kawasaki robots arc welding robots - robital.ro · conduct overlap welding and resume the...

Kawasaki Robots

Arc welding robots

Arc welding robots

European Headquater, Sales and Service

Kawasaki Robotics GmbHhttp://robotics.kawasaki.comSperberweg 29, 41468 Neuss, GermanyPhone: +49-2131-3426-0 Fax: +49-2131-3426-22

Locale Office

Kawasaki Robotics (UK) Ltd.http://robotics.kawasaki.comUnit 4 Easter Court, Europa Boulevard, Westbrook Warrington Cheshire, WA5 7ZB, United KingdomPhone: +44-1925-71-3000 Fax: +44-1925-71-3001

Kawasaki Heavy Industries Russia LLC (KHI- Moscow)

http://robotics.kawasaki.com Office 1206, entrance 3, 12 Krasnopresnenskaya emb.,Moscow, Russian Federation 123610Phone: +7-495-258-2115 Fax:+7-495-258-2116

Kawasaki Heavy Industries Middle East FZE (KHI-ME)

http://robotics.kawasaki.com Dubai Aiport Free Zone, Bldg. W6, Block-A,Office No. 709, PO BOX 54878, Dubai UAEPhone: +971-(0)4-214-6730 Fax:+971-(0)4-214-6729

* Materials and specifications are subject to change without notice.

CAUTIONS TO BE TAKEN TO ENSURE SAFETY

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 Akashi Works.

Printed in Germany September 2017 Catalogue No. GE147

By using the latest technology, Kawasaki robots are setting new standards in arc welding.

Easy operationTeach pendant and offline programming as well as our intuitive user interface allow for easy control and operation of Kawasaki Robotics-based welding cells.

Simplified Start-upEasy to use and versatile at the same time: The built-in welding control interface enables multiple, individual connections.

Intergrated Welding Condition DatabaseMaximum flexibility at all times: During an automated process, the operator can change the welding conditions on-the-fly, and then store these changes to a built-in database. The saved conditions can then be recalled from the database and reused at any time.

Reduce Your DowntimeBenefit from highest efficiency: Our specialized standard start sequence function significantly improves the arc establishment. In case of welding process faults, the robot includes a restart sequence function to automatically conduct overlap welding and resume the operation.

Capable of WIG Welding and Plasma Welding/CuttingAlways the right application for your production process: High-noise operations have been carefully considered at the R&D stage. WIG welding and plasma cutting can be done by Kawasaki robots without any difficulties.

RA020NRA010LRA010NRA006LRA005LBA006N BA006L

2 3

Standard specifications

BA006N BA006L RA005L RA006L RA010N RA010L RA020N

Type Articulated robot

Degree of freedom (Axes) 6

Max. payload (kg) 6 6 5 6 10 10 20

Max. reach (mm) 1.445 2.036 903 1.650 1.450 1.925 1.725

Positional repeatability (mm) ]1 ±0,06 ±0,08 ±0,03 ±0,06 ±0,06 ±0,06 ±0,06

Mass (kg) 150 160 37 150 150 230 230

Motion range (°)

Joint 1 (JT1) ±165 ±165 ±180 ±180 ±180 ±180 ±180

Joint 2 (JT2) +150 - –90 +150 - –90 +135 - –80 +145 - –105 +145 - –105 +155 - –105 +155 - –105

Joint 3 (JT3) +90- –175 +90- –175 +118 - –172 +150 - –163 +150 - –163 +150 - –163 +150 - –163

Joint 4 (JT4) ±180 ±180 ±360 ±270 ±270 ±270 ±270

Joint 5 (JT5) ±135 ±135 ±145 ±145 ±145 ±145 ±145

Joint 6 (JT6) ±360 ±360 ±360 ±360 ±360 ±360 ±360

Max. speed (°/s)

Joint 1 (JT1) 240 210 300 250 250 190 190

Joint 2 (JT2) 240 210 300 250 250 205 205

Joint 3 (JT3) 220 220 300 215 215 210 210

Joint 4 (JT4) 430 430 460 365 365 400 400

Joint 5 (JT5) 430 430 460 380 380 360 360

Joint 6 (JT6) 650 650 740 700 700 610 610

Moment(N·m)(Wrists)

Joint 4 (JT4) 12 12 12,3 13 22 22 45

Joint 5 (JT5) 12 12 12.3 13 22 22 45

Joint 6 (JT6) 3,75 3,75 7 7.5 10 10 29

Moment of inertia (kg·m2)(Wrists)

Joint 4 (JT4) 0,4 0,4 0,4 0,45 0,7 0,7 0,9

Joint 5 (JT5) 0,4 0,4 0,4 0,45 0,7 0,7 0,9

Joint 6 (JT6) 0,07 0,07 0,12 0,14 0,2 0,2 0,3

Body color Munsell 10GY9/1 equivalent

Installation Floor, Ceiling

Environmental condition

Ambient temperature (°C) 0 – 45

Relative humidity (%) 35 - 85 (No dew, no frost allowed)

Power requirements (kVA) ]2 0,2 0,2 1,5 0,2 0,2 3,0 3,0

Schutzklasse Handgelenk: IP67 Basisachsen: IP65

Controller E01/F60 F60 E01/F60 E01

]1: conforms to ISO9283 ]2: depends on the payload and motion patterns

Options

• Shock sensor• RPTM (arc sensor)• AVC (arc sensor dedicated to WIG welding) • Wall mounting

(mm)

165°

1.445,81.115,8

JT4 ±180°

JT5 ±135°

JT6 ±360°

165°

81 352

JT2

JT3

JT1

JT1

ø18

13

X

X

ø0,04

Y

ø0,2 X Y

ø6H7 Dp8

ø45H760°

30°

ø56

6-M4 Dp8ø66

294

33

0

4-ø18276

27

6

160

A

77

7,1

1.7

10

,8

30

0,8

1.2

71

207,5 303,3

464,4

165 700

43

05

50

21

0

115

15

6

JT2

JT3

PInstallation dimensions

VIEW A

Working rangebased on point P

90°

175°

90°

150°

(mm)

165°

JT4 ±180°

JT5 ±135°

JT6 ±360°

165°

JT2

JT3

JT1

JT1

ø18

13

X

X

ø0,04

Y

ø0,2 X Y

ø6H7 Dp8

ø45H760°

30°

ø56

6-M4 Dp8ø66

294

33

0

4-ø18276

27

6

160

JT2

JT3

1.030

62

1,2

518,1

82

0

115

43

0

15

6

21

0

2.036,2

165

1.3

31

,32

.30

1,2

1.706,2

303,3

81

1.5

41

352

207,5

P

A

175°

90°

150°

90°

Installation dimensions

VIEW A

Working range based on point P

BA006L

BA006N

4 5

Motion range & dimensions

(mm)

4-ø18

2-ø13H9

ø6H7 Dp6

ø0,04

ø0,06

ø0,3

ø40

ø25H7

Dp6

ø18

ø30

A

100

88900

210194

148 207

65

04

30

1.0

02

,41

.98

0

63

8,2

1.450 1.650

305,6

437,1

10

0

1.1

95

XY

YX

X

90

°

45°

4-M6 Dp8

92

220

138±0,1220

18

4

22

0

15

3±

0,130

0

13

JT2 105°

JT2145°

JT3 150°

JT3 163°JT1 360°

JT4 ±270°

JT5 ±145°

JT6 ±360°

P


VIEW A


RA006L

(mm)

JT6±360°

JT4 ±360°

JT5 ±145°

JT280°

JT2135°

JT3 118°

A

JT3172°

687 903

1.0

93

39

1

242

29

53

80

80

105

410 78

82

5

57

120118

126125

90

X

YX

X Y4-M5 Dp8

45°

Dp3

90

°

15

88±0,1

17

0

88

±0

,1

173152

15

212

5

76

13

0

130

JT1 360°

4-ø9

2-ø6H7

ø9

ø40H

7

ø5H7 Dp8

ø0.04

ø0,04

ø0,2

ø31,5

ø20H7

P


VIEW A


RA005L

(mm)

13

ø30

ø18

2-ø13H9ø0,06

JT1 360°

4-ø18

45°

90

°

ø75 4-M6 Dp9

ø63

X

X

Yø0,3

ø0,04

Xø40H7Dp6

ø6H7 Dp6

JT2155°

JT2105°

JT3150°

JT3 163°

276

163±0,1250

120

24

0

27

6

16

8±

0,13

30

Y

JT4 ±270°

JT5 ±145°

JT6±360°

1.9251.625

A

2.2

40

1.005

77

04

65

500,5

1.2

37

,973

9,3

260220

260

1.3

60

170 95150

12

0

P


VIEW A

Working range based on point P

RA010L

(mm)

4-ø18

A

100

700 88

210194

148 207

65

04

30

80

2,4

1.7

80

43

8,2

1.250 1.450

305,6

10

0

1.1

95

Y

X

90

°

45°

Dp6

92

220

138±0,1220

18

4

22

0

15

3±

0,13

00

13

JT2 105°

JT2 145°

JT3 150°

JT3 163°JT1 360°

JT4 ±270°

JT5 ±145°

JT6 ±360°

ø30

ø18

ø40

4-M6 Dp8X Yø0,3

ø25H7

Xø0,04ø6H7 Dp6

2-ø13H9ø0,06

P


VIEW A


RA010N

6 7

Motion range & dimensions

(mm)

JT1 360°

JT5 ±145°

JT4 ±270°JT6±360°

250

33

0

13

276

120 4-ø18

ø30

24

0

27

6

ø18

163±0,1

16

8±

0,1

2-ø13H9

ø0,06

45°

90

°

ø75

Y

4-M6 Dp9

ø63

X

X

X

Yø0,3

ø0,04

ø40H7

Dp6

ø6H7 Dp61.425 1.725

2.0

40

1.0

37

,9

A 12

0

77

04

65

1.3

60

53

9,3

JT2155°

JT2105°

JT3150°

JT3163°

150260170

260220

95805

383,9

P


VIEW A


RA020N

8 9

Controller

E01 and F60 Controller

With unprecedented quality, highest performance and compact size we have tailored the E and F Controller precisely to the needs of our customers. This way, Kawasaki was able to develop on of the most technically advanced controllers on the market.

FeaturesCompactThe reduced dimensions of the compact E Controller also allow an installation in environments with reduced space or a stacked installation. As the industry’s smallest and lightest controller, the portable F60 can be installed in a 19-inch rack.

User-friendly Operation Our Kawasaki operating system is now even more user-friendly: Using the easy to handle teach pendant, you always have complete control of your system. You can also access any important information in real time via the split-screen function – such as position and signal data.

A Multitude of FunctionsA rich set of programming functions come standard with the E and F Controller to support a wide range of applications. Several Functions can be combined and easily configured within a system to suit a particular application. Also, the powerful Kawasaki AS Programming Language provides sophisticated robot motion and sequence controls.

Advanced TechnologyThe enhanced CPU capacity allows for more accurate trajectory control, faster program execution, and quicker loading and saving of files. In addition, the memory capacity has been expanded. The controller also comes equipped with two USB ports – for example for easy backups during operations or for connecting an external keyboard.

Easy MaintenanceThe modular construction of our controller enables easy diagnostics and maintenance. A host of maintenance functions are available, including self-diagnostics on hardware and application errors. Remote diagnostics via the web server function enables service support from anywhere in the world.

Versatile and Expandable Up to three external axes can be added internally to the E Controller and two to the F Controller. Numerous communication fieldbuses are available for controlling peripheral devices. The Kawasaki SPS K-Logic can be combined with user customized interface panels on the teach pendant.

10 11

Standard

Option

Controller E01 F60

Dimensions (mm) Controller: W550×D580×H278

Transformer: W550×D580×H188W300×D320×H130

Structureenclosed structure /

indirect cooling systemopen structure /

direct cooling systemF60: enclosed structure / indirect cooling system

Number of controlled axes 7 6E01: Max. 9F60: Max. 8

Drive system Full digital servo system

Coordinate system Joint, Base, Tool, external tool Festes externes Werkzeug

Type of motion control Joint / Linear / Circular interpolated motion

Programming Point to point teaching or AS-language based programming

Memory capacity (MB) 8 16

E/Asignals

Security signals/external operation

External E-stop switch, external safety fenceCubic-S: Stand Still monitoring, limitation of motion area etc.

Input (channels) 32 16E01: Max. 96F60: up to 144 via Remote I/O

Output (channels) 32 16E01: Max. 96F60: up to 144 via Remote I/O

Operation E-stop switch, teach/repeat switch, control power light on

operation panel of the controllerCycle start, motor-on, hold/run and error reset the teach pendant

E01: 100 % teach mode switch, external brake release switchF60: External operation panel, 100 % teach-mode switch, external brake release switch

Cable length

Teach Pendant (m) 10 additional cable length available

Robot-controller (m) 10 additional cable length available

Mass (kg) Controller: 40

Transformer: 458,3

Power requirementsAC380-415V ±10 % oder AC440-

480V ±10 %, 50/60Hz, 3ø,max. 100 mA fault current

AC200-230V ±10 %, 50/60Hz, 1ø,max. 100 mA fault current

Environmental condition

Ambient temperature (°C) 0 – 45

Relative humidity (%) 35 – 85 (no dew nor frost allowed)

Body color RAL 9001 equivalent RAL 9001 equivalent

Teach PendantTFT color LCD display with touchscreen,

E-stop switch, teach lock switch, Enable switch

Interface

2 x USB 2.0,2 x Ethernet (100BASE-TX), 2 x RS-232C, Welding interface board

4 x USB 2.0,2 x Ethernet (100 BASETX), 2 x RS-232C, Welding interface board

all common bus systems,conveyor tracking I/F Board

Specifications

Teach pendant

E01

F60

External view & dimensions

E01 (mm)

Transformator

F60

13

0

300320

32

0

POWER

REPEATTEACH

420 500

25

02

60

18

18

17

09

ＰＯＷＥＲ100% ＣＯＮＴＲＯＬ

REPEATTEACHOFF ON Ｒ

ＰＳＯＴ

ＥＭＣＧ

ＥＹＮＥ

580 550

580 550

POWER

REPEATTEACH

420 500

25

02

60

18

18

17

09

ＰＯＷＥＲ100% ＣＯＮＴＲＯＬ

REPEATTEACHOFF ON Ｒ

ＰＳＯＴ

ＥＭＣＧ

ＥＹＮＥ

580 550

580 550

kawasaki robots arc welding robots - robital.ro · conduct overlap welding and resume the...

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