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Manual de la serie B de los robots Kawasaki (Spot Welding)
Citation preview
B seriesKawasaki Robot
B series
Spot welding robots
ISO certi�ed in Akashi Works.
Cat. No. 3L1510 May ’15 M
Printed in Japan
Kawasaki RobotCAUTIONS TO BE TAKEN TO ENSURE SAFETY
lFor 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.
lProducts 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.
lBe 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.
ROBOT DIVISION
Tokyo Head Office/Robot Division1-14-5, Kaigan, Minato-ku, Tokyo 105-8315, JapanPhone: +81-3-3435-6852 Fax: +81-3-3437-9880
Akashi Works/Robot Division1-1, Kawasaki-cho, Akashi, Hyogo 673-8666, JapanPhone: +81-78-921-2946 Fax: +81-78-923-6548
Global Network
Kawasaki Robotics (USA), Inc.28140 Lakeview Drive, Wixom, MI 48393, U.S.A.Phone: +1-248-446-4100 Fax: +1-248-446-4200
Kawasaki Robotics (UK) Ltd.Unit 4 Easter Court, Europa Boulevard, Westbrook Warrington Cheshire, WA5 7ZB, United KingdomPhone: +44-1925-71-3000 Fax: +44-1925-71-3001
Kawasaki Robotics GmbH29 Sperberweg, 41468 Neuss, GermanyPhone: +49-2131-34260 Fax: +49-2131-3426-22
Kawasaki Robotics Korea, Ltd.43, Namdong-daero 215beon-gil, Namdong-gu, Incheon, 405-817, KoreaPhone: +82-32-821-6941 Fax: +82-32-821-6947
Kawasaki Robotics (Tianjin) Co., Ltd.Bldg 3, No.16, Xiang’an Road, TEDA, Tianjin 300457 ChinaPhone: +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/
] Materials and specifications are subject to change without notice.
The B series is a line of spot welding robots that perfectly embodies the expertise we have cultivated in the field of spot welding, effectively taking performance to the next level.
FeaturesHigh-speed spot weldingThe B series robots come with lightweight arms and high-output, high-revolution motors, and utilize the latest in anti-vibration control technology. These features help to reduce the time needed for short-pitch movements, which constitute the main part of spot welding. The improved sequence of axial operations performed by the servo welding guns also leads to a significant reduction in cycle time.
Integrated dress packageExposed cable harnesses on conventionally dressed robots present a number of drawbacks, such as interference caused by adjacent robots or peripheral devices during in-field teaching or while executing playback after offline programming. The B series eliminates this problem by housing the cable harness within the robot arm. The arm and wrist of the B series robot are hollow, allowing the cable harness for spot welding to be internally routed between the base and wrist. This greatly boosts the efficiency of both offline programming and in-field teaching.
Higher density installationCompared to conventional robots, the B series robots have a much smaller footprint and an even thinner body. Coupled with the cable harnesses housed within the robot arm, these features make it possible to install a large number of BX series robots within a confined space.
Our advanced robotics technologies streamline the spot welding process.
BX100NBX100S BX130XBX100L BX250L / BX300LBX165L / BX200LBX165N
BT200L
1 2
Standard specifications
BX100S BX100N BX100L BX130X BX165N BX165L BX200L BX250L BX300L BT200L
Type Articulated robot Articulated robot
Degree of freedom (axes) 6 6
Max. payload (kg) 100 100 100 130 165 165 200 250 300 200
Max. reach (mm) 1,634 2,200 2,597 2,991 2,325 2,597 2,597 2,812 2,812 3,151
Positional repeatability (mm) ]1 ±0.2 ±0.2 ±0.2 ±0.2 ±0.2 ±0.2 ±0.2 ±0.2 ±0.2 ±0.2
Motion range(°)
Arm rotation (JT1) ±160 ±160 ±160 ±160 ±160 ±160 ±160 ±180 ±180 ±160
Arm out-in (JT2) +120 - −65 +120 - −65 +76 - −60 +76 - −60 +76 - −60 +76 - −60 +76 - −60 +76 - −60 +76 - −60 +80 - −130
Arm up-down (JT3) +90 - −81 +90 - −77 +90 - −75 +90 - −75 +90 - −75 +90 - −75 +90 - −75 +90 - −120 +90 - −120 +90 - −75
Wrist swivel (JT4) ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210
Wrist bend (JT5) ±125 ±125 ±125 ±125 ±125 ±125 ±125 ±125 ±125 ±125
Wrist twist (JT6) ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210 ±210
Max. speed(°/s)
Arm rotation (JT1) 135 135 105 105 105 120 105 125 125 105
Arm out-in (JT2) 125 110 130 90 130 110 90 120 102 85
Arm up-down (JT3) 155 140 130 130 130 130 100 100 85 100
Wrist swivel (JT4) 200 200 200 200 120 170 120 140 105 120
Wrist bend (JT5) 160 200 160 160 160 170 120 140 110 120
Wrist twist (JT6) 300 300 300 300 300 280 200 200 180 200
Moment(N·m)
Wrist swivel (JT4) 830 588.4 830 830 930 952 1,334 1,800 2,300 1,334
Wrist bend (JT5) 830 588.4 830 830 930 952 1,334 1,800 2,300 1,334
Wrist twist (JT6) 441 294.2 441 441 490 491 588 750 1,000 588
Moment of Inertia(kg·m2)
Wrist swivel (JT4) 85 60 85 85 99 99 199.8 200 240 199.8
Wrist bend (JT5) 85 60 85 85 99 99 199.8 200 240 199.8
Wrist twist (JT6) 45 30 45 45 49.5 49.5 154.9 165 200 154.9
Mass (kg) 720 740 930 970 903 930 930 1,460 1,460 1,100
Body color Munsell 10GY9/1 equivalent Munsell 10GY9/1 equivalent
Installation Floor Floor Shelf
Environmentalcondition
Temperature (°C) 0 - 45 0 - 45
Humidity (%) 35 - 85 (No dew, nor frost allowed) 35 - 85 (No dew, nor frost allowed)
Power requirements (kVA) ]2 5.0 7.5 7.5
Degree of protection Wrist : IP67 Base axis : IP54 Wrist : IP67 Base axis : IP54
Controller
America
E02 E02Europe
Japan & Asia
]1: conforms to ISO9283 ]2: depends on the payload and motion patterns
3 4
BX165NBX100N
BX130XBX100S
(mm)(mm)
(mm) (mm)
A
ø0.05
ø0.05
36
4
410
32
07
07
0
160 160 70
205
230
205
250390
50
0
2-ø22H9
2-ø16H9
6-M16 Dp30
2-ø22
30
ø22
JT2JT2
JT3
JT3
81°
90°
JT1
JT1
JT5±125°
JT4±210°
JT6±210°
65°
120
°
160°
160°
652
67
91
,89
9
2,5
78
626 1,634
2,260
46
55
80
30
0
200 800 ✽
P
90°
77°
JT6±210°
JT4±210°
JT5±125°
JT2
JT2
JT3
JT3
JT1
JT1
A
1,0
95
2,4
65
3,5
60
2,200807
3,007
675
200 1100 ✽
46
58
80
210
160°
160°
120°
65°
P
ø0.06
8-ø22
34050 50
250390
34
05
05
0
39
0
195
50
0
2-ø16G8
30
ø22Standard
✽ Dimension : 245
✽ Dimension : 225
Option
Installation dimensions
Installation dimensions
VIEW A
Standard
✽ Dimension : 245
✽ Dimension : 225
Option
VIEW A
Working rangebased on point P
Working rangebased on point P
30
ø22ø0.06
8-ø22
34050 50
250390
34
05
05
0
39
0
195
50
0
2-ø16G8
A
JT6±210°
JT4±210°
JT5±125°
JT1
JT1
JT3
JT2JT2
JT3
76°60°
75°
90°
160°
160°
3,3
56
85
5
4,2
11
1,035 2,991
4,026
949
53
01
,16
02
30
200 1,650 ✽
P
Standard
✽ Dimension : 245
✽ Dimension : 225
Option
Installation dimensions
VIEW A
Working rangebased on point P
ø22
30
ø0.06
8-ø22
34050 50
250390
34
05
05
0
39
0
195
50
0
2-ø16G8
A
JT6±210°
JT4±210°
JT5±125°
JT1
JT1
JT3
JT3
JT2
JT276°60°
75°
90°
160°
160°
2,325792
2,6
81
52
8
3,2
09
808
3,117
53
08
80
23
0
200 1,250 ✽
P
Standard
✽ Dimension : 225
Installation dimensions
✽ Dimension : 245
Option
VIEW A
Working rangebased on point P
X
Xø0.3
Xø0.3
X
:
2-ø10H7 Dp1230
°
30°
6-M10 Dp19
30°
60°
ø1906-M10 Dp20
ø100
2-ø10H7 Dp14
ø125
ø63
(hollow diam
eter)
(hollow diameter)
Unnecessary to tighten bolts
ø63
ø160
ø190
X
Xø0.3
Xø0.3
X
:
2-ø10H7 Dp1230
°
30°
6-M10 Dp19
30°
60°
ø1906-M10 Dp20
ø100
2-ø10H7 Dp14
ø125
ø63
(hollow diam
eter)
(hollow diameter)
Unnecessary to tighten bolts
ø63
ø160
ø190
X
Xø0.3
Xø0.3
X
2-ø10H7 Dp12
ø63
30°
30°
ø160
6-M10 Dp19
30°
60°
ø1906-M10 Dp20
ø100
2-ø10H7 Dp14
ø125
ø190
ø63
(hollow diameter)
(hollow diameter)
Unnecessary to tighten bolts
X
Xø0.3
Xø0.3
X
2-ø10H7 Dp12
ø63
30°
30°
ø160
6-M10 Dp19
30°
60°
ø1906-M10 Dp20
ø100
2-ø10H7 Dp14
ø125
ø190
ø63
(hollow diameter)
(hollow diameter)
:
Unnecessary to tighten bolts
:
Motion range & dimensions
5 6
Dimensions of the wristBX250L / BX300L
BT200LBX100L / BX165L / BX200L
(mm)(mm)
(mm) (mm)
GUN BRACKET 160JT2
JT2
JT3
JT3
JT1
180°
180°
JT1
JT4±210°
JT6±210°
JT5±125°
60°
90°
76°
120°
A
X
Xø0.15
Dp11
10-M10 Dp13
30°2-ø10H7 Dp12
ø160
30°
ø100H7
(ø22)
30
ø0.05
8-ø22
75
0
875
100100
2-ø25G8
500
300
30
0
10
0
30
0
10
05
00
1,1
00
67
02
70
210 185 1,350543408 343
P
3,5
36
558
3,370
2,812
3,3
93
144
JT6±210°
JT4±210°
JT5±125°
JT2
JT2
JT3
JT3
A
JT1
JT1
53
01
,16
02
30
200 1250 ✽
76°
60°
75°
2,9
60
46
0
3,4
20
1,035 2,597
3,631
746
90°
160°
160°
ø0.06
8-ø22
34050 50
250390
34
05
05
0
39
0
195
50
0
2-ø16G8
ø22
30
P
Standard
✽ Dimension : 225Installation dimensions
Installation dimensions
✽ Dimension : 245
Option
VIEW A
VIEW A
Working rangebased on point P
Working rangebased on point P
P
A
ø0.06
8-ø2234050 50
250390
34
05
05
0
39
0
195
50
0
2-ø16G8
ø22
30
256 3,1513,407
2,8
81
1,9
63
1,266350
4,8
44
JT1
JT1
JT2
JT2
JT5±125°
JT4±210°
JT6±210°
160°
160°
80°
JT3
JT3
130°
90°
75°
45
0
720 1,160 230
1,2
50
✽
Standard
✽ Dimension : 225
Installation dimensions
✽ Dimension : 245
Option
VIEW A
Working rangebased on point P
X
Xø0.3
Xø0.3
X
2-ø10H7 Dp12
ø63
30°
30°
ø160
6-M10 Dp19
30°
60°
ø1906-M10 Dp20
ø100
2-ø10H7 Dp14
ø125
ø190
ø63
(hollow diameter)
(hollow diameter)
X
Xø0.3
X
ø0.3 X
ø63
30°
30°
ø160
6-M10 Dp19
ø190
2-ø10H7 Dp12
30°
60°
ø190
ø100
2-ø10H7 Dp14
6-M10 Dp20
(hollow diameter)
(hollow diam
eter)
ø125
ø63
X
Xø0.15
ø0.15 X
18
71
58
R228
363
138
ø125✽
ø160✽
30°
30°
6-M10 Dp12
6-M10 Dp12
2-ø10H7 Dp12
2-ø10H7 Dp12
225
ø2
10
Unnecessary to tighten bolts
Option
✽ : There are two available speci�cations for the tool-mounting tap holes in the adapter bracket: 1) combination of 125 PCD (pitch circle diameter) and 160 PCD and 2) combination of 92 PCD and 125 PCD.
X ø0.15 X
ø160
ø100
H7
R270
30°
30°2-ø10H7 Dp1210-M10 Dp13
23
71
96
ø2
00
343
Dp11
BX100SBX100NBX100LBX130XBX165NBX165LBX200LBT200L
BX250LBX300L
: Unnecessary to tighten bolts
: Unnecessary to tighten bolts
:
Motion range & dimensions
7 8
USB
RS-232C
DIO board
External-axis motor
Standard
Option
Optional board
Optional device
Ethernet
DeviceNet board, master/slave
CC-Link board, master/slave
PROFIBUS board, master/slave
PROFINET board, master/slave
Ethernet/IP board, master/slave
CAN open board, slave
EtherCAT board, master/slave
Cubic-S (area monitor/speed monitor)
Conveyor I/F board
Rapid-feed checkmode switch
Transformer unit
Teach pendant
Terminal software
Terminal software
Vision controller
USB Memory
Brake release switch
DIO board: 32 points eachmax. 3 boards (96 points)
POWER
26
01
81
81
70
POWER100% CONTROL
REPEATTEACHOFF ON R
PS OT
EM CG
E YNE
580 550
580 550
Large, color LCD touch screen display.
The key arrangement has been optimised through extensive studies of operator hand movements.
Equipped with Enable switches.
Controller
System configuration diagram
Specifications
External view & dimensions
Teach pendant
E02 (mm)
Transformer unit ]
E seriesThe E-Controller, with unprecedented quality and compact size, was created in response to customer demand.Kawasaki’s collaboration of past achievements and experience has lead to the development of the most technically advanced controller available. This industry leading design provides increased performance and easy operation that exceeds expectations.
FeaturesCompactSmall footprint of the E controller makes it easy to achieve high-density layouts. And overall volume has been reduced greatly compared with the previous model. As a result, an upright-position installation or stacked installation is possible, in order to save installation space.
User-friendly operation systemThe operation system has now fully developed into a more user-friendly design. The operator can turn on the motors and activate the cycle start all from the teach pendant, thereby realizing a more convenient system control. The two information screens can be displayed simultaneously, enabling the operator to view different types of information easily (for example, positional and signal information).
Abundance of functionsThe large variety of unique functions makes it possible to support a wide range of applications. These functions can be combined and easily configured within a system to suit a particular application. Likewise, the built-in Kawasaki “AS Language” provides sophisticated robot motion and sequence controls.
Incorporating the latest technologiesThe enhanced CPU capacity allows for more accurate trajectory control, faster program execution, and quicker saving and loading of files, and countless other advantages. In addition, the memory has been expanded to answer the need for higher program storage capacity. A USB port is equipped as a external storage conduit.
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. In addition to the DIAG function, there are other additional functions, such as a Web server that enables engineers to perform remote diagnostics.
Highly expandableThis is expandable to up to three external axes with additional amplifiers.The system is compatible with a large number of field buses that are used for controlling peripheral devices.Users can combine the Kawasaki KLogic software sequencer function, which can be edited on the teach pendant, with the user-customizable interface panels to create a highly sophisticated system.
E02
]Option
*
]Option
Standard
OptionAmerica
E02Europe
Japan & Asia
Dimensions (mm) W550×D580×H278 Transformer unit: W580×D580×H178
Structure Enclosed structure / Indirect cooling system
Number of controlled axes 7 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. 96
Output (Channels) 32 Max. 96
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.)
Rapid-feed check mode switch
Cablelength
Teach pendant (m) 5 10, 15
Robot-controller (m) 5 10, 15
Mass (kg) 40 Transformer unit: 45
Power requirements
AC200-220V ±10%, 50/60Hz, 3ø]Transformer unitAC380-415V ±10% or AC440-480V ±10%
50/60Hz, 3ø
Class-D earth connection (Earth connection dedicated to robots), leakage current: Maximum 100mA
Environmentalcondition
Ambient temperature (°C) 0 - 45 (0 - 40 for E7x in vertical use)
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), RS-232C
9 10