K series Kawasaki Robot K series Painting robots explosion-proof and painting package cells
K series
Kawasaki Robot
K series Painting robots explosion-proofand painting package cells
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.
KF121 KF193KF192 KF194 KF262
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
2
KF263 KG264KF264 KJ264
KJ314
3
KF121 KF192 / KF262
KF193 / KF263 KF194 / KF264 / KG264 / KJ264 / KJ314
3R (ø70mm)
RBR BBR
3R (ø40mm)
JT6(Roll)
JT6(Roll)
JT5 (Bent)JT4 (Roll)
JT6(Roll)
JT5 (Bent)
JT4 (Bent)
JT6(Roll)
JT5(Roll)
JT4 (Roll)
JT5 (Roll)
JT4 (Roll)
Model KF121 KF192 KF193 KF194 KF262 KF263 KF264 KG264 KJ264 (Floor) KJ264 (Shelf) KJ264 (Wall) KJ314
Degree of freedom (axes) 6 6 7
Max. payload (kg) 5 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 20 Arm : 30 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25
Wrist type RBR BBR 3Rø40*5 3Rø70*5 BBR 3Rø40*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5
Motion range(°)
Arm rotation (JT1) ±160 ±150 ±150 ±150 ±150 ±150 ±150 ±120 ±120 ±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
Arm up-down (JT3) +150 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +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
Wrist bend (JT5) ±145 ±360 ±720 ±720 ±360 ±720 ±720 ±720 ±720 ±720 ±720 ±720
Wrist twist (JT6) ±360 ±360 ±410 ±410 ±360 ±410 ±410 ±410 ±410 ±410 ±410 ±410
Arm swing (JT7) — — — — — — — — — — — ±90
Moment(N·m)
Wrist swivel (JT4) 7.8 33.3 33.2 35.3 33.3 33.2 35.4 79.9 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 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 22.0 22.0 22.0 22.0
Moment of Inertia(kg·m2)
Wrist swivel (JT4) 0.17 1.28 1.27 1.44 1.28 1.27 1.45 3.33 2.19 2.19 2.19 2.19
Wrist bend (JT5) 0.17 0.96 0.82 0.89 0.96 0.82 0.89 1.95 1.31 1.31 1.31 1.31
Wrist twist (JT6) 0.06 0.11 0.11 0.10 0.11 0.11 0.11 0.12 0.33 0.33 0.33 0.33
Positional repeatability (mm)*1 ±0.2 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5
Max. reach (mm)*2 1,240 1,973 1,973 1,978 2,665 2,665 2,668 2,665 2,640 2,640 2,640 3,100
Max. speed (mm/s) 1.5 2.0 2.0 2.0 2.0 2.0 2.0 1.5 1.5 1.5 1.5 1.5
Mass (kg) 140 690 720 750 720 740 770 795 540 530 530 720
Body color Munsell 10GY9/1 equivalent Munsell 10GY9/1 equivalent
Installation Floor, Wall Floor, Wall Floor Shelf Wall
Explosion protection
America*6 Combination of pressurized type and intrinsically safety type (CLI ZN1 AExpxib IIB T4 / AExib IIB T4) Combination of pressurized type and intrinsically safety type (CLI ZN1 AExpxib IIB T4 / AExib IIB T4)
Canada*6 Combination of pressurized type and intrinsically safety type (CLI ZN1 Expxib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (CLI ZN1 Expxib IIB T4 / Exib IIB T4)
Europe, China, Korea Combination of pressurized type and intrinsically safety type (II2G Expxib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (II2G Expxib IIB T4 / Exib IIB T4)
Japan & Asia*7 Combination of pressurized type and intrinsically safety type (Expib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (Expib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (f2G4 / Exib IIB T4)
Ambient temperature (°C) 0 – 40 0 – 40
Power requirements (kVA)*3 1.5 5 5
Controller
America E37 E35 E35
Europe E47 E45 E45
Japan & Asia E27 E25 E25
*1 conforms to ISO9283*2 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 top arm center line
to the JT4 axis. The 3R (Roll Roll Roll) wrist is the distance from JT1 to the axis cross-point between JT4 and JT5.*3 Depends on the payload and motion patterns*4 Operating range of JT1 is depend on the side of mounting surface. The range is “+120 - −30” in the case of the left side. The range is “+30 - −120” in the case of the right side.*5 Hose Built-in*6 The KF19/26-series devices are not compliant with the explosion-proof standards of the U.S. and Canada.*7 Other than China and Korea
Standard specifications
Variation of Wrists
4
KF121 KF192 / KF262
KF193 / KF263 KF194 / KF264 / KG264 / KJ264 / KJ314
3R (ø70mm)
RBR BBR
3R (ø40mm)
JT6(Roll)
JT6(Roll)
JT5 (Bent)JT4 (Roll)
JT6(Roll)
JT5 (Bent)
JT4 (Bent)
JT6(Roll)
JT5(Roll)
JT4 (Roll)
JT5 (Roll)
JT4 (Roll)
Model KF121 KF192 KF193 KF194 KF262 KF263 KF264 KG264 KJ264 (Floor) KJ264 (Shelf) KJ264 (Wall) KJ314
Degree of freedom (axes) 6 6 7
Max. payload (kg) 5 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 12 Arm : 20 Wrist : 20 Arm : 30 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25 Wrist : 15 Arm : 25
Wrist type RBR BBR 3Rø40*5 3Rø70*5 BBR 3Rø40*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5 3Rø70*5
Motion range(°)
Arm rotation (JT1) ±160 ±150 ±150 ±150 ±150 ±150 ±150 ±120 ±120 ±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
Arm up-down (JT3) +150 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +90 - –80 +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
Wrist bend (JT5) ±145 ±360 ±720 ±720 ±360 ±720 ±720 ±720 ±720 ±720 ±720 ±720
Wrist twist (JT6) ±360 ±360 ±410 ±410 ±360 ±410 ±410 ±410 ±410 ±410 ±410 ±410
Arm swing (JT7) — — — — — — — — — — — ±90
Moment(N·m)
Wrist swivel (JT4) 7.8 33.3 33.2 35.3 33.3 33.2 35.4 79.9 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 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 22.0 22.0 22.0 22.0
Moment of Inertia(kg·m2)
Wrist swivel (JT4) 0.17 1.28 1.27 1.44 1.28 1.27 1.45 3.33 2.19 2.19 2.19 2.19
Wrist bend (JT5) 0.17 0.96 0.82 0.89 0.96 0.82 0.89 1.95 1.31 1.31 1.31 1.31
Wrist twist (JT6) 0.06 0.11 0.11 0.10 0.11 0.11 0.11 0.12 0.33 0.33 0.33 0.33
Positional repeatability (mm)*1 ±0.2 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5
Max. reach (mm)*2 1,240 1,973 1,973 1,978 2,665 2,665 2,668 2,665 2,640 2,640 2,640 3,100
Max. speed (mm/s) 1.5 2.0 2.0 2.0 2.0 2.0 2.0 1.5 1.5 1.5 1.5 1.5
Mass (kg) 140 690 720 750 720 740 770 795 540 530 530 720
Body color Munsell 10GY9/1 equivalent Munsell 10GY9/1 equivalent
Installation Floor, Wall Floor, Wall Floor Shelf Wall
Explosion protection
America*6 Combination of pressurized type and intrinsically safety type (CLI ZN1 AExpxib IIB T4 / AExib IIB T4) Combination of pressurized type and intrinsically safety type (CLI ZN1 AExpxib IIB T4 / AExib IIB T4)
Canada*6 Combination of pressurized type and intrinsically safety type (CLI ZN1 Expxib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (CLI ZN1 Expxib IIB T4 / Exib IIB T4)
Europe, China, Korea Combination of pressurized type and intrinsically safety type (II2G Expxib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (II2G Expxib IIB T4 / Exib IIB T4)
Japan & Asia*7 Combination of pressurized type and intrinsically safety type (Expib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (Expib IIB T4 / Exib IIB T4) Combination of pressurized type and intrinsically safety type (f2G4 / Exib IIB T4)
Ambient temperature (°C) 0 – 40 0 – 40
Power requirements (kVA)*3 1.5 5 5
Controller
America E37 E35 E35
Europe E47 E45 E45
Japan & Asia E27 E25 E25
*1 conforms to ISO9283*2 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 top arm center line
to the JT4 axis. The 3R (Roll Roll Roll) wrist is the distance from JT1 to the axis cross-point between JT4 and JT5.*3 Depends on the payload and motion patterns*4 Operating range of JT1 is depend on the side of mounting surface. The range is “+120 - −30” in the case of the left side. The range is “+30 - −120” in the case of the right side.*5 Hose Built-in*6 The KF19/26-series devices are not compliant with the explosion-proof standards of the U.S. and Canada.*7 Other than China and Korea
5
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-M6-10/16
M6-10/16
4-M6-10/16
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)
KF121
(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-M6-9/12
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-M6-13/18
ø6m6ø0.02
ø40
8-ø32
4550
ø5
0h8
0
−0
.03
8
VIEW A
SECTION B-B Dimensions for Base
Detail C
KF192
6
(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-M6-14/17
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
KF193
(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-M6-14/17
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
KF194
7
Motion Range & Dimensions
(mm)
JT3
JT2
JT1
258 240
143 143
197
309
598
A
C
6-M6-9/12
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-M6-13/18
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
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-M6-14/17
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
KF263
8
(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
Cø1
02
6-M6-14/17
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
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
±0.12
85
±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 Depth14
6-M6 Depth14
Dimensions for Base
VIEW B
VIEW D
SECTION C-C
Detail A
KG264
9
Motion Range & Dimensions
(mm)
E
F
B
+90°
−65°
JT3
+130
°
−80°
JT2
−120°
+120°JT1
G H
R444120°
120°
316
255380
188375
6
2,1
07
2,5
00
2,640
755
1401,400
1,1
00
A
P
90
0
260 260 425(655)
D D
75 7525
265 100
85
23
52
35
85
40
24
02
40
40
10
40
35
5
12-ø20
26
52
65
475
50
35
0
655
(ø34)
27
(ø20)
−720°
+720°
JT4
+720°
−410°
+410°
JT6
JT5 −720°
60°
105
100
C
C
ø7
0
ø1
16
h7
0 −0.0
35
851}±0.02
ø5m6 +0.012−0.004
ø102
37
23
00
30 30 269240286
59
59
10 4510
01
00
10
01
00
45 10
90
Parallel Pin
6-M6 Depth14
8-M6 Depth12
Working rangebased on point P
Counterbore ø34(Ref. SECTION D-D)
JT1 Center
4-M8 Depth22
4-M8 Depth25 4-M8 Depth25
VIEW G
VIEW E
VIEW F
VIEW H
VIEW B
SECTION D-D
SECTION C-C
Dimensions for Base
Detail A
KJ264 (Floor)
(mm)
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)
R444
408
25
53
80
18
83
75
P A
261261
316
6
120°
120°
D D
75 75 260 75
40
24
524
54
0
40
35
10-ø20
605
945
32
5
29
02
90
395 550
32
0
(ø34)
27
(ø20)
−720°+720°
JT4
+720°
−410°+410°JT6
JT5
−720°
60°
10
5
100
C
C
ø70
ø116h7 0−0.035
851
}±0
.02
ø5m6 +0.012+0.004
ø102
372300
30
30
26
924
02
86
59 59
335100 335 100
50
50
50
50
90
Counterbore ø34(Ref. SECTION D-D)
Working rangebased on point P
4-M8 Depth22
8-M6 Depth12
6-M6 Depth14
Parallel Pin
4-M8 Depth22 4-M8 Depth22
Mounting Surface
JT2 Center
VIEW E
VIEW F
VIEW G VIEW H
VIEW B
SECTION D-DSECTION C-C
Dimensions for Base
Detail A
KJ264 (Shelf)
10
(mm)
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)
R444
40
8
25
53
80
18
83
75
P A
26
12
61
31
6
6
39
0
30°
120°
D D
75 75 260 75
40
24
52
45
40
40
35
10-ø20
605
945
32
5
29
02
90
395 550
32
0
(ø34)
27
(ø20)
−720°+720°
JT4
+720°
−410°+410°JT6
JT5
−720°
60°
10
5
100
C
C
ø70
ø116h7 0−0.035
85
1}±
0.0
2
ø5m6 +0.012+0.004
ø102
372300
30
30
26
92
40
28
6
59 59
335100
335100
50
50
50
50
90
Parallel Pin
Working rangebased on point P
Counterbore ø34(Ref. SECTION D-D)
4-M8 Depth22
8-M6 Depth12
6-M6 Depth14
4-M8 Depth22
4-M8 Depth22
Mounting Surface
JT2 Center
VIEW E
VIEW F
VIEW B
VIEW H
VIEW G
SECTION D-D
SECTION C-C
Dimensions for BaseDetail A
KJ264 (Wall)
(mm)
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
2,1072,500
R444
25
53
80
18
83
75
P A
261261
31
6
6
600 450
37
5(5
20
)
385
120°
120°
90°
90°
R365
D
D
22540
310
12-ø20
13
01
95
13
0
150 125 125 150
115 160 160 115
225 40
35
40
60
0
89
5
305
52
0
(ø3
4)
27
(ø2
0)
−720°+720°
JT4
+720°
−410°+410°JT6
JT5
−720°
60°
10
5
100
C
C
ø70
ø116h7 0−0.035
85
1}±
0.0
2
ø5m6 +0.012+0.004
ø102
372300
30
30
26
92
40
28
6
59 59
50
50
90 10 9010
90
Working rangebased on point P
Counterbore ø34(Ref. SECTION D-D)
Parallel Pin
4-M8 Depth22
8-M6 Depth12
6-M6 Depth14
4-M8 Depth22 4-M8 Depth22
JT1 Center
VIEW E
VIEW F
VIEW B
SECTION D-DSECTION C-C
Dimensions for Base
Detail A
VIEW HVIEW G
KJ314
11
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.
12
Standard
Option
External axis
USB
*2 For details, see the “Option” field for Operation panel in the Specifications.
*3 Standard for the E45/E47
*4 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
CAN open board, slave
Conveyor I/F board
Option switch*2
100Vpower outlet*3
Teach pendant
Terminalsoftware
Terminal software
USB Memory
Key board
Brake releaseswitch*4
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
Structure Enclosed structure/Indirect cooling system
Number of controlled axes 6 Max. 9
Drive system Full digital servo system
Coordinate systems Joint, Base, Tool Fixed tool point
Types of motion control Joint/Linear/Circular Interpolated motion
Programming Point to point teaching or language based programming
Memory capacity (MB) 8
Generalpurposesignals
External operation Motor power Off, Hold
Input (Channels) 32 Max. 128
Output (Channels) 32 Max. 128
Operation panelE-Stop switch, teach/repeat switch, control power light
(Cycle start, motor-on, hold/run, and error reset are activated from the teach pendant.)
Cycle start switch, motor-on switch, hold/run switch, error light,
error reset switch
lengthCable
Robot-controller (m) 5 Possible to extend up to 40
Teach pendant (m) 5 5, 15, 20, 25
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)
Protective ground, leakage current: 10 mA at maximum
E45/E47AC380–415V±10%, 50/60 Hz, 3ø 7.3 kVA (E45)/5.1 kVA (E47)
Protective ground, leakage current: 10 mA at maximum
E25/E27AC200–220V±10%, 50/60 Hz, 3ø 10 kVA (E25)/5.6 kVA (E27)
Class-D ground (standard for robots), leakage current: 100 mA at maximumClass-A ground (for intrinsic explosion-proof safety circuits)
Environmental condition
Ambient temperature (ºC) 0 - 45
Relative humidity (%) 35 - 85 (No dew, nor frost allowed)
Body color Munsell 10GY9/1 equivalent
Teach pendantTFT color LCD display with touch-panel, E-Stop switch,
teach lock switch, Enable switch
Auxiliary storage unit – USB Memory
Interface USB, Ethernet (100BASE-TX), RS232C
*1 The E45/E47 comes with three switches to change between teach/teach 100%/repeat, as standard equipment.
13
Painting robots form Kawasaki´s K series fulfill nearly every painting application and process. Robots from the K series are reliable, rugged and service reduced.
14
K-ROSEt
In the painting sector the offline creation of automated paint movements guarantees ideal painting results.
K-ROSET is Kawasaki's offline robot simulation software. This tool allows the user to add 3D models of Kawasaki robots, peripheral equipment, robot tools, and workpieces into a virtual environment and build multi-robot automation work cells.
The software emulates the processes of the actual Kawasaki robot controller and allows the user to interact with the 3D robot model through the teach pendant screens and button layout.
The user can build a complete 3D representation of a work cell, write application-specific robot code, then run the robot code while viewing the robot motion and logic from the comfort of a laptop screen.
K-ROSET has several built-in tools to maximize the effectiveness of the simulation such as collision detection, cycle time analysis, and installation position analysis.
The collision detection function alerts the user if objects collide during program operation. As the simulation is processed by the virtual robot controller, the trajectories and cycle time analysis tool produces highly accurate results.
The user can output a video file of the 3D virtual work cell to use for design reviews and sales presentations.
K-ROSEt, Kawasaki Simulationstool, is a powerful PC-Programm, that contains all of the functions of Kawasaki Robot Families and simulate them in a real time.
K-ROSEt has the access to kinematic models of the robot and software structure of Kawasaki control system, which are implemented into the program.
K-ROSEt on the basis of practical experience presents the results, which correspond to real requirements.
Planning reliability for Automation•Simple 3D Simulation •Offline Programming•Useful for different applications•Working out the system beforehand•Cycle time Analysis and examination of interference
contour on PC•Automatic availability survey•Robot training on PC•And much more
15
Package cell
Robotcontroller
Painting booth
Servo Tombow
Manual operation box
Air panel
Safety fence
About 1,000, 1,400
About
50
0
About
70
0
4-M8Depth 15
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
Operation angle (°) 180
Indexing time (sec) 2/180°
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 0.8/90° 1.2/90°
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) 110 (Diameter: 1,000 mm), 150 (Diameter: 1,400 mm)
Color Munsell 10GY9/1 equivalent
Note: The standard arm lengths are 1,000 mm and 1,400 mm. The work loading table and loading fixtures to be prepared by the purchaser.
16
Robotcontroller
Painting booth
Servo Tombow - R
Manual operation box
Air panel
Safety fence
4-M8Depth 15/20
Table shaft details
600ø63
ø80
1,0
00
(mm)
About 2,200
About
89
0
About
71
0
External View and Dimensions
Small sized painting applications
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.
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, 2,000, 2,200
Operation angle (°) 180
Indexing time (sec) 4/180°
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 1.0/90° 1.7/90°
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. 550–690 (excluding the manipulator base)
Color Munsell 10GY9/1 equivalent
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.
17
Package cell
Small sized painting applications
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
50
0
4-M8 Depth 15Table shaft details
External View and DimensionsSpecifications
Standard
Table load 20 kg x 2 Table
No. of control axes Robot 6+Servo twister 2
Control method Servo control
Teaching playback method PTP teaching + CP control
Position detection method Absolute encoder
Arm
Length (mm) 650, 800
Operation angle (°) 135
Indexing time (sec) 1.8/135°
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 0.8/90°
Uninterrupted rotary speed (rpm) Max. 90
Rotary direction Normal/reverse rotation
Explosion protection
Air pressurized explosion protectionand intrinsically safe.
Explosion-proof composite type(Expib II BT4 / Exib II BT4)
Mass (kg) 120
Color Munsell 10GY9/1 equivalent
Note : The work loading table and loading fixtures to be prepared by the purchaser.
18
Painting booth
Robotcontroller
Air panel
Safety fence
Manipulator base Manual operation box
Servo Shuttle
Servo Shuttle
4-M10Depth 20
Table shaft details
(mm)
4772,000, 2,700, 3,200, 4,000
55
2
240520
710
188
ø90
ø74
600
60
0
External View and Dimensions
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
Standard Heavy load carrying
Table load 20 kg x 2 Table 60 kg x 2 Table
No. of control axes Robot 6+Servo shuttle 2
Control method Servo control
Teaching playback method PTP teaching + CP control
Position detection method Absolute encoder
ShuttleStroke (mm) 2,000, 2,700, 3,200, 4,000
Max. speed (mm/sec) 1,000
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 0.8/90° 1.2/90°
Uninterrupted rotary speed (rpm) Max. 90 Max. 45
Rotary direction Normal/reverse rotation
Intermediate stop function The intermediate stop function and multiple coating control function are available.
Explosion protectionAir pressurized explosion protection and intrinsically safe. Explosion-proof composite type (Expib II BT4 / Exib II BT4)
Mass (kg) One side: 230 to 310 One side: 350 to 405
Color Munsell 10GY9/1 equivalent
Note : The work loading table and loading fixtures to be prepared by the purchaser.
19
Painting booth
Servo Wing
Manual operation box
Robotcontroller
Air panel
Safety fence
(mm)
30° 1,300
30
06
80
672
2,6
70
500
1,300
ø82
ø160
ø104
ø10H7 +0.015 0
ø65H8 +0.04 05
(ø6
5H
8)
4-M8 Depth16/22
Depth15
Table shaft details
Pin hole for positioning
External View and Dimensions
Medium sized work-piece painting cell
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
Control method Servo control
Teaching playback method Servo control
Position detection method Absolute encoder
ArmStroke (mm) 2,670
Indexing time (sec) 3.2
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 1.2/90°
Uninterrupted rotary speed (rpm) Max. 90
Rotary direction Normal/reverse rotation
Intermediate stop functionThe intermediate stop function and multiple
coating control function are available.
Explosion protectionAir pressurized explosion protection and intrinsically safe. Explosion-proof composite type (Expib II BT4 / Exib II BT4)
Mass (kg) 970
Color Munsell 10GY9/1 equivalent
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.
Package cell
20
Floorconveyor
Servo Spinner
Safety fence
RobotcontrollerAir panel
Painting booth
External View and Dimensions
Medium sized work-piece painting cell
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.
Specifications
Standard Heavy load carrying
Table load (kg) 20 60
No. of control axes Robot 6+Servo Spinner 1
Control method Servo control
Teaching playback method PTP teaching+CP control
Position detection method Absolute encoder
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle
Indexing time (sec) 0.8/90° 1.1/90°
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) 60
Color Munsell 10GY9/1 equivalent
(mm)
610
27
82
33
4-M10Depth 20
Table shaft details
ø134
ø134
ø88
21
Package cell
Servo Turntable
Loading/unloadingof work-piece
Safety fence
Painting booth
RobotcontrollerAir panel
External View and Dimensions
Large sized work-piece painting cell
Servo TurntableComplete surface painting is possible with uninterrupted turntable rotation
1. 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.
Specifications
Standard Heavy load carrying
Table load (kg) Max. 500 Max. 1,000
No. of control axes Robot 6+Servo Turntable 1
Control method Servo control
Teaching playback method PTP teaching+CP control
Position detection method Absolute encoder
Table
Operation angle Infinite revolution
Indexing angle (°) 90-deg and arbitrary angle 45-deg., 90-deg., 180-deg and arbitrary angle
Indexing time (sec) 2.5/90° 5/90°
Uninterrupted rotary speed (rpm) Max. 10 Max. 5
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) 510 560
TableDiameter (mm) ø650, ø1,000, ø1,500, ø2,000
High (mm) 450
Color Munsell 10GY9/1 equivalent
Foot switch function(Option)
Uninterrupted normal rotation, rotation stop
Uninterrupted rotation, 45-deg., 90-deg., 180-deg.,indexing
(changeable indexing angle), rotation stop
45
0
(mm)
ø650, ø1,000, ø1,500, ø2,000
ø640
22
23
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 January 2016 Catalogue No. 3L1543
European Headquater, Sales and Service
Kawasaki Robotics GmbHwww.kawasakirobot.deSperberweg 29, 41468 Neuss, GermanyPhone: +49-2131-3426-0 Fax: +49-2131-3426-22
Locale Office
Kawasaki Robotics (UK) Ltd.www.kawasakirobot.co.uk/Unit 4 Easter Court, Europa Boulevard, Westbrook Warrington Cheshire, WA5 7ZB, United KingdomPhone: +44-1925-71-3000 Fax: +44-1925-71-3001
* Materials and specifications are subject to change without notice.