Conexion e Instalacion PDF
Conexion e Instalacion PDF
Conexion e Instalacion PDF
FS03N (E00∗)
FS03N (F00∗)
FC03N (E00∗)
FW03N (E00∗)
Installation and
Connection Manual
90202-1087DEC
FS03N, FC03N, FW03N
Kawasaki Robot Installation and Connection Manual
PREFACE
This manual describes the installation and connection instructions for the Kawasaki Robot
FS03N (E/F00∗)/FC03N (E00∗)/FW03N (E00∗).
Read and understand the contents of this manual and the safety manual thoroughly, and strictly
observe all rules for safety before proceeding with any operation.
This manual only describes the installation and connection of the robot arm. Refer to the
“Installation and Connection Manual – Controller” for information on the controller.
Never proceed with any operation until you understand the contents of this manual completely.
Kawasaki is not responsible for any accidents and/or damages resulting from operations/
maintenance based on only a limited reading or limited understanding of some parts of this
manual.
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 written
consent of Kawasaki.
5. Store this manual with care and keep it available for use at any time. If the robot is
reinstalled or moved to a different site or sold off to a different user, attach this manual to
the robot without fail. In the event the manual is lost or damaged severely, contact
Kawasaki.
All rights reserved. Copyright © 2006 Kawasaki Heavy Industries Ltd.
1
FS03N, FC03N, FW03N
Kawasaki Robot Installation and Connection Manual
SAFETY
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
by complying with the safety matters given in the boxes with these symbols.
! DANGER
! WARNING
! CAUTION
[ NOTE ]
Denotes precautions regarding robot specification,
handling, teaching, operation, and maintenance.
! WARNING
2
FS03N, FC03N, FW03N
Kawasaki Robot Installation and Connection Manual
CONTENTS
Preface...............................................................................................................................................1
Safety.................................................................................................................................................2
1.0 Precautions............................................................................................................................4
1.1 Cautions to be Taken during Transportation ........................................................................4
1.2 Installation Environment of Robot Arm ...............................................................................6
3
FS03N, FC03N, FW03N 1. Precautions
Kawasaki Robot Installation and Connection Manual
1.0 PRECAUTIONS
When transporting the Kawasaki Robot to its installation site, strictly observe the following
cautions.
! WARNING
1. When the robot arm is to be transported by using a crane or forklift, never support the
robot arm manually.
2. During transportation, never climb on the robot arm or stay under the hoisted robot
arm.
3. Prior to installation, turn OFF control power up to the main power source. Display
signs indicating clearly “Inspection and Maintenance in Progress”, and lockout/tagout
the main power switch to prevent personnel from accidentally turning ON the power.
4. Prior to driving robot, ensure safety by first confirming no abnormality is observed in
installing condition, etc., and then turn ON motor power to set robot to the desired
posture. Be careful to not be caught by/between any moving parts due to careless
approach to robot and peripheral equipment. After setting robot arm to the specified
pose, turn OFF control power up to the main power source again as mentioned above.
Display signs indicating clearly “Inspection and Maintenance in Progress”, and
lockout/tagout the main power switch before starting inspection and maintenance.
5. Warning labels are affixed to the arm to identify areas with possibility of electric shock,
high temperature or pinching/crushing, so check these areas beforehand. See the
following page for the warning labels and their positions. Per specifications, FC03N
(E00∗) and FW03N (E00∗) are not affixed with warning labels. However, use figures
below to confirm all danger areas on the robot before starting work.
!
! CAUTION
1. Since the robot body unit is composed of precision parts, be careful not to apply
excessive shocks or vibrations during transportation.
2. Prior to installation, remove all obstacles so the installation is carried out smoothly
and safely. Clear a passage to the installation area for transportation of the robot
arm using a crane or forklift.
3. 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
FS03N, FC03N, FW03N 1. Precautions
Kawasaki Robot Installation and Connection Manual
Warning labels
View A
5
FS03N, FC03N, FW03N 1. Precautions
Kawasaki Robot Installation and Connection Manual
When installing the robot, set it up in a site where the following ambient conditions are
satisfied.
1. When installing on the floor or on the ceiling, secure the level within ± 5 °.
2. Ensure the floor or stand provides sufficient rigidity.
3. Secure flatness so force is not applied excessively on any installation components. If
flatness cannot be achieved, compensate using liners.
4. Ambient temperature during operation should be within 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. Relative humidity should be 35 % ∼ 85 % RH; without condensation.*
6. Secure an area with very little exposure to dust, smoke, oil and water.**
7. Secure an area free from flammable or corrosive liquid or gas. (Use a robot arm with
explosion-proof spec. if environment is flammable.)
8. Secure an area not affected by excessively large vibrations. (0.5G or less)
9. Secure an area with minimal electrical noise.
10. Secure a place that is spacious enough for the motion range of the robot.
11. Set up a safety fence around the robot arm, providing adequate space for the maximum
motion range of the robot arm and without causing any interference to tool installed on the
robot arm.
12. Provide as few entrances as possible (if possible only one) on the safety fence with a safety
plug built into the door. ***
0.3 m or more
0.3 m or 0.3 m
more or more
6
FS03N, FC03N, FW03N 2. Motion Range and Specification
Kawasaki Robot Installation and Connection Manual
Refer to the figure below and ensure safety fence dimensions are larger than the sum of
L0+L1+L2.
Tool
Work-piece
A
Point P
L2 L1 L0
0.3 m or more
L2
L1 Door with safety
plug
L0
Position of Position of
0.3 m or more Mechanical Mechanical 0.3 m or more
Stopper Stopper
0.3 m or 0.3 m or
more more
7
FS03N, FC03N, FW03N 2. Motion Range and Specification
Kawasaki Robot Installation and Connection Manual
8
FS03N, FC03N, FW03N 2. Motion Range and Specification
Kawasaki Robot Installation and Connection Manual
FS03N (F00∗)
9
FS03N, FC03N, FW03N 2. Motion Range and Specification
Kawasaki Robot Installation and Connection Manual
FC03N (E00∗)
10
FS03N, FC03N, FW03N 2. Motion Range and Specification
Kawasaki Robot Installation and Connection Manual
FW03N (E00∗)
11
FS03N, FC03N, FW03N 3. Transport Method
Kawasaki Robot Installation and Connection Manual
Standard posture
JT1 : 0°
JT2 : -60°
JT3 : -150°
JT4 : 0°
JT5 : +135°
JT6 : 0°
! CAUTION
12
FS03N, FC03N, FW03N 4. Installation Method
Kawasaki Robot Installation and Connection Manual
FS03N(E00∗)/FC03N(E00∗)
1. Install robot arm using the φ9 bolt holes (4 parts) in the base section as shown below.
Installation cross-section
2. During operation, the robot arm applies the following moments M on its installation surface.
At robot installation, confirm this surface can adequately withstand these forces.
・FS03N(E00∗)
Up-down direction: M max. = 357 N·m
Rotating direction: M max. = 293 N·m
Rotating direction
13
FS03N, FC03N, FW03N 4. Installation Method
Kawasaki Robot Installation and Connection Manual
FS03N(F00∗)
1. Install robot arm using the φ9 bolt holes (4 parts) in the base section as shown below.
130
88±0.1
152
170
High-tension bolt: 4-M8
Material: SCM435
φ14
φ9
Installation cross-section
2. During operation, the robot arm applies the following moments M on its installation surface.
At robot installation, confirm this surface can adequately withstand these forces.
Rotating
direction
Up-down
direction
Up-down direction: M max. = 465 N·m
Rotating direction: M max. = 220 N·m
14
FS03N, FC03N, FW03N 4. Installation Method
Kawasaki Robot Installation and Connection Manual
FW03N (E00∗)
1. Install robot arm using the φ9 bolt holes (4 parts) in the base section as shown below.
Installation cross-section
2. During operation, the robot arm applies the following moments M on its installation
surface. At robot installation, confirm this surface can adequately withstand these forces.
Rotation direction
Up-down direction
15
FS03N, FC03N, FW03N 5. Installation of Tools
Kawasaki Robot Installation and Connection Manual
! WARNING
Prior to installing tools on the robot, turn OFF control power up to the main
power source. Display signs indicating clearly “Inspection and Maintenance in
Progress”, and lockout/tagout the main power switch to prevent personnel from
accidentally turning ON the power.
A flange is provided for installation of tool at end of robot arm. Tighten fixing bolts using the
four tap holes (M5 bolts) on flange shown below. Also, use the pin holes and spigot hole for
positioning tool.
! CAUTION
16
FS03N, FC03N, FW03N 5. Installation of Tools
Kawasaki Robot Installation and Connection Manual
1. The maximum load mass of the robot including the mass of hand, work, gun, etc. is
specified per robot model. Also, additional specifications also apply to the max. load
torque capacity of the wrist section.
2. Strictly observe the limiting conditions for load torque and load moment of inertia around
each wrist axis JT4, JT5, JT6 as shown below.
! WARNING
1. Exceeding the specified load mass may cause deterioration in
motion performance and shorten the life of robot.
2. The specified load capacity for mass includes the mass of all
attachments such as hand, tool changer, shock absorber, etc. When
the total load mass exceeds the load capacity specification, be sure
to consult Kawasaki before proceeding with operations.
The load torque and load moment of inertia are evaluated by the following formulae.
Formulae
When calculating the load by dividing it into sections (for example, hand section, work
section, etc.), evaluate the load torque and load moment of inertia from the sum of all
the sections.
17
FS03N, FC03N, FW03N 5. Installation of Tools
Kawasaki Robot Installation and Connection Manual
Adhere to the following limiting conditions for the load mass, etc. in wrist section.
1. The allowable load mass including the hand mass can be no more than 3 kg.
2. The load torque and the load moment of inertia in each wrist axis (JT4, JT5, JT6) must be
within the allowable range shown below.
kg·m2
0.49
Load moment of inertia
JT4 JT5
0.40
0.12
JT6
0.03
N•m
0.0 2.94 5.88
Load torque
[ NOTE ]
Limit values shown in graph are approximate. If
load on arm approaches these limits, calculate torque
and moment of inertia exactly and ensure no limit
value is exceeded.
18
FS03N, FC03N, FW03N 6. Connection of Air System
Kawasaki Robot Installation and Connection Manual
For FS03N (E/F00∗), air piping and valves for activating the tool can be installed in the robot
arm. The valves can be turned ON/OFF by teach pendant without using an interlock.
Specification of built-in valves is as follows. Standard spec. robot does not house the valves.
Standard
A1
P2
PT 1/8
Joint for air Ö B1
(Input: 0.15 ~ 0.5 MPa)
P1 A2 P1 A2
PT 1/8 PT 1/8
Joint for air Ö Joint for air Ö
Air outlet port
Wrist section
PT 1/8 P2 A1 P2 A1
Joint for air Ö PT 1/8
(Input: 0.15 ~ 0.5 MPa) B1 Joint for air Ö
(Input: 0.15 ~ 0.5 MPa) B1
Robot base section Internal robot arm Wrist section Robot base section Internal robot arm Wrist section
[ NOTE ]
Valve specification: 0.23 CV value, 2 positions. Valves not
meeting above specifications can only be installed in arm after
consulting Kawasaki for information on air system specifications.
19
FS03N, FC03N, FW03N 6. Connection of Air System
Kawasaki Robot Installation and Connection Manual
Air outlet ports are provided in the wrist section as shown in figure below.
A1
B1
Sensor
A2
B2
Joint: Universal elbow (SMC:M-5HL-4)
Air connecting ports are provided in the robot base section as shown in figure below.
P1 port
P2 port
! CAUTION
[ NOTE ]
Refer to 6.1.1 for air piping diagram in the robot arm.
20
FS03N, FC03N, FW03N 6. Connection of Air System
Kawasaki Robot Installation and Connection Manual
For FC03N (E00∗), air piping and valves for activating the tool can be installed in the robot
arm. The valves can be turned ON/OFF by teach pendant without using an interlock.
Specification of built-in valves is as follows. Standard spec. robot does not house the valves.
! CAUTION
Be careful that if air scavenging is not performed according to the procedure &
spec., shown in this manual, cleanliness cannot be ensured.
Standard
P1 A2 P1 A2
PT 1/8 PT 1/8
Joint for air Ö B2 Joint for air Ö B2
Air outlet port
Air outlet port
Wrist section
Wrist section
Robot base section Internal robot arm Wrist section Robot base section Internal robot arm Wrist section
[ NOTE ]
Valve specification: 0.23 CV value, 2 positions. Valves not meeting
above specifications can only be installed in arm after consulting
Kawasaki for information on air system specifications.
21
FS03N, FC03N, FW03N 6. Connection of Air System
Kawasaki Robot Installation and Connection Manual
Air outlet ports are provided in the wrist section as shown in figure below.
A1
Sensor B1
A2
B2
Joint: Universal elbow (SMC:M-5HL-4)
6.2.3 AIR INLET TO THE ROBOT ARM
Air connecting ports are provided in the robot base section as shown in figure below.
P1 port
! WARNING
1. P1 port
Put in the regulator, and control the pressure 0.15∼0.5 MPa to drive the tools.
2. P2 port
Connect the suction unit through a vacuum regulator valve. Set the regulated
pressure to within the range -4.9 ∼ -9.8 kPa. If excessive negative pressure is
applied, the seal might be broken. The suction flow rate is less than 50 ℓ/min.
[ NOTE ]
Refer to 6.2.1 for air piping diagram in the robot arm.
22
FS03N, FC03N, FW03N 6. Connection of Air System
Kawasaki Robot Installation and Connection Manual
For FW03N (E00∗), air piping and valves for driving the tool can be installed inside the robot
arm. The valves can be turned ON/OFF by teach pendant without using an interlock.
Specification of built-in valves is as follows. Standard spec. robot does not house the valves.
! CAUTION
Be careful that if air purge is not performed according to the procedure & spec.,
shown in this manual, waterproofness cannot be ensured.
Standard
Double solenoid 1 unit
Double solenoid 2 units P1 A2
Option PT 1/8
Single solenoid 1 unit Joint for air Ö
(Input: 0.15 ~ 0.5 MPa) B2
P1 A2 P1 A2
PT 1/8 PT 1/8
Joint for air Ö Joint for air Ö
(Input: 0.15 ~ 0.5 MPa) B2 (Input: 0.15 ~ 0.5 MPa) B2
Air outlet port
Air outlet port
Wrist section
Wrist section
[ NOTE ]
Valve specification: 0.23 CV value, 2 positions. Valves not meeting
above specifications can only be installed in arm after consulting
Kawasaki for information on air system specifications.
23
FS03N, FC03N, FW03N 6. Connection of Air System
Kawasaki Robot Installation and Connection Manual
Air outlet ports are provided in the wrist section as shown in figure below.
A1
B1
A2
B2
Joint: Universal elbow (SMC:M-5HL-4)
6.3.3 AIR INLET TO THE ROBOT ARM
Air connecting ports are provided in the robot base section as shown in figure below.
Port P2
Port P1
Robot base section
! WARNING
1. P1 port
Put in the regulator, and control the pressure 0.15∼0.5 MPa to drive
the tools.
2. P2 port
Put in the regulator, and control the pressure 29.4 kPa to drive the
air purge.
[ NOTE ]
Refer to 6.3.1 for air piping diagram in the robot arm.
24
FS03N, FC03N, FW03N 7. Precautions at Repeat Operation
Kawasaki Robot Installation and Connection Manual
For FS03N (E/F00∗), when operating the robot at repeat operation, strictly observe the limiting
conditions for motor duty around each wrist axis.
! CAUTION
[ NOTE ]
Motor duty for each wrist axis can be checked by teach pendant.
For more information, refer to the separate option manual
“Failure Prediction Function for Reduction Unit”(90210-1188).
[ NOTE ]
Percentage settings for acceleration and declaration can be
changed via Aux.0515 Acceleration and declaration
variable function specification.
25
Kawasaki Robot FS03N(E/F00∗), FC03N(E00∗), FW03N(E00∗)
Installation and Connection Manual
90202-1087DEC