SPECIFICATION OF ROBOT
YF003NDE20
3rd Edition : Nov. 08.2013
KAWASAKI HEAVY INDUSTRIES LTD.
ROBOT DIV.
Doc,No:90101-1855DEC
1. Specification of Robot
[1] Robot Arm
1. Model YF003N-A
2. Type Delta Parallel Robot
3. Degree of freedom 4 axes
4. Axis specification Operating axis Max. operating range Max. speed
Arm rotation 1 (JT1) +95 ゜ ～－52.5 ゜ 1090.9 ゜/s
Arm rotation 2 (JT2) +95 ゜ ～－52.5 ゜ 1090.9 ゜/s
Arm rotation 3 (JT3) +95 ゜ ～－52.5 ゜ 1090.9 ゜/s
Wrist twist (JT4) +360 ゜ ～－360 ゜ 1714.3 ゜/s
*
5. Palletizing Capacity Approx. 175 pieces/min (1kg weight, only robot arm)
(Maximum) On the condition that robot moves 25 mm stroke in up-down direction and 305 mm
stroke in right-left direction.
* Including picking up and placing time 0.035 s each
6. Position Repeatability ±0.10mm
7. Angular Repeatability ±0.10°
8. Max. payload 3kg
9. Max. liner speed 10000mm/sec
10. Load capacity of wrist
JT4 Unit load Max Torque Max Moment
[-] [Nm] [Nm]
(X-Y) 1kg 0.25 1.15
2kg 0.37 1.57
3kg 0.50 2.06
Please put the center of mass inside of the line of the each load
capacity.
L：Distance in X-Y dimension from Z-axis to the mass center of
gravity of the load.
D：Distance in Z dimension from X-Y dimension to the mass
center of gravity of the load.
(Z)
11. Driving motor Brushless AC Servomotor
12. Working range See attached drawing
13. Mass 145 kg (without options)
14. Color Munsell 10GY9/1 equivalent
15. Installation Ceiling mounting
16. Environment cond. (Temperature) 0 ～ 45 °C, (Relative Humidity) 35 ～ 85 % (non-condensation)
17. Degree of Protection IP65 equivalent
18. Built-in utilities Pneumatic piping (φ10 x 1 line)
19. Options 5 Axis (Brakeless)
IP67 equivalent
20. Others Consult Kawasaki about maintenance parts and spare parts.
[2] Controller
1. Model E20/E22/E23/E24
2. Enclosure Enclosed structure / Indirect cooling system
3. Dimensions See attached drawing
4. Number of controlled 6 axes for E20/E22/E24, 5 axes for E23 (depends on number of axes of arm)
axes 7/8 axes(built-in addition, option), Max.16 axes(external additional amplifier, option)
5. Servo control and Full Digital Servo System
drive system
6. Type of control Teach mode Joint, Base, Tool, Fixed Tool (option) operation mode
Repeat mode PTP, CP control mode
Joint, Linear, Circular (option) interpolation
7. Teaching method Teaching or AS language programming
8. Memory capacity 8 MB
9. External operation External Motor Power Off, External Hold, etc.
signals
10. General purpose Input signals 32 channels (Includes dedicated signals)
signals Output signals 32 channels (Includes dedicated signals)
11. Operation panel Teach/Repeat SW, Emergency Stop SW, Control power lamp
12. Cable length Power/Signal cable 5 m
Teach Pendant cable 5 m
13. Mass See attached drawing
14. Power requirement AC200 V - AC220 V±10%, 50/60 Hz, 3 phases,
Max 5.6 kVA(E20), Max 10 kVA(E22/E23/E24)
15. Ground Less than 100 Ω (robot dedicated ground)
Leakage current: max. 100 mA
16. Ambient temperature 0 - 45 °C
17. Relative humidity 35 - 85 % (non-condensation)
18. Color Munsell: 10GY9/1 equivalent
19. Teach Pendant TFT color display (5.7 inch LCD) with touch panel
Emergency Stop SW, Teach Lock SW and Enable SW
20. Options
General purpose Input signals 64/96/128 channels
signals Output signals 64/96/128 channels
I/O connector D-SUB 37pin(male,female) with cover
Operation panel Motor Power ON, Cycle start, RUN/HOLD, Error reset, Error lamp
Power/Signal cable 10m, 15m
Teach Pendant cable 10m, 15m
Auxiliary storage USB memory
Brake release Brake release switch
AC Outlet AC100V Outlet
PC cable 1.5 m, 3 m
Teach Pendant option Teach Pendant Stand, Cable hook, connector for TP less
Others Cooler, LED Light, Field BUS, Software PLC, Analog input/output,
Conveyor Synchronization, Vision and so on
21. Others Consult Kawasaki about maintenance parts and spare parts.
