3 Standard specifications Type M3L M42L MN M7N rticulated robot Degree of freedom (axes) 6 Max. Payload (kg) Max. Reach 3,18 2,778 2,4 2,4 Repeatability ±. (at the tool mounting surface) rm rotation (JT1) ±18 ±18 ±18 ±18 rm out-in (JT2) Motion rm down-up (JT3) Range Wrist swivel (JT4) ±36 ±36 ±36 ±36 () Wrist bend (JT) ±11 ±11 ±11 ±11 Wrist twist (JT6) ±36 ±36 ±36 ±36 rm rotation (JT1) rm out-in (JT2) Max. Speed rm down-up (JT3) (/s) Wrist swivel (JT4) Wrist bend (JT) Wrist twist (JT6) Wrist swivel (JT4) 2,74 3,29 3,92,488 Moment (N m) Wrist bend (JT) 2,74 3,29 3,92,488 Wrist twist (JT6) 1,96 1,96 1,96 2,744 Moment Wrist swivel (JT4) of Inertia Wrist bend (JT) (kg m 2 ) Wrist twist (JT6) Mass (without s) (kg) 2,8 2,8 2,7 2,86 Driving Motor Brushless C servo motor Mounting Floor Environmental mbient temperature (C) - 4 Condition Relative humidity (%) 3-8 (No dew, nor frost allowed) Built-In Utilities Pneumatic pipings (ø12 x 2 lines) Wirings for valves to drive hand (DC24V x 7 circuits) MT4N MG1HL MG1HL Type rticulated robot Degree of freedom (axes) 6 Max. Payload (kg) 4 1, 1, Max. Reach 3,3 4, 4, Repeatability ±. (at the tool mounting surface) ±.1 (at the tool mounting surface) rm rotation (JT1) ±18 ±1 ±1 rm out-in (JT2) Motion rm down-up (JT3) ] Range Wrist swivel (JT4) ±36 ±36 ±36 () Wrist bend (JT) ±12 ±12 ±12 Wrist twist (JT6) ±36 ±36 ±36 rm rotation (JT1) rm out-in (JT2) Max. Speed rm down-up (JT3) (/s) Wrist swivel (JT4) Wrist bend (JT) Wrist twist (JT6) Wrist swivel (JT4) 2,1 8,8 1, Moment (N m) Wrist bend (JT) 2,1 8,8 1, Wrist twist (JT6) 98 4,41 4,41 Moment Wrist swivel (JT4) 2 1,8 2,2 of Inertia Wrist bend (JT) 2 1,8 2,2 (kg m 2 ) Wrist twist (JT6) 147 1,2 1,2 Mass (without s) (kg) 2,6 6, 6, Driving Motor Brushless C servo motor Mounting Shelf Floor Environmental mbient temperature (C) - 4 Condition Relative humidity (%) 3-8 (No dew, nor frost allowed) Built-In Utilities Pneumatic pipings (ø12 x 2 lines) Wirings for valves to drive hand (DC24V x 7 circuits) djustable mechanical stopper JT1/JT2/JT3 Limit switch JT1/JT2/JT3 Internal signal harness Double solenoid valve (3 circuit/2 circuit) F.R.L. combination (ir cleaning equipment) djustable mechanical stopper JT1/ JT2/JT3 Limit switch JT1/JT2/JT3 djustable mechanical stopper JT1 Limit switch JT1/JT2/JT3 Internal signal harness Double solenoid valve (3 circuit/2 circuit) F.R.L. combination (ir cleaning equipment) merica merica Europe E4 Europe E2 Japan & sia Japan & sia ] : The maximum ranges of motion depend on the payload and the torque. 3 4

4 Motion range & dimensions M3L MN / 7N 6 M12 Depth 29 ø.2 Interference radius around the rotational axis ø. 3 2 ø12h Depth , (86) 6-M1 Depth 12 JT1:18 Interference radius around the rotational axis 3 ø. 2 ø12h7 Depth ø.4 9 3,3 1,497 ø. 1, ,16 JT6: ±36 1,16 3 1,24 3, , P 2,1 1, 4,319 JT4:±36 JT4:±36 JT6:± JT:± Depth 8 VIEW 2,6 2,48 1,3 øh7 3,79 73 ø.4 VIEW 32 JT1: JT1: ø1H7 Depth H ø JT:±11 th D ep 77 ø M12 Depth 29 JT1:18 Depth 12 ø.4 JT6: P ±36 1, ø MT4N th 8 2,4 2,1 3,2 M42L 77 D ep Interference radius around the rotational axis JT4:± ,16 2 ø12h7 1, P ,1 1, 9 JT6: ± ) JT4:±36 H7 +. VIEW (R ø. 2 4 ø12 1,6 JT1:18 2,3 32 ø.4 JT:±11 VIEW 96 ø.2 ø M12 Depth 29 JT1:18 2,839 JT1: H ø12 th JT:±11 D ep 4 JT1: Figures in ( ) represent M7N. P 6

5 Motion range & dimensions E series MG1HL / MG1HL JT M16 Dp34 JT±12 42 ø ø12H7 Dp2 ø.6 ø31 42 JT6±36 3 ø48 7 JT4±36 R1,9 ø13h7 Dp1 1 JT ,1 1,2 The E-, with unprecedented quality and compact size, was created in response to customer demand. Kawasaki s collaboration of past achievements and experience has lead to the development of the most technically advanced controller available. This industry leading design provides increased performance and easy operation that exceeds expectations ø33 Features VIEW Compact ø33 ø.6 4, Installation Dimensions 1,226 1, Small footprint of the E controller makes it easy to achieve high-density layouts. nd overall volume has been reduced greatly compared with the previous model. s a result, an upright-position installation or stacked installation is possible, in order to save installation space. 2, ,7 43 1,7 49 JT JT3 User-friendly operation system Point P 3,821 E4 4,416 JT2 4 JT2 9 1,4 3,33 11 ] The operation system has now fully developed into a more user-friendly design. The operator can turn on the motors and activate the cycle start all from the teach pendant, thereby realizing a more convenient system control. The two information screens can be displayed simultaneously, enabling the operator to view different types of information easily (for example, positional and signal information). bundance of functions 9 The large variety of unique functions makes it possible to support a wide range of applications. These functions can be combined and easily configured within a system to suit a particular application. Likewise, the built-in Kawasaki S Language provides sophisticated robot motion and sequence controls ,36 1,242 9 Configurations of MG1HL upper arm 674 Incorporating the latest technologies The enhanced CPU capacity allows for more accurate trajectory control, faster program execution, and quicker saving and loading of files, and countless other advantages. In addition, the memory has been expanded to answer the need for higher program storage capacity. USB port is equipped as a external storage conduit. Easier maintenance With modular components and fewer cables, Kawasaki has developed a controller that is compact and easy to maintain. host of maintenance functions are available, including the DIG function for self-diagnostics, a maintenance support function that can handle not only hardware errors but also application errors. In addition to the DIG function, there are other additional functions, such as a Web server that enables engineers to perform remote diagnostics. Highly expandable With the use of an additional amplifier, the E4 supports up to three external axes, while the can control up to 17 external axes with an additional multi-axis controller. Numerous communication fieldbuses are available for controlling peripheral devices. The Kawasaki K-Logic sequencer can be combined with user customized interface panels on the teach pendant. Global Unified Specification The E4 adopts an optional transformer unit for various primary sources, while the is equipped with a transformer that supports 21/4/46V primary sources, for worldwide use. 7 8

6 Specifications Standard Dimensions Large, color LCD touch screen display. Structure Joint, Base, Tool Joint/Linear/Circular Interpolated motion al board al device Fast check mode switch Standard Brake release switch Transformer unit RS-232C USB Memory Ethernet DIO board: 32 points each max. 3 boards (96 points) DeviceNet board, 32 E4: Max. 96 : Max E4: Max. 96 : Max. 1 E-Stop switch, teach/repeat switch, control power light (Cycle start, motoron, hold/run, and error reset are activated from the teach pendant.) Fast check mode switch (m) 1, 1 Robot-controller (m) 1, 1 Mass (kg) 4 Conveyor I/F board Cubic-S (area monitor /speed monitor) ] (no dew, nor frost allowed) Munsell 1G9/1 equivalent TFT color LCD display with touch-panel, E-Stop switch, teach lock switch, Enable switch uxiliary storage unit Interface USB Memory USB, Ethernet (BSE-T), RS-232C External view & dimensions E Standard Brake release switch RS-232C External-axis motor USB Memory Transformer 9 USB Ethernet Vision controller 2 23 DeviceNet board, CC-Link board, PROFIBUS board, PROFINET board, Transformer unit ] 1,4 Fast check mode switch 26 al device 2 18 DIO board DIO board: 32 points each max. 4 boards (1 points) 1. Ethernet/IP board, POWER 17 al board 2 CN open board, slave 8 EtherCT board, 18 MG+ (selectable) ] /6Hz, 3ø Class-D earth connection (Earth connection dedicated to robots), leakage current: Maximum m Body color Vision controller Transformer unit: 4 (E4) ]Transformer unit C38-41V ±1% C44-48V ±1% C2-22V ±1% (selectable) C38-41V ±1% /6Hz, 3ø C44-48V ±1%, Power requirements PROFINET board, EtherCT board, C2-22V ±1%, /6Hz, 3ø Environmental mbient temperature (C) condition Relative humidity (%) Motor power off, Hold Output (Channels) PROFIBUS board, CN open board, slave : Circular Interpolated Input (Channels) CC-Link board, Ethernet/IP board, Joint/Linear motion 8 External operation Operation panel M/MT+E4 Fixed tool point Point to point teaching or language based programming Memory capacity (MB) Cable length E4: Max. 9 : Max. 17 (adding external amplifier) Full digital servo system Types of motion control System configuration diagram E4: Transformer unit: W8 D8 H178 9 Coordinate systems General purpose signals USB W68 D H1,63 6 Programming External-axis motor W D8 H278 Drive system Equipped with Enable switches. DIO board Enclosed structure / Indirect cooling system Number of controlled axes The key arrangement has been optimised through extensive studies of operator hand movements. E4 Conveyor I/F board Cubic-S (area monitor /speed monitor) ] 1