The Flexible Heavy-Duty Robot

up to 300 kg payload

Kawasaki Robotics (USA), Inc.

THE FLEXIBLE HEAVY-DUTY ROBOT

The high payload long reach Z-Series robots were developed using Kawasakis advanced technology and extensive experience in automation. The versatile and upgradeable designs are directly responsible for improved production line efficiencies in automotive and general industry applications.

HIGH QUALITY & LOW MAINTENANCE

The Z-Series Robots boast industry leading reliability and 10,000 hour maintenance intervals, which translate to low operating costs and the highest production efficiencies.

ARM ID MEMORY
Kawasakis Arm ID board enables the robot arm to be interchanged with any E Controller. The ID board stores all of the necessary servo encoder data. In the event of a production emergency, the controller can quickly and easily be replaced to allow for any service and maintenance procedures to be performed. This feature greatly limits potential system downtime.

CYCLE TIME ADVANTAGE

The Z Robots can achieve superior operating speeds when combined with the ultra high processing speed capabilities of Kawasakis latest E Controller. Faster speeds of up to 20% as compared to previous models translate to shorter cycle times, resulting in maximum production.

PROGRAMMING FLEXIBILITY
Z-Series Robots can be programmed in two ways, via the robot teach pendant or a computer, and using one of the two Kawasakis programming methodologies, Block Step or AS Language. The Block Step programming method eliminates time consuming program teaching with auto-path generating software. The powerful AS Language provides ultimate flexibility via any word processor text file and enables the programmer to create advanced logic, manipulate program locations, integrate peripheral components and control the application process.

WIDE WORK ENVELOPE

The Kawasaki Z Robot combines a long reach arm with a minimal amount of dead space for the widest work envelope in its class. In addition, the patented Kawasaki Hybrid Link configuration enables the arm to rotate back over itself without having to rotate the base joint, thereby improving efficiency and minimizing power consumption.

SPACE SAVING DESIGN WITH INTEGRATED FEATURES

The small footprint of these high payload long reach robots allows for installations in confined areas. The Z-Series Robots are available with integrated pneumatic piping, wiring, and fork lift pockets, limiting the amount of work space required and minimizing potential interference.

UPGRADEABLE
The Z-Series robot line is manufactured using modular components and a common software platform. This flexible design allows some models to be modified to alter reach, payload capacities and speed. Both hardware and software alterations can easily be performed in the field. The ability to change the robot characteristics provide for greater flexibility to accommodate production and system changes.

The Z-Series heavy-duty robots are the workhorses of the Kawasaki Robotics product line. The robust low-maintenance Z Robots offer payload capacities from 100 to 300 kg and are available in floor mount (ZX), shelf mount (ZT) and compact (ZH) models to best suit the application. All Z Robots can be used with a Kawasaki 7th axis traversing unit, allowing for a flexible and expandable work range.

STANDARD FEATURES
Six-Axis Articulated Arm Payload Capacity 100-300 kg Electric AC Servo Drive Motors/Encoders Common E Controller Large Working Envelope High Payload High wrist torque and inertia capacity Maximum payload capacity rated at full speed and full reach Tool Mounting Flange: ISO 9409-1 Space Saving Design Small footprint Kawasaki Hybrid Link configuration Minimal dead zones Production Advantages Modular arm design High speed operation Rapid and adaptive acceleration and deceleration rates (See E Controller brochure or visit www.kawasakirobotics.com for controller features and specifications.) Low-Cost Maintenance 10,000 hour maintenance intervals Fittings for easy lubrication (one grease type) Modular components for quick repairs Programming Simplified Block Step teaching Advanced Kawasaki AS Language PC (Process Control) programs Ethernet TCP/IP, RS-232 port for PC communication Programmable graphical user interface (GUI) On-screen diagnostics Safety Three-position teach pendant safety switch Rotational hard stops and software limits Continuous monitoring of speed and position UL approved

APPLICATIONS
Assembly Dispensing Machine Tending Material Handling Material Removal Spot Welding

Extracting workpiece from molding machine

Releasing and loading/unloading of large-sized workpieces using vision system

Hemming process of the car door

The Flexible Heavy-Duty Robot

Z-SERIES SPECIFICATIONS
MODEL
Type Degrees of Freedom Payload Horizontal Reach Vertical Reach Repeatability Maximum Linear Speed JT1 JT2 Motion Range JT3 JT4 JT5 JT6 JT1 JT2 Maximum Speed JT3 JT4 JT5 JT6 JT4 Maximum Torque JT5 JT6 JT4 Moment of Inertia Motors Brakes Hard Stops Limit Switch Mass Body Color Installation Environmental Conditions Protection Classication Built-in Utilities Linear track options Base plate Adjustable mechanical stopper JT2/JT3 Limit switch JT2/JT3 Options Signal harness (up to 24 inputs and 8 outputs) Double/single solenoid valves (2 units max.) Internal wiring (37 wires inside robot arm) Air cleaning equipment (lter, regulator, mist separator) Piping for cooling water Wrist ange adapter with 92 mm mounting pattern Controller E32 1,350 kg 1,400 kg JT5 JT6 130 kg 2,651 mm 3,415 mm 0.3 mm 2,500 mm/s 180 +75 ~ -60 +250 ~ -120 360 130 360 110/s 110/s 110/s 140/s 135/s 230/s 735 Nm 735 Nm 421 Nm 107.8 kgm2 107.8 kgm2 45.9 kgm2 130 kg 2,951 mm 4,015 mm 0.3 mm 2,500 mm/s 180 +75 ~ -60 +250 ~ -120 360 130 360 110/s 110/s 110/s 140/s 135/s 230/s 735 Nm 735 Nm 421 Nm 107.8 kgm2 107.8 kgm2 45.9 kgm2 165 kg 2,651 mm 3,415 mm 0.3 mm 2,500 mm/s 180 +75 ~ -60 +250 ~ -120 360 130 360 110/s 110/s 115/s 140/s 155/s 260/s 911.4 Nm 911.4 Nm 451.8 Nm 165.5 kgm2 165.5 kgm2 46.9 kgm2 Brushless AC Servomotor All axes Adjustable mechanical stopper JT1 End of stroke limit switch JT1 1,350 kg Kawasaki Standard Floor Temperature: 0 ~ 45 C Humidity: 35 ~ 85 % (no dew, nor frost allowed) Vibration: Less than 0.5 G Wrist: IP67 Base: IP65 * Equivalent Pneumatic piping (12 x 2 lines) 1,400 kg 1,400 kg

ZXE130U

ZXE130L

ZXE165U
Articulated 6 axes

ZXE200S

ZXE300S

200 kg 2,651 mm 3,415 mm 0.3 mm 2,500 mm/s 180 +75 ~ -60 +250 ~ -120 360 120 360 105/s 110/s 105/s 120/s 120/s 200/s 1,274 Nm 1,274 Nm 686 Nm 199.8 kgm2 199.8 kgm2 154.9 kgm2

300 kg 2,501 mm 3,115 mm 0.3 mm 2,500 mm/s 180 +75 ~ -60 +250 ~ -120 360 120 360 100/s 85/s 85/s 90/s 90/s 150/s 1,470 Nm 1,470 Nm 705.6 Nm 274.5 kgm2 274.5 kgm2 155.9 kgm2

MODEL
Type Degrees of Freedom Payload Horizontal Reach Vertical Reach Repeatability Maximum Linear Speed Motion Range JT1 JT2 JT3 JT4 JT5 JT6 Maximum Speed JT1 JT2 JT3 JT4 JT5 JT6 Maximum Torque JT4 JT5 JT6 Moment of Inertia JT4 JT5 JT6 Motors Brakes Hard Stops Limit Switch Mass Body Color Installation Environmental Conditions Protection Classication Built-in Utilities

ZHE100U

ZTE 130U

ZTE165U
Articulated 6 axes

ZTE165X

ZTE200S

100 kg 1,634 mm 2,579 mm 0.3 mm 2,000 mm/s 160 +120 ~ -60 +75 ~ -90 360 130 360 140/s 100/s 100/s 150/s 150/s 250/s 874 Nm 874 Nm 392 Nm 90 kgm2 90 kgm2 20 kgm2

130 kg 3,230 mm 4,571 mm 0.3 mm 2,500 mm/s 180 +60 ~ -75 +165 ~ -95 360 130 360 105/s 105/s 105/s 140/s 135/s 230/s 735 Nm 735 Nm 421 Nm 107.8 kgm2 107.8 kgm2 45.9 kgm2

165 kg 3,230 mm 4,571 mm 0.3 mm 2,500 mm/s 180 +60 ~ -75 +165 ~ -95 360 130 360 105/s 105/s 105/s 135/s 135/s 210/s 911.4 Nm 911.4 Nm 450.8 Nm 165.5 kgm2 165.5 kgm2 46.9 kgm2 Brushless AC Servomotor All axes

165 kg 2,830 mm 4,366 mm 0.3 mm 2,500 mm/s 180 +50 ~ -120 +150 ~ -65 360 130 360 120/s 110/s 115/s 140/s 155/s 260/s 911.4 Nm 911.4 Nm 450.8 Nm 165.5 kgm2 165.5 kgm2 46.9 kgm2

200 kg 3,230 mm 4,571 mm 0.3 mm 2,500 mm/s 180 +60 ~ -75 +165 ~ -95 360 120 360 100/s 100/s 90/s 120/s 115/s 180/s 1274 Nm 1274 Nm 686 Nm 199.8 kgm2 199.8 kgm2 154.9 kgm2

Adjustable mechanical stopper JT1 End of stroke limit switch JT1 750 kg Floor 1,550 kg 1,550 kg Kawasaki Standard Shelf Temperature: 0 ~ 45 C Humidity: 35 ~ 85 % (no dew, nor frost allowed) Vibration: Less than 0.5 G Wrist: IP67 Linear track options Base plate Adjustable mechanical stopper JT2/JT3 Limit switch JT2/JT3 Signal harness (up to 24 inputs and 8 outputs) Double/single solenoid valves (2 units max.) - excluding model ZHE100U Internal wiring (37 wires inside robot arm) Air cleaning equipment (lter, regulator, mist separator) - excluding model ZHE100U Piping for cooling water Wrist ange adapter with 92 mm mounting pattern Base: IP65 * Equivalent Pneumatic piping (12 x 2 lines) 1,650 kg 1,600 kg

Options

Controller

E32

MOTION RANGE & DIMENSIONS

ZXE130U, ZXE165U
1965 2651 Working range based on point P 288 1300

ZXE130L
2265 2951 Working range based on point P

288
210 600.5 228

1600

228

210 600.5
P
3340

270

3415

1100

1490

1100

670

1199 JT1 180

670

1490

1199 JT1180

370
75 770 100 500 100 125 125

6M10 Depth 12 0.15

160

X Y

80H7 Depth 8
12 5

ZXE200S
1965 2651 Working range based on point P

ZXE300S
300

300

300

2-10H7 Depth 12
30

125 100

125 1815 500 770

100

225G8 0.05

2501

0.04

VIEW A

770 100 500 125 125 100 2-25G8 0.05

1300 6 288 M10 Depth 12

INSTALLATION DIMENSIONS

Working range based on point P

0.15 X Y

210 600.5

231

80H7 X Depth 8
125
3340

288 210 600.5

1150

231

125 100
270

160

3415

500
1100

1490

125 100

30

Y
670

670

300

VIEW A
1199 JT1 180

NSTALLATION DIMENSIONS

1490

210H7 Depth 12 0.04 X

1100

300

1199 JT1180

370

100H7 Depth 8

75 100

770 500 125 125 125 100 300 100 2-25G8 0.05

100H7 Depth 8
30

(mm)

300

300

0 20

60
Y

6M10 Depth 12 0.15 X Y

370 300

500

770
20

125
0
0

125 500 770 100

100
6 M10 Depth 12 Y 0.15 X Y

225G8 0.05

210H7 Depth 12 0.04 X

VIEW A

125 100

6 1

INSTALLATION DIMENSIONS

210H7 Depth 12 0.04 X

3190
75
30

770

3115
30

270

300

4015
30

3640
X

270

30

770 500 100 100 125 125

300

30

MOTION RANGE & DIMENSIONS

ZHE100U
Working range based on point P 200 800 228

ZTE130U, ZTE165U
Working range based on point P 530 1100 300

300

P 1964.4

2103

600

210

1550

580

78

2578.8

600

JT1 160 614.4

379 572 1634.4 1062.4

80

3230

ZTE165X
6M16 DP30 70 160 70

250

700 450 160

ZTE200S
:Unnecessary 6-M10 DP 12 to tighten bolts 0.15X Y 80H7X Working range DP8 based on point P 125 160

Working range based on point P 530 1100 300

1330

500

320 410

290 410 30 2-10H7 DP12 0.04X

600

210 222H9

205 205

222
530 1000

30 VIEW A

2900

70 0.05

600

210

4366

INSTALLATION DIMENSIONS

2103

78

600

1300

1300

228

1270

2830

80

3230

(mm)
75 100 125 770 500 125 100 2-25G8 0.05 6-M10Dp 0.15 X Y

770 500
125
100 300 770 500 300

100 2-25G8 0.05

300

X 100H7 Depth 8

100

30

60

300

30

20

0
6 M10 Depth 12 Y 0.15 X Y

125 x 45

60 1 210H7 Depth 12 0.04 X

370

125

500

770

1731
30
30

231

231

228

1466

1300

JT1 180

1300

600

JT1 180

4571

1731

228

228

500

530

JT1 180

1300

1300

4571

Kawasaki Robotics (USA), Inc. 28140 Lakeview Drive Wixom, Michigan 48393 Phone: (248) 446-4100 Fax: (248) 446-4200
Canada Phone: (905) 304-7784 Mexico & South America Phone: (52) 33-3110-1895

www.kawasakirobotics.com

Z-Series - REV03/12 Kawasaki Robotics (USA), Inc. All rights reserved. Technical specifications subject to change without notice.