R series Kawasaki Robot R series Small-to-medium payload robots - up to 80 kg Kawasaki Robotics (US), Inc Corporate Headquarters for mericas 28140 Lakeview Drive, Wixom, MI 48393, US hone: +1-248-446-4100 Fax: +1-248-446-4200 Global Network Kawasaki Heavy Industries, Ltd Tokyo Head Office/Robot Division 1-14-5, Kaigan, Minato-ku, Tokyo 105-8315, Japan hone: +81-3-3435-6852 Fax: +81-3-3437-9880 Kawasaki Heavy Industries, Ltd kashi Works/Robot Division 1-1, Kawasaki-cho, kashi, Hyogo 673-8666, Japan hone: +81-78-921-2946 Fax: +81-78-923-6548 Kawasaki Robotics (UK), Ltd Unit 4 Easter Court, Europa Boulevard, Westbrook Warrington Cheshire, W5 7ZB, United Kingdom hone: +44-1925-71-0 Fax: +44-1925-71-1 Kawasaki Robotics GmbH 29 Sperberweg, 41468 Neuss, Germany hone: +49-21-3426-0 Fax: +49-21-3426-22 Kawasaki Robotics Korea, Ltd 43, Namdong-daero 215beon-gil, Namdong-gu Incheon, 21633, Korea hone: +82-32-821-6941 Fax: +82-32-821-6947 Kawasaki Robotics (Tianjin) Co, Ltd Bldg 3, No16, iang an Road, TED, Tianjin 457, China hone: +86-22-5983-1888 Fax: +86-22-5983-1889 Kawasaki Motors Enterprise (Thailand) Co, Ltd Rayong Robot Center 119/10 Moo 4 T luak Daeng, luak Daeng, Rayong 21140, Thailand hone: +66-38-955-040-58 Fax: +66-38-955-145 KawasakiRoboticscom 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 roducts 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 hotographs 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 CCREDITED ISO certified in Wixom, Michigan US ] Materials and specifications are subject to change without notice Cat No RS1802 M
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 Features High-speed operation The 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 torque High 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 range In 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 protection The R series incorporates a double seal construction on all axes and water-resistant electrical connections, offering an I67 classification for the wrist and I65 for the remaining axes If a washdown arm is required, the entire robot can be provided as I67 (Except for the RS003N, RS005N and RS005L) Integrated features Built-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 RS003N 1 RS005N RS005L RS006L RS007N RS007L RS010N Typical applications : ssembly / Dispensing / Machine tending / Material handling / Material removal / alletizing / Welding RS010L RS015 RS020N RS030N / RS050N / RS080N 2
Standard specifications RS003N RS005N RS / RC005L RS006L RS007N RS007L RS010N RS010L RS015 RS020N RS030N RS050N RS080N Type rticulated rticulated Degrees of freedom (axes) 6 6 Max payload (kg) 3 5 5 6 7 7 10 10 15 20 30 50 80 Max reach 620 705 3 1,650 730 930 1,450 1,925 3,150 1,725 2,100 2,100 2,100 ositional repeatability ]1 ±005 ±002 ±003 ±005 ±002 ±003 ±004 ±006 ±015 ±005 ±007 ±007 ±007 Motion range ( ) Max speed ( /s) Moment (N m) Moment of inertia (kg m 2 ) rm rotation (JT1) ±160 ±180 ±180 / ±165 ±180 ±180 ±180 ±180 ±180 ±180 ±180 ±180 ±180 ±180 rm out-in (JT2) +150-60 +5-80 +5-80 +145-105 ±5 ±5 +145-105 +155-105 +140-105 +155-105 +140-105 +140-105 +140-105 rm up-down (JT3) + - 150 +118-172 +118-172 +150-163 ±155 ±157 +150-163 +150-163 +5-155 +150-163 +5-155 +5-155 +5-155 Wrist swivel (JT4) ±360 ±360 ±360 ±270 ±200 ±200 ±270 ±270 ±360 ±270 ±360 ±360 ±360 Wrist bend (JT5) ±5 ±145 ±145 ±145 ± ± ±145 ±145 ±145 ±145 ±145 ±145 ±145 Wrist twist (JT6) ±360 ±360 ±360 ±360 ±360 ±360 ±360 ±360 ±360 ±360 ±360 ±360 ±360 rm rotation (JT1) 360 360 250 470 370 250 1 180 1 180 180 180 rm out-in (JT2) 250 360 250 310 250 205 180 205 180 180 180 rm up-down (JT3) 225 410 215 520 410 215 210 200 210 185 185 160 Wrist swivel (JT4) 540 460 460 365 550 550 365 400 410 400 260 260 185 Wrist bend (JT5) 225 460 460 550 550 360 360 360 260 260 165 Wrist twist (JT6) 540 740 740 700 1,000 1,000 700 610 610 610 360 360 280 Wrist swivel (JT4) 58 123 123 17 17 22 22 34 45 210 210 336 Wrist bend (JT5) 58 123 123 17 17 22 22 34 45 210 210 336 Wrist twist (JT6) 29 7 7 75 10 10 10 10 22 29 194 Wrist swivel (JT4) 012 04 04 045 05 05 07 07 08 09 168 28 34 Wrist bend (JT5) 012 04 04 045 05 05 07 07 08 09 168 28 34 Wrist twist (JT6) 003 012 012 014 02 02 02 02 025 03 66 11 7 Max speed (mm/s) 6,000 9,100 9,,700 12,100 12,000 11,800,100 19,0 11,500,400,400 12,700 Mass (kg) 20 34 37 150 35 36 150 230 545 230 555 555 555 Body color Munsell 10G9 / 1 equivalent Munsell 10G9 / 1 equivalent Installation Floor, Ceiling Floor, Ceiling Environmental conditions mbient temperature ( C) 0-45 0-45 Relative humidity (%) 35-85 (no dew, nor frost allowed) 35-85 (no dew, nor frost allowed) ower requirements (kv) ]2 10 15 15 20 20 20 20 30 40 30 45 45 45 Degree of protection I54 Wrist: I67 ]3 Base axes: I65 ]3 Wrist: I67 Base axes: I65 Controller F60 E01 / F60 F60 E01 / F60 E01 E02 E01 E02 ]1: Conforms to ISO9283 ]2: Depends on the payload and motion patterns ]3: RC005L meets the ISO Class 5 cleanroom standard Options : Option available : Option not available RS003N RS005N RS / RC005L ]3 RS006L RS007N RS007L RS010N RS010L RS015 RS020N RS030N RS050N RS080N I67 (JT1-3) Wall mount Traverse unit Riser ( / 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 (8 circuits) Sensor harness (12 circuits) Op machine harness (7 pairs) Servo-on lamp Limit switch (JT1) 3 4
Motion range & dimensions RS003N JT1: 160 JT1: 160 R216 347 620 JT5: ± 250 80 104 based on point ø14 88 ±01 88 ±01 RS005L R210 687 3 JT5: ±1 based on point 15 173 88 ±01 76 4-ø9 88 ±01 2-ø6H7 ø004 573 106 97 108 250 250 60 2494 150 150 84 217 750 ø9 8 1575 ø40 ø5h7 Dp8 ø004 Dp4 ø315 ±02 825 118 126 57 295 80 118 80 105 410 78 242 172 1,093 391 ø9 ø40h7 ø5h7 Dp8 ø004 Dp3 ø315 4-M5 Dp8 ø02 JT5: ±1 173 88 ±01 4-ø9 JT1: 165 JT5: ±1 173 88 ±01 4-ø9 725 118 118 80 R210 705 105 310 78 172 895 76 88 ±01 ø5h7 Dp8 ø004 Dp3 4-M5 Dp8 ø02 825 118 295 80 118 JT1: 165 80 R210 687 3 105 410 78 172 based on point 1,093 ø9 15 ø40h7 76 88 ±01 2-ø6H7 ø5h7 Dp8 ø004 Dp3 ø315 4-M5 Dp8 ø004 ø02 295 4-M5 Dp8 4-ø9 RS005N RC005L 280 80 488 based on point ø9 15 ø40h7 ø315 2-ø6H7 ø004 57 5 126 57 242 126 140 228 223 391 5 6
Motion range & dimensions 8±01 JT5 : ±1 128 92 ø004 Dp4 ø3 15 ø40 JT1:180 ø006 ø025 30 R7 ø30 7-M5 Dp7 h7 9 2 1,650 ø5h7 JT6:±360 JT6 : ±360 R1 5 JT5:± JT4:±200 184 59 R2 1,450 45 JT1:180 4- JT4 : ±270 RS007N 153±01 RS006L 12 R10 730 45 1,195 650 ø004 ø25h7 155 375 155 78 ø4 4-M6 Dp8 355 799 210 1,0 ø03 1,356 430 4-ø11 160 730 0 194 122 ø6h7 1 2-ø8H7 Thru ø004 1487 1592 266 360 1,0024 6382 4371 1 ø11 based on point 160 JT3 : 163 140 100 JT3 : 150 1,980 207 88 100 148 0 1592 JT1:180 RS007L JT5:± JT4:±200 45 ø5h7 JT6:±360 ø004 R93 4 86 ø3 0 JT1:180 15 7-M5 Dp7 ø40 h7 R1 Dp4 ø025 R10 930 12 based on point 930 ø11 122 4-ø11 160 157 475 157 78 1,7267 1864 1864 1 160 2-ø8H7 Thru ø004 4367 1487 140 1,2 455 360 899 7 8
Motion range & dimensions RS010N JT5 : ±1 128 JT4 : ±270 JT6 : ±360 8 ±01 92 4- RS015 JT5: ±1 146 210 ±01 8-1,250 1,450 R259 ø30 184 153 ±01 ø006 R397 2,850 3,150 150 1,850 based on point 95 400 340 210 ±01 1,195 148 207 194 210 4382 650 430 700 88 JT3 : 150 100 JT3 : 163 3056 1 100 8024 1,780 ø40 ø6h7 ø004 ø25h7 4-M6 Dp8 ø03 1,9765 244 298 TSM D VWS/N 277 307 1,4676 680 1,150 140 1,0927 155 2051 3,680 ø26 17 ø75 ø6h7 ø004 ø40h7 ø63 4-M6 Dp9 ø03 ø006 RS010L 1,625 R328 JT4: ±270 1,925 JT5: ±1 146 based on point 330 ø30 250 276 163 ±01 4-240 276 168± ±01 ø006 RS020N R328 JT5: ±1 146 JT4: ±270 1,425 1,725 based on point 330 ø30 250 276 163 ±01 4-240 276 168 ±01 ø006 1,360 260 150 1,005 95 150 163 770 155 2,240 ø6h7 ø004 ø40h7 1,360 260 770 150 150 805 163 95 2,040 ø6h7 ø004 ø40h7 465 ø63 155 ø63 260 7393 5005 1,2379 ø75 4-M6 Dp9 ø03 260 5393 465 3839 1,0379 ø75 4-M6 Dp9 ø03 9 10
Motion range & dimensions RS030N JT5 : ±1 206 210 ±01 8- RS080N JT5 : ±1 206 210 ±01 8- JT4 : ±360 JT6 : ±360 JT4 : ±360 JT6 : ±360 R397 R397 1,800 2,100 based on point 400 340 210 ±01 1,800 2,100 based on point 400 340 210 ±01 244 298 JT3 : JT3 : 155 150 1,080 165 ø26 ø006 244 298 JT3 : JT3 : 155 150 1,080 165 ø26 ø006 17 158 158 2,630 1,6965 680 870 140 60 ø94 30 ø8h7 Dp8 ø004 ø50h7 ø80 277 307 277 307 6252 6192 1,0665 6-M8 Dp ø03 JT5 : ±1 206 210 ±01 8- JT4 : ±360 JT6 : ±360 R397 1,800 2,100 based on point 244 298 JT3 : JT3 : 155 150 1,080 165 ø26 ø006 17 17 2,630 1,6965 680 870 140 60 ø94 30 ø8h7 Dp8 ø004 ø50h7 ø80 6252 6192 1,0665 6-M8 Dp ø03 RS050N 400 340 210 ±01 158 2,630 1,6965 680 870 140 60 ø94 30 ø8h7 Dp8 ø004 ø50h7 ø80 277 307 6252 6-M8 Dp ø03 6192 1,0665 11 12
Controller E01/02 and F60 Controllers Specifications Standard - n evolution of engineering excellence Kawasaki has incorporated 50 years' experience as a robot industry leader into the development of the most technically advanced controller available The E and F Controllers combine high performance, unprecedented reliability, a host of integrated features and simple operation, all in a compact design F60 W550 D580 H278 W x D x H Open type indirect cooling system (I54) Enclosed type direct cooling system (I20) 7 6 Dimensions Structure Number of controlled axes Features Compact The 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 highdensity applications For further space saving options, an upright-position or stacked installation is possible, without impeding performance The industry s smallest and lightest F60 controller can be installed in a 19-inch rack Hand-carry is also possible ] User-friendly operation E0 The 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 ] Option rogramming ease & flexibility Teach pendant F60 External view & dimensions E01/E02 OFF 100% ON ON TECH REET CONTROL OWER ERGENC EM 260 STO 580 18 550 OWER 580 18 550 ] Option F60 Coordinate systems 16 Motor power off, Hold Input (channels) 32 16 EO: Max 96 F60: Inside cabinet 64 (total max 80) Including remote I/O: 128 (total max 144) Output (channels) 32 16 EO: Max 96 F60: Inside cabinet 64 (total max 80) Including remote I/O: 128 (total max 144) Operation panel E-Stop switch, Teach/repeat switch, Control power light Fast check mode switch Teach pendant (m) 5 10, 15 Robot-controller (m) 5 Mass (kg) 10, 15 40 83 Transformer unit: 45 (E0 only) C200-V ±10%, 50 / 60Hz, 3ø C200-230V ±10%, 50 / 60Hz, 1ø Transformer unit [ 2: (E0 only) C-415V ±10% or C440-480V ±10% 50/60Hz, 3ø ower requirements Class-D earth connection (Earth connection dedicated to robots), Leakage current: Maximum 100m Environmental mbient temperature ( C) conditions Relative humidity (%) 0-45 35-85 (no dew, nor frost allowed) Body color Munsell 10G9 / 1 equivalent Munsell 585 / 1 equivalent TFT color LCD display with touch-panel, E-Stop switch, Teach lock switch, Enable switch Teach pendant Interface The F60 Controller also features the following functions: Optional Bluetooth to connect to the controller 18 500 188 Enclosed type cabinet (I54) (optional) Max four 32 I/Os as a remote I/O Fixed tool point 8 External operation Formerly, there were different controller specifications to support the respective standards of Japan/sia, Europe, and the US Now, functional safety technology has been employed to adopt a common safety circuit The new controllers have common global specifications that support the standards of every country Two external axes can be added to the E0 Controller for a total of nine controlled axes, while two can be added to the F60 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 Max 9 (E0) Max 8 (F60) oint to point teaching or language based programming Memory capacity (MB) USB, Ethernet (100BSE-T / 10BSE-T), RS-232C USB memory (E0 only) USB20 x 3 / RS232C x 2, Ethernet (1000BSE-T / 100BSE-T / 10BSE-T) x 2 ]1: Cabinet is larger ]2: lease contact Kawasaki about the robot arm types that match the F60 controller and options System configuration diagram Optional I/O DIO board DIO board: 32 points each Optional device Rapid-feed check mode switch 1 Standard Brake release switch Option Transformer unit 1 Expandable F60 open type cabinet [1 Joint / Linear / Circular Interpolated motion rogramming uxiliary storage unit Modular components with limited cables translate into easy diagnostics and maintenance 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 I54: Enclosed type (only for F60) Joint, Base, Tool Types of motion control Cable length Transformer unit: W580 D580 H178 (E0 only) Full digital servo system Universal support Easy maintenance Transformer unit ] 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 lso, the powerful Kawasaki S rogramming Language provides sophisticated robot motion and sequence controls Drive system General purpose signals Option E01 / E02 Bluetooth Enclosed type 2 External-axis motor USB Memory Teach pendant 1: E0 only 2: F60 only 3: E0: max 3, F60: max 2 inside controller, max 4 including remote I/Os 4: F60 master is under development 5: F60 cabinet is larger when Cubic-S is included RS-232C Ethernet Terminal software Terminal software Vision controller 2 4 DeviceNet master/slave CC-Link master/slave 3 4 ROFIBUS master/slave 4 ROFINET master/slave 4 Ethernet/I master/slave CN open slave 1 EtherCT master/slave CC-Link IE slave Conveyor I/F board Cubic-S 5 (area monitor /speed monitor) 14