Arc welding robots

Kawasaki Robot Arc welding robots

ROBOT DIVISION Tokyo Head Office/Robot Division 1-14-5, Kaigan, Minato-ku, Tokyo 105-8315, Japan Phone: +81-3-3435-2501 Fax: +81-3-3437-9880 Akashi Works/Robot Division 1-1, Kawasaki-cho, Akashi, Hyogo 673-8666, Japan Kawasaki Robot Phone: +81-78-921-2946 Fax: +81-78-923-6548 Global Network CAUTIONS TO BE TAKEN Kawasaki Robotics (USA), Inc. TO ENSURE SAFETY 28140 Lakeview Drive, Wixom, MI 48393, U.S.A. Phone: +1-248-446-4100 Fax: +1-248-446-4200 l For those persons involved with the operation / service of your system, including Kawasaki Robot, they must strictly Kawasaki Robotics (UK) Ltd. observe all safety regulations at all times. They should Unit 4 Easter Court, Europa Boulevard, Westbrook Warrington carefully read the Manuals and other related safety Cheshire, WA5 7ZB, United Kingdom Phone: +44-1925-71-3000 Fax: +44-1925-71-3001 documents. l Products described in this catalogue are general industrial Kawasaki Robotics GmbH robots. Therefore, if a customer wishes to use the Robot Im Taubental 32, 41468 Neuss, Germany for special purposes, which might endanger operators or Phone: +49-2131-34260 Fax: +49-2131-3426-22 if the Robot has any problems, please contact us. We will Kawasaki Robotics Korea, Ltd. be pleased to help you. 43, Namdong-daero 215beon-gil, Namdong-gu, Incheon, 21633, l Be careful as Photographs illustrated in this catalogue are Korea frequently taken after removing safety fences and other Phone: +82-32-821-6941 Fax: +82-32-821-6947 safety devices stipulated in the safety regulations from Kawasaki Robotics (Tianjin) Co., Ltd. the Robot operation system. 1·2/F, Building 6, No.19 Xinhuan Road, TEDA, China Phone: +86-22-5983-1888 Fax: +86-22-5983-1889 Kawasaki Motors Enterprise (Thailand) Co., Ltd. (Rayong Robot Center) 119/10 Moo 4 T.Pluak Daeng, A.Pluak Daeng, Rayong 21140 Thailand Phone: +66-38-955-040-58 Fax: +66-38-955-145 https://robotics.kawasaki.com/ ISO certified in Akashi Works.

] Materials and specifications are subject to change without notice. Cat. No. 3L1775 Mar. ’18 M Printed in Japan Kawasaki arc welding robots use the latest arc welding technology to rival the quality of a skilled human welder

Features Easy operation Each robot is equipped standard with an easy to view and operate color LCD touchscreen teach pendant. The operator teaches the process path using dedicated arc welding teaching screens that are designed for simplified use and easy operation. Easy connection with the optimum welding equipment The built-in interface dedicated to arc welding equipment enables an easy connection using a single cable. Welding condition database 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. Reduced downtime A standard, dedicated start sequence function improves the arc establishment. Also, for weld process faults, the robot includes a restart sequence function to automatically conduct overlap welding and resume the operation. Advanced technology Servo-torch, touch sensing, special weaving pattern, real-time path modification (RTPM) sensor, start-point sensing, multilayer welding function, and auto voltage control (AVC) sensor are some of the advanced arc welding options available with the Kawasaki welding robots. Capable of TIG welding and Plasma welding/cutting High-noise operations have been carefully considered at the R&D stage. TIG welding and Plasma cutting can be done without difficulties. Offline programming Kawasaki offers arc welding specific offline programming software to automatically generate robot programs from 3D CAD data. Kawasaki’s KCONG software significantly reduces robot teaching time and lowers production costs.

BA006N BA006L RA005L RA006L RA010N RA010L RA020N

1 2 Standard specifications

BA006N BA006L RA005L RA006L RA010N RA010L RA020N KCONG Kawasaki Common Offline NC data Generator Type Articulated robot Degree of freedom (axes) 6 KCONG, our offline programming software, automatically generates a robot’s welding path based off of Max. payload (kg) 6 6 5 6 10 10 20 workpiece geometry. 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 ±0.03 ±0.03 ±0.05 ±0.04 Features Arm rotation (JT1) ±165 ±165 ±180 ±180 ±180 ±180 ±180 No need for time-consuming robot teaching Arm out-in (JT2) +150 - –90 +150 - –90 +135 - –80 +145 - –105 +145 - –105 +155 - –105 +155 - –105 KCONG generates robot welding paths quickly and easily Motion Arm up-down (JT3) +90- –175 +90- –175 +118 - –172 +150 - –163 +150 - –163 +150 - –163 +150 - –163 from 3D CAD data such as DXF, IGES, STEP or VRML. range Wrist swivel (JT4) ±180 ±180 ±360 ±270 ±270 ±270 ±270 (°) Offline process verification Wrist bend (JT5) ±135 ±135 ±145 ±145 ±145 ±145 ±145

Wrist twist (JT6) ±360 ±360 ±360 ±360 ±360 ±360 ±360 Once KCONG automatically generates the robot welding path, users can then view the simulation of the arc Arm rotation (JT1) 240 210 300 250 250 190 190 welding process, check for collisions, weld access, and Arm out-in (JT2) 240 210 300 250 250 205 205 system layout issues, and make fine adjustments to the Max. Arm up-down (JT3) 220 220 300 215 215 210 210 speed generated welding path. Wrist swivel (JT4) 430 430 460 365 365 400 400 (°/s) Direct program download Wrist bend (JT5) 430 430 460 380 380 360 360

Wrist twist (JT6) 650 650 740 700 700 610 610 After verifying the weld process and making any necessary adjustments, the operation program is Wrist swivel (JT4) 12 12 12.3 13 22 22 45 Moment generated by KCONG. The completed weld operation Wrist bend (JT5) 12 12 12.3 13 22 22 45 (N·m) program can then be downloaded directly to the robot Wrist twist (JT6) 3.75 3.75 7 7.5 10 10 29 controller. Wrist swivel (JT4) 0.4 0.4 0.4 0.45 0.7 0.7 0.9 Moment of Inertia Wrist bend (JT5) 0.4 0.4 0.4 0.45 0.7 0.7 0.9 (kg·m2) Wrist twist (JT6) 0.07 0.07 0.12 0.14 0.2 0.2 0.3 Servo Torch Mass (kg) 150 160 37 150 150 230 230 Body color Munsell 10GY9/1 equivalent Kawasaki’s servo torch option delivers high quality welding. Installation Floor, Ceiling Environmental Ambient temperature (°C) 0 - 45 Features condition Relative humidity (%) 35 - 85 (No dew, nor frost allowed) Can be used with small-gauge iron or aluminum Power requirements (kVA) ]2 2.0 2.0 1.5 2.0 2.0 3.0 3.0 wire America E77

Controller Europe E01 E71 E01 Feeds small-gauge iron wire (ø 0.6 mm) or aluminum wire steadily with no buckling. Japan & Asia E74

]1: conforms to ISO9283 ]2: depends on the payload and motion patterns Excellent arc stability The constant-speed wire feed control improves wire feeding performance, resulting in excellent arc stability. Optional equipment Improved arc ignition performance The servo torch can control complex wire feeding at the • Shock sensor start and end of welding operations, thereby improving • Torch bracket (350 A/500 A) arc ignition. • Installation base (600 mm / 300 mm) • Base plate (750 mm × 750 mm × 25 mm) • Linear slide • Positioner • Servo torch • RTPM (arc sensor) • AVC (arc-sensor dedicated to TIG welding) • 3D laser sensor • Wall mounting

3 4 Motion range & dimensions

BA006N RA005L JT1 165°

JT5 ±135°

294 160 276 4-ø18

JT6 ±360° JT4 ±180° Working range 45° Y ø5H7 Dp8 based on point P ø0.04 X JT1 165° 687 903 ø20H7

330 276 X 1,115.8 1,445.8 Dp3 90° Working range JT1 360° ø31. JT3 based on point P 5 81 352 118 120 JT6 175° 410 78 4-M5 Dp8 JT3 ±360° ø0.2 XY 165 700 115 13 JT3 118° 105 JT4 ±360° 40H7 90° ø

A 90 VIEW A A ø18 156 JT3 P 210 Installation dimensions 172° P 173 JT5 ±145° 1,093 152 38 0 8 0 1,710.8 4-ø9 88±0.1

82 5 JT2 JT2 550 JT2 80° 135°

1,271 90° 30° Y JT2 ø6H7 Dp8

150° ø0.04 X 125 60° 130 ø45H7 152 170 X 295 430 88±0.1

ø56 57 125 126 130 76 2-ø6H7 6 242 ø0.04 ø6 6-M4 Dp8 300.8 391

207.5 303.3 ø0.2 XY 15 VIEW A ø9 464.4 777.1 Installation dimensions

(mm) (mm)

BA006L JT1 165° RA006L JT5 ±135°

294 160 276 4-ø18 Working range JT6 ±360° based on point P ø6H7 Dp6 JT4 ±180° 1,450 1,650 45° Y JT1 165° ø0.04 X 1,706.2 2,036.2 ø25H7 X Dp6 330 276 Working range 90° based on point P ø40

JT3 JT1 360° JT3 163° JT6 ±360° 4-M6 Dp8 81 352 JT3 175° 900 88 148 207 ø0.3 X Y 90° 165 1,030 115 JT3 150° 100 VIEW A

13 JT4 ±270° 100 A A 15 6 1,980 210 ø18 P P JT5 ±145°

2,301.2 Installation dimensions 65 0 220 138±0.1 JT2 JT2 220

JT2 1,195 105° 145° 92 820 1,541 90° 4-ø18 JT2 30° Y 150° ø6H7 Dp8 43 0 ø0.04 X 430 300 60° 220 ø45H7 184 X 194 210 153±0.1 ø30 2-ø13H9 207.5 303.3 ø56 638.2 305.6 13 ø0.06 621.2 ø66 6-M4 Dp8

518.1 1,002.4 ø0.2 XY 437.1 ø18

VIEW A Installation dimensions 1,331.3

(mm) (mm)

5 6 Motion range & dimensions

RA010N RA020N

Working range 5° 45° Y based on point P 4 Y ø6H7 Dp6 Working range ø6H7 Dp6 1,425 1,725 ø0.04 X based on point P ø0.04 X 1,250 1,450 ø25H7 ø40H7 X X Dp6 Dp6 JT3 90° JT1 360° ø40 163° 90° ø 170 260 150 805 95 63 4-M6 Dp8 JT3 ø0.3 XY 150° JT6 JT1 360° JT3 163° JT4 ±270° 4-M6 Dp9 VIEW A ±360° 700 88 ø75 ø0.3 X Y 148 207 JT6 A

100 ±360° 120 JT3 150° VIEW A JT4 ±270° 100 P A 2,040

P 770 JT5 ±145° 220 138±0.1 250 163±0.1 JT5 ±145° 1,780 JT2 220 1,360 650 105° 276 JT2 JT2 105° 92 4-ø18 155° 120 4-ø18

1,195 JT2 145° 465 430 276 240 300 330 220 184 220 260 383.9 194 210 168±0.1 153±0.1 539.3 2-ø13H9 ø30 2-ø13H9 438.2 ø30 ø0.06

305.6 13 ø0.06 802.4 13 1,037.9

ø18 ø18 Installation dimensions Installation dimensions

(mm) (mm)

RA010L

Working range based on point P 1,625 1,925 ø6H7 Dp6 45° Y ø0.04 X

ø40H7 X Dp6 JT1 360° JT3

163° 90° 170 260 JT3 150 1,005 95 ø63 150° JT6 JT4 ±270° ±360° 4-M6 Dp9 A ø75 ø0.3 X Y 120

2,240 VIEW A P

JT5 ±145°

770 JT2 105° 250 163±0.1

1,360 JT2 276 155° 120 4-ø18 465 240 276 220 260 330 500.5 168±0. 1 ø30 739.3 2-ø13H9

13 ø0.06 1,237.9 ø18

Installation dimensions

(mm)

7 8 Controller

E series

- An evolution of engineering excellence Specifications

Kawasaki has incorporated more than 45 years of experience as a robot industry leader into the development of the Standard most technically advanced controller available. The E Controller combines high performance, unprecedented America E77 Option reliability, a host of integrated features and simple operation, all in a compact design. Europe E01 E71 Japan & Asia E74 Transformer unit: W580×D580×H178 Dimensions (mm) W550×D580×H278 W500×D420×H259 Features (E01 only) Structure Enclosed structure / Indirect cooling system Compact Number of controlled axes 7 6 Max. 9 (E01) Max. 8 (E7X) The overall volume of the E Controller has been Drive system Full digital servo system reduced compared with the previous model. The Coordinate systems Joint, Base, Tool Fixed tool point small footprint of this compact controller allows for Types of motion control Joint/Linear/Circular Interpolated motion installation in “high-density” applications. For further Programming Point to point teaching or language based programming space saving options, an upright-position or stacked Memory capacity (MB) 8 installation ] is possible, without impeding External operation Motor power off, Hold ] performance. General purpose Input (Channels) 32 Max. 96 ]E01 only signals Output (Channels) 32 Max. 96 User-friendly operation E-Stop switch, teach/repeat switch, control power light Cycle start switch, motor-on switch, hold/ E01 The easy-to-use teach pendant now incorporates Operation panel (Cycle start, motor-on, hold/run, and error reset are activated from the run switch, error light, error reset switch teach pendant.) (E7X), rapid-feed check mode switch ]Option motor power and cycle start at your fingertips. Multiple information screens can be displayed Cable Teach pendant (m) 5 10, 15 simultaneously. The intuitive teaching interface is length Robot-controller (m) 5 10, 15 simple to use. Mass (kg) 40 30 Transformer unit: 45 (E01 only) ]Transformer unit (E01 only) Programming ease & flexibility AC200-220V ±10%, 50/60Hz, 3ø AC200-240V ±10%l 50/60Hzl 1ø AC380-415V ±10% or AC440-480V ±10% A rich set of programming functions come standard 50/60Hz, 3ø Teach pendant Power requirements with the E Controller to support a wide range of Class-D earth connection applications. Functions can be combined and easily (Earth connection dedicated to robots), leakage current: Maximum 100mA configured within a system to suit a particular Ambient temperature (°C) 0 - 45 (0 - 40 for E7x in vertical use) application. Also, the powerful Kawasaki AS Environmental condition Programming Language provides sophisticated robot Relative humidity (%) 35 - 85 (no dew, nor frost allowed) E7X motion and sequence controls. Body color Munsell 10GY9/1 equivalent — TFT color LCD display with touch-panel, E-Stop switch, Advanced technologies Teach pendant External view & dimensions teach lock switch, Enable switch The enhanced CPU capacity allows for more accurate Auxiliary storage unit — USB Memory (mm) E01 trajectory control, faster program execution, and Interface USB, Ethernet (100BASE-TX), RS-232C quicker loading and saving of files. In addition,

100% ＣＯＮＴＲＯＬ OFFON TEACH REPEAT ＲＧＥＮＣ ＰＯＷＥＲ ＭＥ Ｙ Ｅ

ＳＴＯＰ memory has been expanded to meet the need for higher program storage capacity. The controller

260 comes equipped with a USB port for external storage System configuration diagram devices. Optional board DIO board: 32 points each 580 550 Easy maintenance DIO board

18 max. 3 boards (96 points) Modular components with limited cables translate Optional device DeviceNet board, ] into easy diagnostics and maintenance. A host of Transformer unit Option switch✽2 master/slave maintenance functions are available, including self- POWER CC-Link board, diagnostics on hardware and application errors to Standard Rapid-feed check master/slave minimize troubleshooting and reduce MTTR (Mean ✽ 170 1 Option mode switch PROFIBUS board, Time To Repair). Remote diagnostics via the web Brake release master/slave 580 550 server function enables service support from 18 anywhere in the world. switch PROFINET board, master/slave ]Option Transformer Expandable Ethernet/IP board, unit✽1 master/slave Three external axes can be added to the E01 E7X RS-232C Terminal controller for a total of nine controlled axes, while External-axis motor software CAN open board, slave two can be added to the E7X for a total of eight

TEACH REPEAT controlled axes. Numerous communication fieldbuses USB Ethernet Terminal EtherCAT board, USB Memory master/slave

250 are available for controlling peripheral devices. The software Kawasaki K-Logic sequencer software can be Vision Conveyor I/F board Teach pendant combined with user customized interface panels on controller 420 500 9 ✽1 the teach pendant. ✽1 E01 only Cubic-S (area monitor ✽2 E7X only /speed monitor)

9 10 SERVICIO TÉCNICO, CONSULTORÍA, TRAINING Y CANAL DE VENTA OFICIAL

Instalaciones centrales

Francisco Aristeguieta Centro Tecnológico (F.A.C.T.) GI-3162 (Zarautz – Urdaneta) km 2,2 E-20809 AIA (Gipuzkoa), Spain

www.larraioz.com

Tel. (+34) 943 140 139 Fax. (+34) 943 140 327 E-mail. [email protected]

Instalaciones en Getaria Instalaciones América Latina Dirección postal

Larraioz Etxea, Eizaga Auzoa, Carlos Calvo 2480, B8000XAV Larraioz Electrónica Industrial, Garate Mendi E-20808 Buenos Aires (Buenos Aires), S.L. Apartado de Correos GETARIA (Gipuzkoa), Spain Argentina 193 E-20800 ZARAUTZ (Gipuzkoa), Spain

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