Kawasaki Robot
Z Series

INSTALLATIONAND
CONNECTION= Robot Arm =ZX∗∗∗∗-B
ZT∗∗∗∗-C
ZD130S-D
ZD250S-B

Kawasaki Heavy Industries, Ltd.

90202－1068DEIZ Series
Kawasaki Robot

Installation and Connection Manual

PREFACEThis manual explains installing and connecting procedures for Kawasaki Robot Z series.
Read and understand the contents of this and safety manuals thoroughly and strictly observe allrules for safety before proceeding with any operation.
Never proceed with any operation until you understand the contents of this manual completely.
Kawasaki cannot take any responsibility for any accidents and/or damages caused by operations
that are based on only the limited part of this manual.

This Manual describes the following Robot Arms

ZX130S, ZX130U, ZX130L, ZX165U, ZX165L,
ZX200S, ZX200U, ZX200W, ZX300G, ZX300S,
ZT130S, ZT130U, ZT130L, ZT165U,
ZT200S, ZT200U, ZT200W
ZD130S, ZD250S

1. This manual does not constitute a guarantee of the systems in which the robot is utilized.
Accordingly, Kawasaki is not responsible for any accidents, damages, and/or problems
relating to industrial property rights as a result of using the system.
2. It is recommended that all personnel assigned for activation of operation, teaching,
maintenance or inspection of the robot attend the necessary education/training course(s)prepared by Kawasaki, before assuming their responsibilities.
3. Kawasaki reserves the right to change, revise, or update this manual without prior notice.
4. This manual may not, in whole or in part, be reprinted or copied without the prior writtenconsent of Kawasaki.
5. Store this manual with care and keep it available for use at any time. If the robot isreinstalled or moved to a different site or sold off to a different user, attach this manual to therobot without fail. In the event the manual is lost or damaged severely, contact Kawasaki.
Copyright © 2009 Kawasaki Heavy Industries Ltd. All rights reserved.
1

Z Series
Kawasaki Robot

Installation and Connection Manual

SYMBOLS
The items that require special attention in this manual are designated with the following symbols.
Ensure proper and safe operation of the robot and prevent physical injury or property damages bycomplying with the safety matters given in the boxes with these symbols.

！

DANGER

Failure to comply with indicated matters can result in
imminent injury or death.

！

WARNING

Failure to comply with indicated matters may possibly
lead to injury or death！

CAUTION

Failure to comply with indicated matters may lead tophysical injury and/or mechanical damage.
[ NOTE ]Denotes precautions regarding robot specification,
handling, teaching, operation, and maintenance.

！

WARNING

1. The accuracy and effectiveness of the diagrams, procedures, and detail
explanations given in this manual cannot be confirmed with absolutecertainty. Accordingly, it is necessary to give one’s fullest attention whenusing this manual to perform any work.
2. Safety related contents described in this manual apply to each individual
work and not to all robot work. In order to perform every work in safety,
read and fully understand the safety manual, all pertinent laws, regulations
and related materials as well as all the safety explanations described in eachchapter, and prepare safety measures suitable for actual work.

2

Z Series
Kawasaki Robot

Installation and Connection Manual

CONTENTS
1.0
1.1
1.2
1.3

Cautions ................................................................................................................................4
Precautions during Transportation and Storage...................................................................4
Installation Environments of Robot Arm ............................................................................5
Warning Label ......................................................................................................................6

2.0

Motion Range & Specifications of Robot .........................................................................10

3.0Work Flow at Arm Installation and Connection ...............................................................30

4.0
4.1
4.2

Robot Transportation Method............................................................................................31
Wire Sling ...........................................................................................................................31
Forklift.................................................................................................................................33

5.0

Installing Dimensions of Base Section ..............................................................................34

6.0

Movement Reaction Acting on Installation Surface during Operation ............................35

7.0
7.1
7.2
7.3

Installation Method.............................................................................................................36
When Installing the Base Directly on the Floor: ...............................................................36
When Installing the Base Plate with Positioning Holes on the Floor:..............................36
When Installing with Installation Block: ...........................................................................36

8.0
8.1
8.2
8.3

Mounting of Tools..............................................................................................................37
Dimensions of Wrist End (Flange) ....................................................................................37
Specification of Mounting Bolts ........................................................................................37
Load Capacity (for ZX/ZT Series).....................................................................................39

9.0
9.1
9.2
9.3

Connection of Air System ..................................................................................................40
Air Piping Diagram ............................................................................................................40
Air Supply to the Robot Arm.............................................................................................41
Connection to the Tool from the Air Outlet Port...............................................................423

Z Series
Kawasaki Robot

1. Cautions
Installation and Connection Manual

1.0

CAUTIONS

1.1

PRECAUTIONS DURING TRANSPORTATION AND STORAGE

When transporting the Kawasaki robot to its installation position, strictly observe the following
precautions:

！
1.
2.

When transporting robot using a crane or a forklift, neversupport the robot manually.
During transportation, never climb on, or stay under the
hoisted up robot.

！
1.

2.

3.

WARNINGCAUTION

Since the robot body is composed of precision parts, be careful
not to apply excessive shocks or vibrations to the robot duringtransportation.
Prior to installing the robot, remove all obstacles so theinstallation is carried out smoothly and safely. Clear apassage to the installation area for transportation of the robot
using a crane or forklift.
During transportation and storage,(1) Keep the ambient temperature within the range of-10°C~60°C,(2) Keep the relative humidity within the range of
35%~85%RH without dew condensation,(3) Keep free from excessively strong vibration.

4

Z Series
Kawasaki Robot
1.2

1. Cautions
Installation and Connection Manual

INSTALLATION ENVIRONMENTS OF ROBOT ARM

The robot arm must be installed in a place that satisfies all the following environmental
conditions:
When robot is installed on the floor, the levelness must be within ±5°.
Be sure that the floor/stand has sufficient rigidity.
Secure a flat place to prevent the base section from receiving undue force.
(If an accurate flatness is unobtainable, insert liners and adjust the flatness).
4. Keep the ambient temperature during operation within the range of 0°C ∼ 45°C. (Deviation
or overload error may occur due to high viscosity of grease/oil when starting operation at low
temperatures. In this case, warm-up robot at low speed before regular operation.)
5. Keep the relative humidity during operation within the range of 35% ∼ 85%RH without dew
condensation.
6. The robot installing place should be free from dust, dirt, smoke, water, and other foreign
matters. (In dusty or moist condition, use an Arm with dust-proof or waterproof spec.)
7. The robot installing place should be free from flammable or corrosive liquid or gas. (Use an
explosion-proof arm in a flammable environment.)
8. The robot installing place should be free from excessively strong vibration. (0.5G or less)
9. The robot installing place should be free from electric noise interference.
10. The robot installing place should be sufficiently larger than the motion range of robot arm.
Safety fence must enclose area larger than the maximum motion range of fully equipped
robot arm (with tools) so it does not interfere with the surrounding objects.
(1) An entrance gate with a safety plug should be provided to the safety fence.
(2) About details of the safety fence, observe the requirements which are established in eachregion. (e.g. EN953, EN294, EN811, EN1088, ISO13852, ISO13854, and ISO/NP
14120)

1.
2.
3.

Approx.1 m

Gate with safety plug
Motion range of robot arm(tool included)
Approx.1 m

Mechanicalstopper

MechanicalstopperApprox.1 m

Approx.1 m

5

Safety fence
Approx.1 m

Z Series
Kawasaki Robot
1.3

1. Cautions
Installation and Connection Manual

WARNING LABEL！

WARNINGPay attention to the warning labels listed in thedrawings during operation.

6

Z Series
Kawasaki Robot

1. Cautions
Installation and Connection Manual

ZX SERIES

Warning label for high temperature

Warning label for pinching/crushing7

Z Series
Kawasaki Robot

1. Cautions
Installation and Connection Manual

ZT SERIES

Warning label for hightemperature
Warning label forpinching/crushing

8Z Series
Kawasaki Robot

1. Cautions
Installation and Connection Manual

ZD SERIES

Warning label for hightemperature
Warning label forpinching/crushing9Z Series
Kawasaki Robot
2.0

2. Motion Range & Specifications of Robot
Installation and Connection Manual

MOTION RANGE & SPECIFICATIONS OF ROBOTDETERMINATION OF SAFETY FENCE LOCATION BASED ON MOTION RANGE:

Motion Range at Point P

Point P Location
Tool
Workpiece

Point P Location

The motion range of robot arm is represented by Point P in the figure above. Accordingly, thedimensions of safety should be calculated as follows: Determine sum of L0, L1 and L2 as minimum
dimension. That is: dimension from the center of arm (Point A shown in the figure above) to thecenter of wrist (=L0) + dimension from the center of wrist to the edge of tool (=L1) + dimension ofallowance (=L2). For the dimensions of L0, refer to the drawings of “Motion Range &Specifications of Robot” given in the following pages.

L2
L1
L0
Location of
MechanicalStopper

Location of
MechanicalStopper

10

Safety FenceZ Series
Kawasaki Robot

2. Motion Range & Specifications of Robot
Installation and Connection Manual

ZX130SType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

130°/s2+75° ∼ -60°

130°/s3+250° ∼ -120°

130°/s4±360°180°/s5±130°180°/s6±360°280°/sMax. Payload
Wrist Load
Capacity*measured condition• installed on the plate

130 kgJT

TorqueMoment of Inertia

4735 N･m

51.9 kg･m2

735 N･m2

51.9 kg･m

421.4 N･m

2

5
6

27.4 kg･m

Repeatability±0.3 mm

Mass

Approx. 1350 kg

Acoustic noise< 70 db (A)*11

rigidly fixed on the floor• 4650 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range & Specifications of Robot
Installation and Connection Manual

ZX130UType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

110°/s2+75° ∼ -60°

110°/s3+250° ∼ -120°110°/s4±360°

140°/s5±130°135°/s6±360°230°/sMax. Payload
Wrist Load
Capacity• installed on the plate

130 kgJT

TorqueMoment of Inertia

4735 N･m

51.9 kg･m2

5

735 N･m

51.9 kg･m2

6

421.4 N･m

27.4 kg･m2

Repeatability±0.3 mm

Mass

Approx. 1350 kg

Acoustic noise< 70 db (A)*12*measured condition

rigidly fixed on the floor• 4650 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range & Specifications of Robot
Installation and Connection Manual

ZX130LType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

110°/s2+75° ∼ -60°

110°/s3+250° ∼ -120°110°/s4±360°

140°/s5±130°135°/s6±360°230°/sMax. Payload
Wrist Load
Capacity

130kg*measured condition

JT

TorqueMoment of Inertia

4735 N･m

51.9 kg･m2

5

735 N･m

51.9 kg･m2

6

421.4 N･m

27.4 kg･m2

Repeatability±0.3 mm

Mass

Approx. 1400 kg

Acoustic noise< 70 db (A)*13

• installed on the platerigidly fixed on the floor• 4900 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range & Specifications of Robot
Installation and Connection Manual

ZX165UType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

110°/s2+75° ∼ -60°

110°/s3+250° ∼ -120°110°/s4±360°

135°/s5±130°135°/s6±360°

210°/sMax. Payload
Wrist Load
Capacity*measured condition

165 kgJT

TorqueMoment of Inertia
2• installed on the plate4

911.4 N･m

78.4 kg･m

rigidly fixed on the floor5

911.4 N･m

78.4 kg･m2

450.8 N･m

40.2 kg･m2• 4650 mm away from

6
Repeatability±0.3 mm

Mass

Approx. 1350 kg

Acoustic noise< 70 db (A)*14

JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range & Specifications of Robot
Installation and Connection Manual

ZX165LType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

100°/s2-60°∼ +75°

105°/s3-120°∼ +250°

95°/s

4

±360°

135°/s5±130°135°/s6±360°

210°/sMax. Payload
Wrist Load
Capacity

165 kg*measured condition

JT

TorqueMoment of Inertia

4

911.4 N･m

78.4 kg･m2• installed on the plate5911.4 N･m

78.4 kg･m2

rigidly fixed on the floor6450.8 N･m

40.2 kg･m2• 4810 mm away from

Repeatability±0.3 mm

Mass

Approx. 1355 kg

Acoustic noise< 70 db (A)*15

JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range & Specifications of Robot
Installation and Connection Manual

ZX200SType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

100°/s2+75° ∼ -60°

100°/s3+250° ∼ -120°

95°/s

4

±360°

120°/s5±120°115°/s6±360°180°/sMax. Payload
Wrist Load
Capacity*measured condition

200 kgJT

TorqueMoment of Inertia
2• installed on the plate

41274 N･m

117.6 kg･m

rigidly fixed on the floor

51274 N･m

117.6 kg･m2• 4650 mm away from6

686 N･m63.7 kg･m2

Repeatability±0.3 mm

Mass

Approx. 1400 kg

Acoustic noise< 70 db (A)*16

JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range & Specifications of Robot
Installation and Connection Manual

ZX200UType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

95°/s

2

+75° ∼ -60°

95°/s

3

+250° ∼ -120°

95°/s

4

±360°

120°/s5±130°115°/s6±360°180°/sMax. Payload
Wrist Load
Capacity*measured condition

200 kgJT

TorqueMoment of Inertia
2• installed on the plate

4980 N･m93.1 kg･m

rigidly fixed on the floor

5980 N･m93.1 kg･m2

490 N･m46.1 kg･m2• 4650 mm away from

6
Repeatability±0.3 mm

Mass

Approx. 1350 kg

Acoustic noise< 70 db (A)*17

JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range & Specifications of Robot
Installation and Connection Manual

ZX200W

Type

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

95°/s

2

+75° ∼ -60°

95°/s

3

+250° ∼ -120°

95°/s

4

±360°

93°/s

5

±120°

93°/s

6

±360°

163°/sMax. Payload
Wrist Load
Capacity*measured condition• installed on the plate

200 kgJT
4
5
6

TorqueMoment of Inertia
21274 N･m

117.6 kg･m

1274 N･m

2

117.6 kg･m

686 N･m2

63.7 kg･m

Repeatability±0.3 mm

Mass

Approx. 1400 kg

Acoustic noise< 70 db (A)*18

rigidly fixed on the floor• 4650 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range and Specifications of Robot
Installation and Connection Manual

ZX300G

Type

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

100°/s2+75° ∼ -60°

85°/s

3

+250° ∼ -120°

85°/s

4

±360°

90°/s

5

±120°

90°/s

6

±360°

112°/sMax. Payload
Wrist Load
Capacity

300 kg*measured condition

JT

TorqueMoment of Inertia

41715 N･m

166.6k g･m2

51715 N･m

166.6 kg･m2

6

862.4 N･m

192.7 kg･m2

Repeatability±0.3 mm

Mass

Approx. 1400 kg

Acoustic noise< 70 db (A)*19

• installed on the platerigidly fixed on the floor• 4500 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range and Specifications of Robot
Installation and Connection Manual

ZX300SType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

100°/s2+75° ∼ -60°

85°/s

3

+250° ∼ -120°

85°/s

4

±360°

90°/s

5

±120°

90°/s

6

±360°

150°/sMax. Payload
Wrist Load
Capacity

300 kg*measured condition

JT

TorqueMoment of Inertia

41715 N･m

166.6k g･m2

51715 N･m

166.6 kg･m2

6

862.4 N･m

107.8 kg･m2

Repeatability±0.3 mm

Mass

Approx. 1400 kg

Acoustic noise< 70 db (A)*20

• installed on the platerigidly fixed on the floor• 4500 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range and Specifications of Robot
Installation and Connection Manual

ZT130SType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

130°/s2+60° ∼ -75°

130°/s3+165° ∼ -95°

130°/s4±360°180°/s5±130°180°/s6±360°280°/sMax. Payload
Wrist Load
Capacity*measured condition

130 kgJT

TorqueMoment of Inertia
2

735 N･m

51.9 kg･m

5735 N･m2

51.9 kg･m

6

421.4 N･m

27.4 kg･m2

4

Repeatability±0.3 mm

Mass

Approx. 1550 kg

Acoustic noise< 70 db (A)*21

• installed on the platerigidly fixed on the floor• 5230 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range and Specifications of Robot
Installation and Connection Manual

ZT130UType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

105°/s2+60° ∼ -75°

105°/s3+165° ∼ -95°

105°/s4±360°

140°/s5±130°135°/s6±360°230°/sMax. Payload
Wrist Load
Capacity*measured condition

130 kgJT

TorqueMoment of Inertia
24735 N･m

51.9 kg･m

5735 N･m

51.9 kg･m2

6

421.4 N･m

27.4 kg･m2

Repeatability±0.3 mm

Mass

Approx. 1550 kg

Acoustic noise< 70 db (A)*22

• installed on the platerigidly fixed on the floor• 5230 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range and Specifications of Robot
Installation and Connection Manual

ZT130LType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

105°/s2+60° ∼ -75°

105°/s3+165° ∼ -95°

105°/s4±360°

140°/s5±130°135°/s6±360°230°/sMax. Payload
Wrist Load
Capacity*measured condition

130 kgJT

TorqueMoment of Inertia
24980 N･m93.1 kg･m

5980 N･m93.1 kg･m2

6

490 N･m46.1 kg･m2

Repeatability±0.3 mm

Mass

Approx. 1565 kg

Acoustic noise＜70 db (A)*23

• installed on the platerigidly fixed on the floor• 5530 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range and Specifications of Robot
Installation and Connection Manual

ZT165UType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

105°/s2+60° ∼ -75°

105°/s3+165° ∼ -95°

105°/s4±360°

135°/s5±130°135°/s6±360°

210°/sMax. Payload
Wrist Load
Capacity*measured condition

165 kgJT

TorqueMoment of Inertia
2

911.4 N･m

78.4 kg･m

5

911.4 N･m

2

78.4 kg･m

6

450.8 N･m

40.2 kg･m2

4

Repeatability±0.3 mm

Mass

Approx. 1550 kg

Acoustic noise< 70 db (A)*24

• installed on the platerigidly fixed on the floor• 5230 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range and Specifications of Robot
Installation and Connection Manual

ZT200SType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

100°/s2+60° ∼ -75°

100°/s3+165° ∼ -95°

90°/s

4

±360°

120°/s5±120°115°/s6±360°180°/sMax. Payload
Wrist Load
Capacity

200 kg*measured condition

JT

TorqueMoment of Inertia

41274 N･m

117.6 kg･m2

51274 N･m

117.6 kg･m2

6

686 N･m63.7 kg･m2

Repeatability±0.3 mm

Mass

Approx. 1600 kg

Acoustic noise< 70 db (A)*25

• installed on the platerigidly fixed on the floor• 5230 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range and Specifications of Robot
Installation and Connection Manual

ZT200UType

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

90°/s

2

+60° ∼ -75°

90°/s

3

+165° ∼ -95°

90°/s

4

±360°

120°/s5±130°115°/s6±360°180°/sMax. Payload
Wrist Load
Capacity

200 kg*measured condition

JT

TorqueMoment of Inertia

4

980 N･m93.1 kg･m2

5

980 N･m93.1 kg･m2

6

490 N･m46.1 kg･m2

Repeatability±0.3 mm

Mass

Approx. 1550 kg

Acoustic noise< 70 db (A)*26

• installed on the platerigidly fixed on the floor• 5230 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range and Specifications of Robot
Installation and Connection Manual

ZT200W

Type

Articulated Robot

Degree ofFreedom

6

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

90°/s

2

+60° ∼ -75°

90°/s

3

+165° ∼ -95°

90°/s

4

±360°

93°/s

5

±120°

93°/s

6

±360°

163°/sMax. Payload
Wrist Load
Capacity*measured condition

200 kgJT

TorqueMoment of Inertia
2

41274 N･m

117.6 kg･m

51274 N･m

117.6 kg･m2

6

686 N･m63.7 kg･m2

Repeatability±0.3 mm

Mass

Approx. 1600 kg

Acoustic noise< 70 db (A)*27

• installed on the platerigidly fixed on the floor• 5230 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range and Specifications of Robot
Installation and Connection Manual

ZD130SType

Articulated Robot

Degree ofFreedom4

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

135°/s2+90° ∼ -50°

110°/s3+15° ∼ -120°

130°/s4±360°

300°/sMax. Payload
Wrist Load
Capacity

130 kg• installed on the platerigidly fixed on the floor

JT

TorqueMoment of Inertia

4-

50 kg･m2

Repeatability±0.5 mm

Mass

Approx. 1350 kg

Acoustic noise< 70 db (A)*28

*measured condition• 5260 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot

2. Motion Range and Specifications of Robot
Installation and Connection Manual

ZD250SType

Articulated Robot

Degree ofFreedom4

Motion RangeandMaximum
Speed

JT

Motion Range

Max. Speed

1

±180°

95°/s

2

+90° ∼ -50°

95°/s

3

+15° ∼ -120°

95°/s

4

±360°

190°/sMax. Payload
Wrist Load
Capacity*measured condition• installed on the platerigidly fixed on the floor

250 kgJT
4

TorqueMoment of Inertia
2

100 kg･m-

Repeatability±0.5 mm

Mass

Approx. 1350 kg

Acoustic noise< 70 db (A)*29

• 5260 mm away from
JT1 center
The noise level depends onthe conditions.

Z Series
Kawasaki Robot
3.0

3. Work Flow at Arm Installation and Connection
Installation and Connection Manual

WORK FLOW AT ARM INSTALLATION AND CONNECTION

Actual Work

Preparation

This flowchart describes only the robot arm section. For the controller, refer to separate
Installation and Connection Manual for Controller.
Examination of Installation
Place and Motion Range

Refer to 2. Motion Range & Specificationof Robot.

Examination & Preparation of
Installation Plane Surface

Refer to 5. Installing Dimensions of Base
Section, 7. Installation Method.

Transportation of Robot Arm

Refer to
4. Robot Transportation Method.

Installation of Robot Arm

Refer to 8. Mounting of Tools and9. Connection of Air System.

Mounting of Tools

Connection to ControllerWork Using Controller

Refer to 5. Installing Dimensions of Base
Section, 6. Movement Reaction Acting
on the Installation Surface During
Operation, 7. Installation Method.

Refer to Installation and Connection
Manual for controller.

Check of Arm Motion
Check of Tool Motion

Refer to Operation Manual.

Check of Other Functions

Refer to Operation Manual.

Completion of Work30

Z Series
Kawasaki Robot

4. Robot Transportation Method
Installation and Connection Manual

4.0

ROBOT TRANSPORTATION METHOD

4.1

WIRE SLING

According to the figure, hoist up the robot by three slings through three eyebolts.

ZX series

ZT series
3 Slings

3 Slings

Eyebolts

Eyebolts

Model

Hoisting
posture

！

ZX

ZT

JT1

0°

0°

JT2

-52°

-70°

JT3

-35°

-13°

JT4

0°

0°

JT5

-55°

-103°

JT6

0°

0°

CAUTION

When hoisting up the robot, be careful as robot may lean
forward/backward depending on robot posture and mounting
condition of the tool and options. If the robot is hoisted up withthe base section inclined, it may swing, or the sling may interferewith the wrist motor, harness, piping etc., or it may be damaged
from interfering with surrounding objects.
31

Z Series
Kawasaki Robot

4. Robot Transportation Method
Installation and Connection Manual

ZD Series

3 Slings

Eyebolts

Model

Shipment
posture

！

ZD
JT1

0°

JT2

-45°

JT3

-20°

JT4

0°

CAUTION

When hoisting up the robot, be careful as robot may lean
forward/backward depending on robot posture and mounting
condition of the tool and options. If the robot is hoisted up withthe base section inclined, it may swing, or the wire may interferewith the wrist motor, harness, piping etc., or it may be damaged
from interfering with surrounding objects.
Protect the robot with wear plates, etc. if slings interfere with a partof the robot (balancer, etc.).

32

Z Series
Kawasaki Robot

4. Robot Transportation Method
Installation and Connection Manual

4.2

FORKLIFT

1.
2.
3.

When carrying by forklift, use the jig for the forklift installed on the robot base.
Confirm that the forks of forklift penetrate sufficiently without fail.
When transporting robot on an inclined or rough surface, be careful to maintain balance toprevent forklift/robot from falling.
When the retract stopper and retract pin (Option) are mounted set the forks of forklift to aheight of 54 mm or less.

4.

33

Z Series
5. Installing Dimensions of Base Section
Kawasaki Robot Installation and Connection Manual
5.0

INSTALLING DIMENSIONS OF BASE SECTION

When installing base section, fix it with high tension bolts utilizing the bolt holes.

Installing
Dimensions of Base
SectionCross-section ofBase installation
hole

Bolt Hole8-φ22High Tension Bolt

8-M20
Material: SCM435
Strength class: 10.9 min.

Tightening Torque431.2 N･mLevelness

Within ±5°34

Z Series
Kawasaki Robot
6.0

6. Movement Reaction Acting on Installation Surface during Operation
Installation and Connection Manual

MOVEMENT REACTION ACTING ON INSTALLATION SURFACE DURING
OPERATION

Refer to the list below for the movement reaction that acts on the installation surface during
operation. Consider these values at installation shown in the following pages.

Model
M(Inversion
Moment)T(Rotating Torque)

ZX Series(Excluding
ZX300G/S)

ZX 300G
ZX 300S

ZT Series

ZD Series

34000 N･m

41000 N･m

35000 N･m

26000 N･m

12000 N･m

12000 N･m

12000 N･m

10000 N･m

35

Z Series
Kawasaki Robot

7. Installation Method
Installation and Connection Manual

7.0

INSTALLATION METHOD

7.1

WHEN INSTALLING THE BASE DIRECTLY ON THE FLOOR:As shown in the figure below, embed steel plate (35 mm Min. thick) in the concrete floor or fix
with anchor bolts. The steel plate must be fixed firmly so as to sustain reaction forces from therobot.

M

M20
Tightening torque431.2 N･m

T

30 mm
min.

35 mm
min.

Steel plate
Concrete

7.2

WHEN INSTALLING THE BASE PLATE WITH POSITIONING HOLES ON THE
FLOOR:

1.

Install the base plate utilizing 8 holes of φ22.
Install the base plate on the concrete floor or the steel plate floor.
Reaction forces received from robot are the same as when installing the base directly on thefloor.
There are two pin holes on the base plate for positioning, which enable the base plate to joinwith the base precisely. Thus, replacement of a broken robot can be done quickly and easily.
(Beware that usually JT1 is not precision zeroed. This function is only provided as Option.)

7.3

WHEN INSTALLING WITH INSTALLATION BLOCK:

Install the installation block confirming the following dimensions are satisfied.
Base

200 mm or more

200 mm or more

Thickness 32 mm or more

36

Z Series
Kawasaki Robot
8.0

8. Mounting of Tools
Installation and Connection Manual

MOUNTING OF TOOLS！

WARNING

When mounting tools, shut off control power up to the external power switch for
shutting off power supply to the robot controller. Display signs indicating clearly“Inspection and Maintenance in progress”, and lockout/tagout the external powerswitch to prevent personnel from accidentally turning on the power.
8.1

DIMENSIONS OF WRIST END (FLANGE)At the end of robot arm, a flange is provided for mounting a tool. Tighten the mounting bolts
into the tap holes machined on circumference of φD as shown below. Position tool with pin
holes and spigot hole.
ZX Series/ZT Series

ZD Series

Pin holes

Drill holes

Tap holes

*

*

φD

*

*

Spigot hole

NOTE: 4 tap holes marked * require no tightening.
8.2

SPECIFICATION OF MOUNTING BOLTS

Select the length of mounting bolts according to the tap depth of tool mounting flange andthickness of tool parts so that the specified screwing engagement can be attained. Use hightension mounting bolts and tighten them to the specified torque (See the table on the next page).
ZX Series/ZT Series
Check flange
thickness.

Check tap
depth.

ZD Series

Check tightening
torque.
Mounting bolt

Check flange
thickness.

Check tightening
torque.
Mounting bolt

Tool flange

Tool mounting
section (flange)

Tool mounting
section (flange)

Tool flange
Check tap
depth.

Check screwing depth.

！

Check screwing depth.

CAUTION

If the length of engagement (screw depth) exceeds the specified depth, themountingbolt bottoms out and the tool cannot be fixed. (ZX/ZT Series)
37

Z Series
Kawasaki Robot

8. Mounting of Tools
Installation and Connection ManualModel

Tap holes
φD
Pin holes
Spigot hole
Tap depth
Screwing depthHigh tension
bolt
Tightening
torque

ZX130S, ZX130U,
ZX130L, ZX165U,
ZX200S, ZX200W
ZX165L, ZX200S,
ZX300G, ZX300S
ZT130S, ZT130U,
ZT200S, ZT200W
ZT130L, ZT165U,
ZT200U

6-M10
6-M10
φ125
φ160
2-φ10H7 Depth 12 2-φ10H7 Depth 12
φ80H7 Depth 8
φ100H7 Depth 8
12 mm
12 mm
10∼11 mm10∼11 mm
SCM435,
SCM435,10.9 Min
10.9 Min
56.84 N･m

Model

ZD130S, ZD250S

Drill holes
φD
Pin holes
Spigot hole
Flangethickness
High tension
bolt
Tightening
torque8-φ 11 (M10)
φ150
15 mm
SCM435,10.9 Min
56.84 N･m

56.84 N･m

[ NOTE ]The above mounting sizes for ZX, ZT series are based on ISO. For thedimension below, insert the adapter plate (option) prior to mounting tools.

Model

ZX130S, ZX130U, ZX130L,
ZX165U, ZX165L, ZX200S,
ZT130S, ZT130U, ZT130L,
ZT165U, ZT200U

Tap holes
φD
Pin holes
Spigot hole
Tap depth
Screwing depthHigh tension bolt
Tightening torque

6-M10
φ92
2-φ9H7 Depth 12
φ55H7 Depth 12
16 mm
14∼15 mm
SCM435, 10.9 Min
56.84 N･m

38

Model

ZX200S, ZX200W
ZX300G, ZX300S
ZT200S, ZT200W

Tap holes
φD
Pin holes
Spigot hole
Tap depth
Screwing depthHigh tension bolt
Tightening torque10-M10φ113
2-φ10H7 Depth 17
φ68H7 Depth 12
17 mm
15∼16 mm
SCM435, 10.9 Min
56.84 N･m

Z Series
Kawasaki Robot

8. Mounting of Tools
Installation and Connection Manual

8.3

LOAD CAPACITY (FOR ZX/ZT SERIES)

1.

The load capacity of robot is specified for each model and includes the mass of tool, etc.
Also, the load capacity of wrist section is provided with limiting conditions.
In addition, strictly observe the wrist load capacities in the tables on pages 11 – 27. Do not
exceed the max. allowable load torque and load moment of inertia specified for each wrist
axes (JT4, JT5, JT6).

2.

！

CAUTION

Using the robot beyond its specified load capacity may result in
degradation of movement performance and shortening of machineservice life. The specified range includes the tool mass such as
hand, tool changer, spot weld gun, etc. To use the robot in excess of
its load capacity, first contact Kawasaki without fail.
The load torque and the moment of inertia can be calculated by expressions below:

Calculating formula

Load Mass (including tool): M≤Mmax.(kg)Load Torque: T=9.8·M·L(N·m)
Load Moment of Inertia: I=M·L2+IG(kg·m2)
L 6(m)
IG
L 4 , 5(m)

M(kg)

L 6:

Length from JT6 axis
rotating center to load
center of gravity.
L 4 , 5: Length from JT4(5)axis rotating center toload center of gravity.

Mmax.: Rated Load Mass (For example)
ZX130: 130 kg
ZX165: 165 kg
ZX200: 200 kg
ZX300: 300 kg
L: Length from axis rotating center to load
center of gravity. (Unit : m)
IG: Moment of inertia around center ofgravity. (Unit : kg·m2)

When calculating the load by dividing it into sections (for example, tool section, workpiece
section, etc.), evaluate the load torque and inertia moment from the total value of each section.

39

Z Series
Kawasaki Robot

9. Connection of Air System
Installation and Connection Manual

9.0 CONNECTION OF AIR SYSTEM
9.1 AIR PIPING DIAGRAM
Z Series includes air piping for driving tool in the robot arm.
ZX Series, ZT Series, ZD Series
●AIR1

●AIR1

R 3/8
Joint for air(Input:0.147~0.588 MPa)

R 3/8
Joint for air○AIR2
Robot Base Section○AIR2
Internal Robot Arm

Upper Arm Section (ZX/ZT)
Wrist (ZD)

The following valves can be mounted on the above-mentioned arm as Option.
be set ON/OFF by the Teach Pendant without interlock (ZX/ZT).

OptionSingle Solenoid
Single Solenoid
Single Solenoid
Double Solenoid
Double Solenoid
Double Solenoid
Single Solenoid
Single Solenoid
Single Solenoid

1 unit + Double Solenoid
1 unit + Double Solenoid
2 units + Double Solenoid(Note) The valve specification is: CV value = 3.2 and 2-position.

40

1 unit2 units
3 units
1 unit2 units
3 units
1 unit2 units
1 unit

The valve canZ Series
Kawasaki Robot

9. Connection of Air System
Installation and Connection Manual

9.2 AIR SUPPLY TO THE ROBOT ARM
As shown in the figure below, the air connection port is provided on the base section of robot
arm.

！

CAUTION

Supply input pressure; 0.147∼0.588 MPa to the air inlet port
(R 3/8 Joint, 2 places).

< Reference

When connecting the air regulator:
On the driving air source for the tool
section, connect [Filter + Regulator]
externally.
Since the upper arm built-in valve is unlubricatedtype, do not use any lubricator (oiler).
Filter+Regulator

Input Pressure
0.147~0.588 MPa

41

Z Series
Kawasaki Robot

9. Connection of Air System
Installation and Connection Manual

9.3 CONNECTION TO THE TOOL FROM THE AIR OUTLET PORT
The air outlet port is provided on Z series robot as shown in the figure below.
series, the outlet ports are φ12 joints for air tube on the upper arm section.
ZX/ZT series

For ZX/ZTZD series

○AIR2

●AIR1

Outlet

○AIR2

42

●AIR1

OutletKAWASAKI ROBOTZ Series
Installation and Connection= Robot Arm =January 2003 : 1st Edition
June 2009: 9th Edition

Publication: KAWASAKI HEAVY INDUSTRIES, LTD.
90202-1068DEI

Copyright© 2009 KAWASAKI HEAVY INDUSTRIES, LTD. All rights reserved.