Kawasaki Robot

F Series (C/D/E)

Installation and
Connection Manual

= Arm =

Kawasaki Heavy Industries, Ltd.

90202-1062DEF
F Series
Kawasaki Robot Installation and Connection Manual

PREFACE

This manual describes installation and connection procedures for Kawasaki Robot F Series
(C/D/E).

Read and understand the contents of this and safety manuals thoroughly and strictly observe all
rules for safety before proceeding with any operation. 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 only the installation and connection of the Robot Arm. Please refer to
the following manual for installation and connection of Controller and for Arc-welding Robots.
“Installation and Connection” for controller
“Installation and Connection” for arc welding

This Manual describes on the following Robot Arms

FS06N-C/D, FS06L-C/D, FA06N-C/D, FA06L-C/D, FC06N-C/D, FC06L-C/D,
FS10C-C/D, FS10N-C/D, FS10L-C/D, FS10X-C/D, FA10N-C/D, FA10L-C/D, FC10N-C/D, FC10L-C/D,
FS20C-C/D, FS20N-C/D, FS20X-C/D, FA20N-C/D, FC20N-C/D,
FS30N-C/D/E, FS30L-C/D/E, FA30L-C/D, FC30N-C/D, FC30L-C/D,
FS45C-C/D/E, FS45N-C/D/E, FC45N-C/D,
FD50N-C/D,
FS60L-C/D/E, FC60L-C/D

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.
Copyright © 2008 Kawasaki Heavy Industries Ltd. All rights reserved.

1
F Series
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

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 to

physical 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 absolute
certainty. Accordingly, it is necessary to give one’s fullest attention when
using 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 explanation described in each
chapter, and prepare safety measures suitable for actual work.

2
F Series
Kawasaki Robot Installation and Connection Manual

CONTENTS

Preface...............................................................................................................................................1
Safety.................................................................................................................................................2

1.0 Precautions..........................................................................................................................4
1.1 Precautions to be Taken during Transportation, Installation and Storage..........................4
1.2 Installing Environment Of Robot Arm...............................................................................5

2.0 Work Flow at Arm Installation and Connection ................................................................7

3.0 Motion Range & Specifications of Robot ..........................................................................8

3.1 Determination of Safety Fence Location Based on Motion Range....................................8
3.2 Motion Range & Specifications of Robot ..........................................................................9

4.0 Robot Transportation Method...........................................................................................40

4.1 Wire Sling (without Base Plate) .......................................................................................40
4.2 Wire Sling (with Base Plate).............................................................................................41

5.0 Installing Dimensions of Base Section .............................................................................42

6.0 Dimensions of Robot Stand ..............................................................................................43

7.0 Installation Method ...........................................................................................................44

7.1 When Installing the Base Directly on the Floor ...............................................................44
7.2 When Installing the Robot Stand on the Floor .................................................................45
7.3 When the Robot Base Plate is Installed on the Floor .......................................................46

8.0 Mounting of Tools ............................................................................................................47

8.1 Dimensions of Wrist End..................................................................................................47
8.2 Specification of Fixing Bolt..............................................................................................47
8.3 Load Capacity ...................................................................................................................49

9.0 Connection of Air System.................................................................................................54

9.1 Air Piping Arrangement....................................................................................................54
9.2 Air Supply to the Robot Arm............................................................................................59
9.3 Connection of Air Outlet Port in the Wrist Section with the Tool ...................................61

3
F Series 1. Precautions
Kawasaki Robot Installation and Connection Manual

1.0 PRECAUTIONS

1.1 PRECAUTIONS TO BE TAKEN DURING TRANSPORTATION, INSTALLATION

AND STORAGE

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 the main power switch on the controller and the
external power switch for shutting down power supply to the controller. Display signs
indicating clearly “Inspection and Maintenance in Progress”, and lockout/tagout the
external 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 the main power switch and the external power switch again as
mentioned above. Display signs indicating clearly “Inspection and Maintenance in
Progress”, and lockout/tagout the external power switch before starting inspection and
maintenance.

！
！ 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
F Series 1. Precautions
Kawasaki Robot Installation and Connection Manual

1.2 INSTALLING ENVIRONMENT OF ROBOT ARM

The robot arm must be installed in a place that satisfies all the following environmental
conditions:

1. When robot is installed on the floor, the level must be within ±5°.
2. Be sure that the floor/stand has sufficient rigidity.
3. Secure a leveled place to prevent undue force application on the install position.
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.
7. The robot installing place should be free from flammable or corrosive liquid or gas.
8. The robot installing place should be free from excessively strong vibration.
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.
(1) Safety fence must be larger than the maximum movement of fully equipped robot arm
(with tools and guns) so it does not interfere with the surrounding objects.
(2) An entrance gate with a safety plug should be provided to the safety fence.
(3) About details of the safety fence, observe the requirements which are established in each
region. (e.g. EN953, EN294, EN811, EN1088, ISO13852, ISO13854, and
ISO/NP14120)

Approx.1 m

A door
Scope of Robot Motion with Safety Plug
(The hand and tool are included)
Safety Fence
Approx.1 m Approx.1 m
Mechanical Mechanical
stopper stopper

Approx.1 m Approx.1 m

5
F Series 1. Precautions
Kawasaki Robot Installation and Connection Manual

1.3 WARNING LABEL

！ WARNING
Pay attention to the warning labels listed in the drawings below. (Though
no warning labels are attached on FC series robots, pay attention to the
same places.)

Warning label for pinching/crushing

6
F Series 2. Work Flow at Arm Installation and Connection
Kawasaki Robot Installation and Connection Manual

2.0 WORK FLOW AT ARM INSTALLATION AND CONNECTION

This workflow describes only the robot arm section. For the controller, refer to “Installation and
Connection”.

Examination of Installation Place Refer to “3. Motion Range &

and Motion Range Specifications of Robot”.
Preparation

Refer to “5. Installing Dimensions of Base

Examination & Preparation of Section”, “6. Installing Dimensions of
Installation Plane Surface Robot Stand” and “7. Installation
Method”.

Refer to “4. Robot Transportation

Transportation of Robot Arm
Method”.

Refer to “5. Installing Dimensions of Base

Section”, “6. Installing Dimensions of
Actual Work

Installation of Robot Arm

Robot Stand”, and “7. Installation
Method”.

Refer to “8. Mounting of Tools” and “9.

Mounting of Tool
Connection of Air System”.

To mount a Torch for an Arc Welding application, refer to

“Installation and Connection” for arc welding.

Refer to “Installation and Connection

Connection to Controller
Manual” for controller.
Work Using Controller

Checking of Arm Motion Refer to “Operation Manual”.

Checking of Tool Motion

Checking of Other Functions Refer to “Operation Manual”.

Completion of Work

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

3.0 MOTION RANGE & SPECIFICATIONS OF ROBOT

3.1 DETERMINATION OF SAFETY FENCE LOCATION BASED ON MOTION

RANGE

Motion Range
Point B of Point B

Tool

Work-piece Point B

L2 L1 L0

The motion range of the Robot is represented by the maximum area that can be covered by
Point B in the figure above. Therefore, referring to the figure, the safety fence dimensions
should be set up as follows: L0+L1+L2. That is; from the center of arm (Point A shown
above) to the Length of L0 + Sum of the Length up to the max. dimensions allowed for Wrist
flange, Tool, Hand and Work-piece : [Link] L2. For the Length of L0, refer to the drawings
for 3.2 Motion Range & Specifications of Robot.

Safety Fence
L2
L1

L0
Location of Location of
Mechanical Mechanical
Stopper Stopper

Safety Door
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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

3.2 MOTION RANGE & SPECIFICATIONS OF ROBOT

FS06N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 240 °/s
Motion Range
2 -105° to +140° 200 °/s
and
3 -155° to +120° 250 °/s
Maximum
4 ±270° 430 °/s
Speed
5 ±145° 430 °/s
6 ±360° 720 °/s
Max. Payload 6 kg *measured condition
JT Torque Moment of Inertia ・installed on the plate rigidly
Wrist Load 4 12.0 N⋅m 0.24 kg⋅m2 fixed on the floor
・2300 mm away from JT1 center
Capacity 5 12.0 N⋅m 0.24 kg⋅m2
6 6.0 N⋅m 0.07 kg⋅m2
Repeatability ±0.05 mm The noise level depends
on the conditions.
Mass Approx. 165 kg
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS06L

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 200 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 200 °/s
Maximum
4 ±270° 360 °/s
Speed
5 ±145° 360 °/s
6 ±360° 600 °/s
Max. Payload 6 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 12.0 N⋅m 0.24 kg⋅m2 ・ installed on the plate rigidly
Capacity 5 12.0 N⋅m 0.24 kg⋅m2 fixed on the floor
・2900 mm away from JT1 center
6 6.0 N⋅m 0.07 kg⋅m2
Repeatability ±0.1 mm
Mass Approx. 170 kg The noise level depends
on the conditions.
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS10C

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 200 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 200 °/s
Maximum
4 ±270° 360 °/s
Speed
5 ±145° 360 °/s
6 ±360° 600 °/s
Max. Payload 10 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 21.5 N⋅m 0.63 kg⋅m2 ・ installed on the plate rigidly
Capacity 5 21.5 N⋅m 0.63 kg⋅m2 fixed on the floor
6 9.8 N⋅m 0.15 kg⋅m2 ・ 2300 mm away from JT1 center
Repeatability ±0.05 mm
Mass Approx. 165 kg The noise level depends
Acoustic noise < 70 db (A)* on the conditions.

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS10N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 200 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 200 °/s
Maximum
4 ±270° 360 °/s
Speed
5 ±145° 360 °/s
6 ±360° 600 °/s
Max. Payload 10 kg
JT Torque Moment of Inertia
*measured condition
Wrist Load 4 21.5 N⋅m 0.63 kg⋅m2
・ installed on the plate rigidly
Capacity 5 21.5 N⋅m 0.63 kg⋅m2 fixed on the floor
6 9.8 N⋅m 0.15 kg⋅m2 ・ 2700 mm away from JT1 center
Repeatability ±0.1 mm
Mass Approx. 170 kg The noise level depends
Acoustic noise < 70 db (A)* on the conditions.

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS10E

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 200 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 200 °/s
Maximum
4 ±270° 360 °/s
Speed
5 ±145° 360 °/s
6 ±360° 600 °/s
Max. Payload 10 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 21.5 N⋅m 0.63 kg⋅m2 ・installed on the plate rigidly
fixed on the floor
Capacity 5 21.5 N⋅m 0.63 kg⋅m2
・2800 mm away from JT1 center
6 9.8 N⋅m 0.15 kg⋅m2
Repeatability ±0.1 mm
Mass Approx. 170 kg The noise level depends
on the conditions.
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS10L

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 330 °/s
Speed
5 ±145° 330 °/s
6 ±360° 500 °/s
Max. Payload 10 kg
*measured condition
JT Torque Moment of Inertia
・installed on the plate rigidly
Wrist Load 4 21.5 N⋅m 0.63 kg⋅m2 fixed on the floor
Capacity 5 21.5 N⋅m 0.63 kg⋅m2 ・3200 mm away from JT1 center
6 9.8 N⋅m 0.15 kg⋅m2
Repeatability ± 0.1 mm The noise level depends
Mass Approx. 280 kg on the conditions.
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS10X

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 200 °/s
Maximum
4 ±270° 300 °/s
Speed
5 ±145° 360 °/s
6 ±360° 600 °/s
Max. Payload 10 kg
JT Torque Moment of Inertia *measured condition
・ installed on the plate rigidly
Wrist Load 4 21.5 N⋅m 0.63 kg⋅m2 fixed on the floor
Capacity 5 21.5 N⋅m 0.63 kg⋅m2 ・4300 mm away from JT1 center
6 9.8 N⋅m 0.15 kg⋅m2
Repeatability ±0.23 mm
The noise level depends
Mass Approx. 580 kg on the conditions.
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS20C

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 330 °/s
Speed
5 ±145° 330 °/s
6 ±360° 500 °/s *measured condition
Max. Payload 20 kg ・installed on the plate rigidly
JT Torque Moment of Inertia fixed on the floor
・2600 mm away from JT1 center
Wrist Load 4 39.3 N⋅m 0.88 kg⋅m2
Capacity 5 39.3 N⋅m 0.88 kg⋅m2
6 19.6 N⋅m 0.25 kg⋅m2 The noise level depends
on the conditions.
Repeatability ±0.1 mm
Mass Approx. 275 kg
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS20N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 330 °/s
Speed
5 ±145° 330 °/s
6 ±360° 500 °/s
Max. Payload 20 kg
JT Torque Moment of Inertia *measured condition
・installed on the plate rigidly
Wrist Load 4 39.3 N⋅m 0.88 kg⋅m2
fixed on the floor
Capacity 5 39.3 N⋅m 0.88 kg⋅m2 ・2900 mm away from JT1 center
6 19.6 N⋅m 0.25 kg⋅m2
Repeatability ±0.1 mm
The noise level depends
Mass Approx. 280 kg on the conditions.
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS20X

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 200 °/s
Maximum
4 ±270° 300 °/s
Speed
5 ±145° 330 °/s
6 ±360° 500 °/s
Max. Payload 20 kg
JT Torque Moment of Inertia *measured condition
・installed on the plate rigidly
Wrist Load 4 39.3 N⋅m 0.88 kg⋅m2
fixed on the floor
Capacity 5 39.3 N⋅m 0.88 kg⋅m2 ・4000 mm away from JT1 center
6 19.6 N⋅m 0.25 kg⋅m2
Repeatability ±0.5 mm
The noise level depends
Mass Approx. 585 kg on the conditions.
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS30N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 240 °/s
Speed
5 ±130° 240 °/s
6 ±360° 340 °/s
Max. Payload 30 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 176.4N⋅m 7.2 kg⋅m2 ・installed on the plate rigidly
fixed on the floor
Capacity 5 176.4N⋅m 7.2 kg⋅m2
・3700 mm away from JT1 center
6 98.0 N⋅m 3.3 kg⋅m2
Repeatability ±0.15 mm
The noise level depends
Mass Approx. 575 kg
on the conditions.
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS30L

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 240 °/s
Speed
5 ±130° 240 °/s
6 ±360° 340 °/s
Max. Payload 30 kg *measured condition
JT Torque Moment of Inertia ・installed on the plate rigidly
Wrist Load 4 176.4N⋅m 7.2 kg⋅m2 fixed on the floor
・4100 mm away from JT1 center
Capacity 5 176.4N⋅m 7.2 kg⋅m2
6 98.0 N⋅m 3.3 kg⋅m2
Repeatability ±0.15 mm The noise level depends
on the conditions.
Mass Approx. 585 kg
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS45C

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 240 °/s
Speed
5 ±130° 240 °/s
6 ±360° 340 °/s
Max. Payload 45 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 176.4N⋅m 10.8 kg⋅m2 ・ installed on the plate rigidly
fixed on the floor
Capacity 5 176.4N⋅m 10.8 kg⋅m2
・3300 mm away from JT1 center
6 98.0 N⋅m 5.0 kg⋅m2
Repeatability ±0.15 mm
The noise level depends
Mass Approx. 575 kg
on the conditions.
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS45N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 240 °/s
Speed
5 ±130° 240 °/s
6 ±360° 340 °/s
Max. Payload 45 kg
JT Torque Moment of Inertia *measured condition
・installed on the plate rigidly
Wrist Load 4 176.4N⋅m 10.8 kg⋅m2 fixed on the floor
Capacity 5 176.4N⋅m 10.8 kg⋅m2 ・3400 mm away from JT1 center
6 98.0 N⋅m 5.0 kg⋅m2
Repeatability ±0.15 mm
The noise level depends
Mass Approx. 580 kg on the conditions.
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FS60L

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 100 °/s
and
3 -155° to +120° 110 °/s
Maximum
4 ±270° 180 °/s
Speed
5 ±130° 175 °/s
6 ±360° 260 °/s
Max. Payload 60 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 235.2N⋅m 24.8 kg⋅m2 ・installed on the plate rigidly
fixed on the floor
Capacity 5 235.2N⋅m 24.8 kg⋅m2
・3700 mm away from JT1 center
6 130.3 N⋅m 6.7 kg⋅m2
Repeatability ±0.15 mm
The noise level depends
Mass Approx. 585 kg
on the conditions.
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FA06N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 240 °/s
Motion Range
2 -105° to +140° 200 °/s
and
3 -155° to +120° 250 °/s
Maximum
4 ±270° 430 °/s
Speed
5 ±145° 430 °/s
6 ±360° 720 °/s
*measured condition
Max. Payload 6 kg
・installed on the plate rigidly
JT Torque Moment of Inertia fixed on the floor
Wrist Load 4 12.0 N⋅m 0.24 kg⋅m2 ・2300 mm away from JT1 center
Capacity 5 12.0 N⋅m 0.24 kg⋅m2
6 6.0 N⋅m 0.07 kg⋅m2 The noise level depends
Repeatability ±0.05 mm on the conditions.
Mass Approx. 165 kg
Acoustic noise < 70 db (A)*

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F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FA06E

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 200 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 200 °/s
Maximum
4 ±270° 360 °/s
Speed
5 ±145° 360 °/s
6 ±360° 600 °/s
Max. Payload 6 kg
JT Torque Moment of Inertia
*measured condition
Wrist Load 4 12.0 N⋅m 0.24 kg⋅m2 ・installed on the plate rigidly
Capacity 5 12.0 N⋅m 0.24 kg⋅m2 fixed on the floor
6 6.0 N⋅m 0.07 kg⋅m2 ・2900 mm away from JT1 center
Repeatability ±0.1 mm
Mass Approx. 170 kg The noise level depends
Acoustic noise < 70 db (A)* on the conditions.

25
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FA10N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 200 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 200 °/s
Maximum
4 ±270° 360 °/s
Speed
5 ±145° 360 °/s
6 ±360° 600 °/s
Max. Payload 10 kg *measured condition
JT Torque Moment of Inertia ・installed on the plate rigidly
Wrist Load 4 21.5 N⋅m 0.63 kg⋅m2 fixed on the floor
・2700 mm away from JT1 center
Capacity 5 21.5 N⋅m 0.63 kg⋅m2
6 9.8 N⋅m 0.15 kg⋅m2
Repeatability ±0.1 mm The noise level depends
on the conditions.
Mass Approx. 170 kg
Acoustic noise < 70 db (A)*

26
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FA10L

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 330 °/s
Speed
5 ±145° 330 °/s
6 ±360° 500 °/s
Max. Payload 10 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 21.5 N⋅m 0.63 kg⋅m2 ・installed on the plate rigidly
Capacity 5 21.5 N⋅m 0.63 kg⋅m2 fixed on the floor
・3200 mm away from JT1 center
6 9.8 N⋅m 0.15 kg⋅m2
Repeatability ±0.1 mm
Mass Approx. 280 kg The noise level depends
on the conditions.
Acoustic noise < 70 db (A)*

27
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FA20N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 330 °/s
Speed
5 ±145° 330 °/s
6 ±360° 500 °/s
Max. Payload 20 kg *measured condition
JT Torque Moment of Inertia ・installed on the plate rigidly
Wrist Load 4 39.3 N⋅m 0.88 kg⋅m2 fixed on the floor
・2900 mm away from JT1 center
Capacity 5 39.3 N⋅m 0.88 kg⋅m2
6 19.6 N⋅m 0.25 kg⋅m2
Repeatability ±0.1 mm The noise level depends
on the conditions.
Mass Approx. 280 kg
Acoustic noise < 70 db (A)*

28
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FA30L

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 240 °/s
Speed
5 ±130° 240 °/s
6 ±360° 340 °/s
Max. Payload 30 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 176.4 N⋅m 7.2 kg⋅m2 ・installed on the plate rigidly
Capacity 5 176.4 N⋅m 7.2 kg⋅m2 fixed on the floor
6 98.0 N⋅m 3.3 kg⋅m2 ・4100 mm away from JT1 center
Repeatability ±0.15 mm
Mass Approx. 585 kg The noise level depends
Acoustic noise < 70 db (A)* on the conditions.

29
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FC06N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 240 °/s
Motion Range
2 -105° to +140° 200 °/s
and
3 -155° to +120° 250 °/s
Maximum
4 ±270° 430 °/s
Speed
5 ±145° 430 °/s
6 ±360° 720 °/s
Max. Payload 6 kg
*measured condition
JT Torque Moment of Inertia
・installed on the plate rigidly
Wrist Load 4 12.0 N⋅m 0.24 kg⋅m2 fixed on the floor
Capacity 5 12.0 N⋅m 0.24 kg⋅m2 ・2300 mm away from JT1 center
6 6.0 N⋅m 0.07 kg⋅m2
Repeatability ±0.05 mm The noise level depends
Mass Approx. 165 kg on the conditions.
Acoustic noise < 70 db (A)*

30
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FC06L

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 200 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 200 °/s
Maximum
4 ±270° 360 °/s
Speed
5 ±145° 360 °/s
6 ±360° 600 °/s
Max. Payload 6 kg
JT Torque Moment of Inertia
Wrist Load 4 12.0 N⋅m 0.24 kg⋅m2 *measured condition
・installed on the plate rigidly
Capacity 5 12.0 N⋅m 0.24 kg⋅m2
fixed on the floor
6 6.0 N⋅m 0.07 kg⋅m2 ・2900 mm away from JT1 center
Repeatability ±0.01 mm
Mass Approx. 170 kg
The noise level depends
Acoustic noise < 70 db (A)* on the conditions.

31
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FC10N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 200 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 200 °/s
Maximum
4 ±270° 360 °/s
Speed
5 ±145° 360 °/s
6 ±360° 600 °/s
Max. Payload 10 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 21.5 N⋅m 0.63 kg⋅m2 ・installed on the plate rigidly
fixed on the floor
Capacity 5 21.5 N⋅m 0.63 kg⋅m2
・2700 mm away from JT1 center
6 9.8 N⋅m 0.15 kg⋅m2
Repeatability ±0.1 mm
The noise level depends
Mass Approx. 170 kg
on the conditions.
Acoustic noise < 70 db (A)*

32
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FC10L

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 330 °/s
Speed
5 ±145° 330 °/s
6 ±360° 500 °/s
Max. Payload 10 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 21.5 N⋅m 0.63 kg⋅m2 ・installed on the plate rigidly
Capacity 5 21.5 N⋅m 0.63 kg⋅m2 fixed on the floor
・3200 mm away from JT1 center
6 9.8 N⋅m 0.15 kg⋅m2
Repeatability ±0.1 mm
Mass Approx. 280 kg The noise level depends
on the conditions.
Acoustic noise < 70 db (A)*

33
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FC20N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 330 °/s
Speed
5 ±145° 330 °/s
6 ±360° 500 °/s
Max. Payload 20 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 39.3 N⋅m 0.88 kg⋅m2 ・installed on the plate rigidly
Capacity 5 39.3 N⋅m 0.88 kg⋅m2 fixed on the floor
・2900 mm away from JT1 center
6 19.6 N⋅m 0.25 kg⋅m2
Repeatability ±0.1 mm
Mass Approx. 280 kg The noise level depends
on the conditions.
Acoustic noise < 70 db (A)*

34
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FC30N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 240 °/s
Speed
5 ±130° 240 °/s
6 ±360° 340 °/s
Max. Payload 30 kg
JT Torque Moment of Inertia *measured condition
Wrist Load 4 176.4 N⋅m 7.2 kg⋅m2 ・installed on the plate rigidly
Capacity 5 176.4 N⋅m 7.2 kg⋅m2 fixed on the floor
6 98.0 N⋅m 3.3 kg⋅m2 ・3700 mm away from JT1 center
Repeatability ±0.15 mm
Mass Approx. 575 kg The noise level depends
Acoustic noise < 70 db (A)* on the conditions.

35
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FC30L

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
2 -105° to +140° 140 °/s
3 -155° to +120° 160 °/s
4 ±270° 240 °/s
5 ±130° 240 °/s
6 ±360° 340 °/s
Max. Payload 30 kg
JT Torque Moment of Inertia
*measured condition
4 176.4 N⋅m 7.2 kg⋅m2
・installed on the plate rigidly
5 176.4 N⋅m 7.2 kg⋅m2 fixed on the floor
6 98.0 N⋅m 3.3 kg⋅m2 ・4100 mm away from JT1 center
Repeatability ±0.15 mm
Mass Approx. 585 kg The noise level depends
Acoustic noise < 70 db (A)* on the conditions.

36
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FC45N

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 140 °/s
and
3 -155° to +120° 160 °/s
Maximum
4 ±270° 240 °/s
Speed
5 ±130° 240 °/s
6 ±360° 340 °/s
Max. Payload 45 kg
JT Torque Moment of Inertia
*measured condition
Wrist Load 4 176.4 N⋅m 10.8 kg⋅m2 ・ installed on the plate rigidly fixed
Capacity 5 176.4 N⋅m 10.8 kg⋅m2 on the floor
6 98.0 N⋅m 5.0 kg⋅m2 ・ 3400 mm away from JT1 center
Repeatability ±0.15 mm
Mass Approx. 580 kg The noise level depends
Acoustic noise < 70 db (A)* on the conditions.

37
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FC60L

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±160° 160 °/s
Motion Range
2 -105° to +140° 100 °/s
and
3 -155° to +120° 110 °/s
Maximum
4 ±270° 180 °/s
Speed
5 ±130° 175 °/s
6 ±360° 260 °/s
Max. Payload 60 kg
JT Torque Moment of Inertia
Wrist Load 4 235.2 N⋅m 24.8 kg⋅m2
*measured condition
Capacity 5 235.2 N⋅m 24.8 kg⋅m2
・ installed on the plate rigidly fixed
6 130.3 N⋅m 6.7 kg⋅m2 on the floor
Repeatability ±0.15 mm ・ 3700 mm away from JT1 center
Mass Approx. 585 kg
Acoustic noise < 70 db (A)* The noise level depends
on the conditions.

38
F Series 3. Motion Range & Specifications of Robot
Kawasaki Robot Installation and Connection Manual

FD50N

(JT5=0°)

Type Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 ±157° 180 °/s
Motion Range
2 -95° to +140° 150 °/s
and
3 -205° to +30° 180 °/s
Maximum
4 ±360° 350 °/s
Speed
5 ±10°* -
*+/-10° from vertical downward posture
Max. Payload 50 kg
Wrist Load JT Torque Moment of Inertia *measured condition
Capacity 4 - 4.4 kg⋅m2 ・ installed on the plate rigidly fixed
on the floor
Repeatability ±0.15 mm
・ 4100 mm away from JT1 center
Mass Approx. 585 kg
Acoustic noise < 70 db (A)*
The noise level depends
on the conditions.

39
F Series 4. Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

4.0 ROBOT TRANSPORTATION METHOD

4.1 USING WIRE SLING (WITHOUT BASE PLATE)

As shown in the figure below, hoist up the robot by fastening the wire slings to two hoisting jigs
attached to both sides of the robot. (Use the same method for hoisting up the robot with stand.)
！ CAUTION
When hoisting up the robot, be careful as robot may lean forward/backward
depending on robot posture and installation condition of the options. If the robot
is hoisted up in an inclined posture, it may swing, or the wire may interfere with the
harness, piping etc., or it may be damaged from interfering with surrounding
objects. Protect the robot with wear plates, etc. if wires interfere with a part of the
robot. Remove the hoisting jigs once the transportation of robot is complete.

FS10X, FS20X, FS30N,

FS06N, FS06L, FA06N,
FS10L, FA10L, FC10L, FS30L, FA30L, FC30N,
FA06E, FC06N, FC06L,
Model FS20C, FS20N, FA20N, FC30L, FS45C, FS45N,
FS10C, FS10N, FS10E,
FC20N FC45N, FD50N, FS60L,
FA10N, FC10N
FC60L

2 slings 2 slings 2 slings

Posture
Jig
Jig
Jig Jig mounting
Jig mounting bolts
Jig
bolts
mounting
bolts

JT1 0° 0° 0°
JT2 -10° -50° -30°
Hoisted
JT3 -150° -150° -155° (-35°)*
up
JT4 0° 0° 0°
posture
JT5 -40° -80° -55° (0°)*
JT6 0° 0° 0°
Jig mounting bolts M12-20L×4 M12-25L×4 M16-30L×4
*( ): for FD50N
40
F Series 4. Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

4.2 USING WIRE SLING (WITH BASE PLATE)

According to the figure below, hoist up the robot by fastening four wire slings to four eyebolts on
the baseplate. In addition, fasten two wire slings to two hoisting jigs to prevent the robot from
accidentally falling. (Use the same method for hoisting up the robot with stand.)
！ CAUTION
When hoisting up the robot, be careful as robot may lean forward/backward
depending on robot posture and installation condition of the options. If the robot
is hoisted up in an inclined posture, it may swing, or the wire may interfere with the
harness, piping etc., or it may be damaged from interfering with surrounding
objects. Protect the robot with wear plates, etc. if wires interfere with a part of the
robot. Remove the hoisting jigs
FS06N, FS06L, FA06N, FS10L, FA10L, FC10L, FS20C, FS10X, FS20X, FS30N,
FA06L, FC06N, FC06L, FS20N, FA20N, FC20N FS30L, FA30L,FC30N,
Model FS10C, FS10N, FA10N, FC30L, FS45C, FS45N,
FC10N FC45N, FD50N, FS60L,
FC60L

6 slings 6 slings
6 slings

Posture Jigs

Jig Jigs
Jig mounting
Jig mounting bolts
mounting Jigs
bolts
bolts
Eyebolts
Eyebolts

Eyebolts
JT1 0° 0° 0°
JT2 -10° -50° -30°
Hoisted
JT3 -150° -150° -155°(-35°)*
up
JT4 0° 0° 0°
posture
JT5 -40° -80° -55°(0°)*
JT6 0° 0° 0°
Jig mounting bolts M12-20L×4 M12-25L×4 M16-30L×4
*( ): for FD50N
41
F Series 5. Installing Dimensions of Base Section
Kawasaki Robot Installation and Connection Manual

5.0 INSTALLING DIMENSIONS OF BASE SECTION

When installing the base section, fix it by means of high tension bolts utilizing the bolt holes.

FS10X, FS20X, FS30N,

FS06N, FS06L.FA06N,
FS10L, FA10L, FC10L, FS30L, FA30L, FC30N,
FA06E, FC06N, FC06L,
Model FS20C, FS20N, FA20N, FC30L, FS45C, FS45N,
FS10C, FS10N, FS10E,
FC20N FC45N, FD50N, FS60L,
FA10N, FC10N
FC60L

138± 173± 218±

0.1 0.1 0.1

220 4-φ18 276 40 300 40

4-φ18

40
0.1
Dimensions of
0.1

218±
0.1
138±

base section
173±

430
270

340

300
220

276

40
8-φ18 430
270
340

Cross-section
of base
installation

Bolt hole 4-φ18 4-φ18 8-φ18

4-M16 4-M16 8-M16
High tension
Material: SCM435 Material: SCM435 Material: SCM435
bolt
Strength class: 10.9 min. Strength class: 10.9 min Strength class: 10.9 min
Tightening
235.2 N⋅m 235.2 N⋅m 235.2 N⋅m
torque
Inclination Within ±5° Within ±5° Within ±5°

42
F Series 6. Dimensions of Robot Stand
Kawasaki Robot Installation and Connection Manual

6.0 DIMENSIONS OF ROBOT STAND

When installing the robot stand, fix it by means of high tension bolts utilizing the bolt holes.

FS06N, FS06L.FA06N, FA06E, FC06N, FS10X, FS20X, FS30N, FS30L, FA30L,

FC06L, FS10C, FS10N, FS10E, FS10L, FC30N, FC30L, FS45C, FS45N, FC45N,
Model
FA10N, FA10L, FC10N, FC10L, FS20C, FD50N, FS60N, FC60L
FS20N, FA20N, FC20N
X X
200±0.1 φ400 φ550

φ370±0.5 φ520

Dimensions of
base section Y Y

8-φ18
8-φ14
200±0.1

Cross-section
of base
installation

Bolt hole 8-φ14 8-φ18

8-M12 8-M16
High tension
Material: SCM435 Material: SCM435
bolt
Strength class: 10.9 min Strength class: 10.9 min
Tightening
98 N⋅m 235 N⋅m
torque
Inclination Within ±5° Within ±5°

43
F Series 7. Installation Method
Kawasaki Robot Installation and Connection Manual

7.0 INSTALLATION METHOD

7.1 WHEN INSTALLING THE BASE DIRECTLY ON THE FLOOR

As in the below figure, bury steel plate (28 mm Min. thick) in the concrete floor or fix it with
anchors. The steel plate should be fixed firmly enough to endure the reaction forces produced
by the robot.

M T

M16
Tightening torque
235 N⋅m

Steel plate 25 mm 28 mm
min. min.

Concrete

FS10X, FS20X, FS30N,

FS06N, FS06L.FA06N,
FS10L, FA10L, FC10L, FS30L, FA30L, FC30N,
FA06E, FC06N, FC06L,
Model FS20C, FS20N, FA20N, FC30L, FS45C, FS45N,
FS10C, FS10N, FS10E,
FC20N FC45N, FD50N, FS60L,
FA10N, FC10N
FC60L
M
(Inversion 1578 N⋅m 2822 N⋅m 8310 N⋅m
moment)
T
(Rotating 833 N⋅m 1519 N⋅m 5096 N⋅m
torque)

44
F Series 7. Installation Method
Kawasaki Robot Installation and Connection Manual

7.2 WHEN INSTALLING THE ROBOT STAND ON THE FLOOR

In this case, the installing procedures are practically the same as the procedure for installing the
robot base directly on the floor.

Stand mounting bolts.

Steel plate L1
L2

Concrete

FS06N, FS06L, FA06N, FA06E,

FS10X, FS20X, FS30N, FS30L,
FC06N, FC06L, FS10C, FS10N,
FA30L, FC30N, FC30L, FS45C,
Model FS10E, FS10L, FA10N, FA10L,
FS45N, FC45N, FD50N, FS60L,
FC10N, FC10L, FS20C, FS20N,
FC60L
FA20N, FC20N
Stand mounting bolts 8-M12 8-M16
Tightening torque 98 N⋅m 235 N⋅m

L1 18 mm min. 25 mm min.

L2 20 mm min. 28 mm min.

Reaction forces are received from the robot in the same way as when the base is installed directly
on the floor.

45
F Series 7. Installation Method
Kawasaki Robot Installation and Connection Manual

7.3 WHEN THE ROBOT BASE PLATE IS INSTALLED ON THE FLOOR

Install the plate using 4 of φ20 or φ22 bolt holes (PCD800). Install the base plate on a concrete
floor or steel plate floor. Reaction forces are received from the robot in the same way as when
the base is installed directly on the floor.

φD

Base plate L

Concrete

FS06N, FS06L, FA06N, FA06E, FC06N, FS10X, FS20X, FS30N, FS30L,

FC06L, FS10C, FS10N, FS10E, FS10L, FA30L, FC30N, FC30L, FS45C,
Model FA10N, FA10L, FC10N, FC10L, FS20C, FS45N, FC45N, FD50N, FS60L,
FS20N, FA20N, FC20N FC60L
φD φ20 mm φ22 mm
L 20 mm 25 mm

46
F Series 8. Mounting of Tools
Kawasaki Robot Installation and Connection Manual

8.0 MOUNTING OF TOOLS

！ WARNING

Prior to installing tools on the robot, turn OFF the main power switch and
the external power switch. Display signs indicating clearly “Inspection and
Maintenance in Progress”, and lockout/tagout the external power switch to
prevent personnel from accidentally turning ON the power.

8.1 DIMENSIONS OF WRIST END

In the robot arm end section, a flange is provided
Pin hole
through which the hand, gun, or other tools are
Tap holes
installed. Screw the fixing bolts, into the tap
φD holes on the circumference of φD on the flange,
referring to the figure on the left. Moreover, for
positioning of tool and gun by utilizing the pin
Spigot hole hole and the spigot hole.

8.2 SPECIFICATION OF FIXING BOLT

Fixing bolt* Select fixing bolts of the proper length to fit the
Tool parts specified screwing depth of the tap holes on the
Tap depth

Length of engagement tool-mounting flange. The fixing bolt should be

(Flange) a high tension spec. and tightened at the specified
torque.

*Note: Screw up the fixing bolt at the tightening torque specified below.

！ CAUTION

If the screwing depth has exceeded the specified depth, the fixing
bolt might bottom out, and the tool will not be fixed securely.

47
F Series 8. Mounting of Tools
Kawasaki Robot Installation and Connection Manual

FS06N, FS06L, FA06N, FS10L, FA10L, FC10L, FS30N, FS30L, FA30L,

FA06E, FC06N, FC06L, FS20C, FS20N, FS20X, FC30N, FC30L, FS45C,
Model
FS10C, FS10N, FS10E, FA20N, FC20N FS45N, FC45N, FD50N,
FS10X, FA10N, FC10N FS60L, FC60L
Tap holes 4-M6 4-M6 6-M8
φD φ40 φ63 φ80
Pin hole φ6H7 Deep6 φ6H7 Deep6 φ8H7 Deep8
Spigot hole φ25H7 Deep6 φ40H7 Deep6 φ50H7 Deep6
Tap depth 8 mm 8 mm 14 mm
Screwing
depth 6∼7 mm 6∼7 mm 8∼12 mm
High tension
bolt SCM435, 10.9 min SCM435, 10.9 min SCM435, 10.9 min
Tightening
torque 11.76 N⋅m 11.76 N⋅m 29.40 N⋅m

48
F Series 8. Mounting of Tools
Kawasaki Robot Installation and Connection Manual

8.3 LOAD CAPACITY

The mass capacity of robot is specified for each model and all includes the mass such tool, gun,
etc. Also, the load capacity of wrist section is provided with specified conditions. Strictly
observe the following restrictions applied to the load torque and load moment of inertia on wrist
axes (JT4, JT5, JT6).

！ CAUTION

Using the robot beyond its specified load capacity may result
in degradation of movement performance and shortening of
machine service life. The specified range includes the mass
of tool, tool changer, spot weld gun, etc. If the load exceeds
load capacity, first contact Kawasaki without fail.

For FS, FA and FC series

The load torque and the moment of inertia can be calculated by the expression below:

Calculation Expression
Load Mass : M≦Mmax. (kg)
(including tool)
Load Torque : T=9.8⋅M⋅L (N⋅m)

Load Moment of Inertia:I=M⋅L2+IG (kg⋅m2)

L 6(m)
IG Mmax: Rated Load Mass (For example)
L 4 , 5(m)
FS06 …Mmax. :6 kg
FS10 …Mmax. :10 kg
M(kg) L6 :Length from JT6 axis FS20 …Mmax. :20 kg
rotation center to load FS30 …Mmax. :30 kg
center of gravity. FS45 …Mmax. :45 kg
L 4,5 :Length from JT4(5)
axis rotation center to FS60 …Mmax. :60 kg
load center of gravity.

If calculation of load is made by dividing the load section into multiple parts, such as tool sections
and workpiece sections, use the total value to calculate load torque and moment of inertia.

49
F Series 8. Mounting of Tools
Kawasaki Robot Installation and Connection Manual

The load of the robot wrist section must conform with the following restriction:

1. The load mass including tool mass should be less than the following value.
FS06: 6 kg, FS10: 10 kg, FS20: 20 kg, FS30: 30 kg, FS45: 45 kg, FS60: 60 kg
2. The load torque and the moment of inertia around Joints (JT4, JT5, JT6) should be within
the following restriction depending on the axis:

FS10C, FS10N, FS10E, FS10L, FA10N,

FS06N, FS06L, FA06N, FA06E, FC06N, FC06L
FA10L, FS10X, FC10N, FC10L
Load moment of inertia Load moment of inertia
kg⋅m2 kg⋅m2

0.624
JT4, 5 JT4, 5
0.6 1.5
1.45

0.4 1.0

0.24 0.63
0.2 JT6 0.5 JT6
0.185 0.375
0.07 0.15 9.8 21.5
5 6 10 12 15 N⋅m 5 10 15 20 N⋅m
Load torque Load torque

FS20C, FS20N, FS20X, FA20N, FC20N

Load moment of inertia

kg⋅m2
2.52 JT4, 5
2.5

2.0

1.5
1.00
0.88
0.789 JT6
0.5
0.25 39.3
19.6
10 20 30 40 N⋅m
Load torque

50
F Series 8. Mounting of Tools
Kawasaki Robot Installation and Connection Manual

FS30N, FS30L, FA30L, FC30N, FC30L FS45C, FS45N, FC45N

Load moment of inertia Load moment of inertia

2
kg⋅m kg⋅m2
JT4, 5
23.4
20 JT4, 5
19.8 20

10.8
10 10
JT6 JT6
8.26
7.2
5.0
3.3 176.4
176.4 98

50 98100 150 200 50 100 150 200 N⋅m

N⋅m
Load torque
Load torque

FS60L, FC60L

Load moment of inertia

kg⋅m2

60
55.6 JT5
48.5 JT4
40

24.8
20 JT6
15.3

6.7 130.3 235.2

50 100 150 200 N⋅m

Load torque

51
F Series 8. Mounting of Tools
Kawasaki Robot Installation and Connection Manual

For FD50N

The load torque and the moment of inertia in wrist section should be calculated by expressions
below.

Calculation Expression
Load Mass (including tool): M≤Mmax. (kg)
Load Torque: not specified
Load Moment of Inertia: I=M·L2+IG (kg·m2) ≤Imax (kg·m2)
Center position of gravity (L 4, Lz): See diagrams below.
Mmax.: Rated Load Mass 50 (kg)
L z (m)
Imax.: Rated Load Moment of inertia 4.4 (kg·m2)
IG: Moment of inertia around center of gravity (kg·m2)
L 4 (m) IG
Lz: Length from flange to load center of gravity (m)
L4: Length from JT4 axis rotating center to load center of
M (kg)
gravity (m)
When calculating the load by dividing it into sections (for example, tool section, work
section, etc.), evaluate the inertia moment from the sum of all the sections.

Strictly observe the following restrictions applied to wrist sections.

1. The allowable load mass including tool should be less than the Mmax. above.
2. Restrictions are applied to the load moment of inertia in wrist section (JT4). The load
moment of inertia should be below 4.4 kg⋅m2.
3. Restrictions are applied to the center of gravity. The center should be positioned within the
allowable range. There are two diagrams for the cases; when moving with JT5 faced
vertically down (0°) and when moving with JT5 tilted (within +/- 10° of vertical down). In
both cases, keep the center of gravity within the allowable range for load of 10 kg even when
the load mass is below 10 kg. See the next page.

52
F Series 8. Mounting of Tools
Kawasaki Robot Installation and Connection Manual

Diagram of load on wrist section (JT5:0°)

Length from JT4 axis rotating center L4 (mm)
0 100 200 300 400 500 600 700
0 296.6 331.7 383.0 469.0 541.6 663.3

（296.6, 344.1）
455.3 40 kg
500 （333.7, 471.6）
595.9 30 kg
（383.0, 686.7）
830.3
Length from flange Lz (mm)

1000
（469.0, 1123.2）
20 kg
1299.1

1500
（541.6, 1564.7)
15 kg
1767.8
2000

（663.3, 2456.6）
2500 10 kg
2705.3

3000

Diagram of load on wrist section (JT5: within +/-10°)

Length from JT4 axis rotating center L4 (mm)

0 100 200 300 400 500 600 700

0 296.6 331.7 383.0 469.0 541.6 663.3

（296.6, 252.6）
50 kg
455.3 40 kg （279.4, 350.5）
500
595.9 （331.7, 471.6）
30 kg
（383.0, 686.7）
Length from flange L z (mm)

830.3
1000
（469.0, 1123.2）
20 kg
1299.1

1500 （541.6, 1564.7)

15 kg
1767.8

2000

（663.3, 2456.6）
2500 10 kg
2705.3

3000

53
F Series 9. Connection of Air System
Kawasaki Robot Installation and Connection Manual

9.0 CONNECTION OF AIR SYSTEM

9.1 AIR PIPING ARRANGEMENT

F Series houses air piping and valves for driving the tool on the robot arm. The valves can be
turned ON/OFF by the Multi Function Panel (Teach Pendant) without using an interlock.

FS06N, FS06L, FS10C, FS10N, FS10E, FS10L, FS20C, FS20N

Robot
arm-External
Robot
arm-Internal

Valve

A1

B1
A
Rc3/8
Wrist section
Joint for air
Air outlet port
(Input:0.147~0.588 MPa)
A2

Rc3/8 B2
Joint for purging B
(Input:0.196 MPa)

Robot base section Robot arm-Internal Robot wrist section

Optional equipment is shown by the dotted line (......).

The built-in valves are specified as follows:

Standard Double Solenoid 1 unit
Double Solenoid 2 units
Single solenoid 1 unit
Option
Single solenoid 2 units
Double Solenoid 1unit + Single Solenoid 1 unit

Double Solenoid specification: CV value = 0.2 and 2-position

[ NOTE ]
Valves that do not meet the above specifications cannot be installed
in the arm. Please contact KHI for information on air system
specifications if such valves are used.

54
 F Series 9. Connection of Air System
Kawasaki Robot Installation and Connection Manual

FS10X, FS20X, FS30N, FS30L, FS45C, FS45N, FD50N, FS60L

Air outlet port
Robot A3 B3
arm-External
Robot
arm-Internal

Valve
A1

A
B1
Rc3/8
Joint for air Wrist section
(Input:0.147~0.588 MPa) Air outlet port
A2

Rc3/8 B
Joint for purging
(Input:0.196 MPa) B2

Robot base section Robot arm-Internal Robot wrist section

Optional equipment is shown by the dotted line (......).

The built-in valves are specified as follows:

Standard Double Solenoid 1 unit
Double Solenoid 2 units
Double Solenoid 3 units
Single Solenoid 1 unit
Single Solenoid 2 units
Option
Single Solenoid 3 units
Double Solenoid 1 unit + Single Solenoid 1 unit
Double Solenoid 1 unit + Single Solenoid 2 units
Double Solenoid 2 units + Single Solenoid 1 unit
Double Solenoid specification: CV value = 0.6 and 2-position.
[ NOTE ]
1. Valves that do not meet the above specifications cannot be installed in the arm. Please
contact KHI for information on air system specifications if such valves are used.
2. For the high acceleration/ deceleration specification robot (FS30L-E, FS45N-E, FS60L-E
option), if the ambient temperature exceeds 35 °C, perform purging to cool the inside of
the arm. Please contact KHI for details.
55
F Series 9. Connection of Air System
Kawasaki Robot Installation and Connection Manual

FC06N, FC06L, FC10N, FC10L, FC20N

Robot
arm-External
Robot
arm-Internal

Valve

A1

B1
A
Rc3/8
Joint for air Wrist section
(Input:0.147~0.588 MPa) Air outlet port
A2

B
Rc3/8 B2
Joint for suction
(Suction:-9.8~-19.6 KPa)

Robot base section Robot arm-Internal Robot wrist section

Optional equipment is shown by the dotted line (......).

The built-in valves are specified as follows:

Standard Double Solenoid 1 unit
Double Solenoid 2 units
Single Solenoid 1 unit
Option
Single Solenoid 2 units
Double Solenoid 1 unit + Single Solenoid 1 unit

Double Solenoid specification: CV value = 0.2 and 2-position.

[ NOTE ]
Valves that do not meet the above specifications cannot be installed
in the arm. Please contact KHI for information on air system
specifications if such valves are used.

56
 F Series 9. Connection of Air System
Kawasaki Robot Installation and Connection Manual

FC30N, FC30L, FC45N Air outlet port

Robot A3 B3
arm-External
Robot
arm-Internal

Valve

A1

Rc3/8 A B1
Joint for air Wrist section
(Input:0.147~0.588 MPa) Air outlet port
A2
B
Rc3/8
Joint for suction B2
(Suction:-9.8~-19.6 KPa)

Robot base section Robot arm-Internal Robot wrist section

Optional equipment is shown by the dotted line (......).

The built-in valves are specified as follows:

Standard Double Solenoid 1 unit
Double Solenoid 2 units
Double Solenoid 3 units
Single Solenoid 1 unit
Single Solenoid 2 units
Option
Single Solenoid 3 units
Double Solenoid 1 unit ＋ Single Solenoid 1 unit
Double Solenoid 1 unit ＋ Single Solenoid 2 units
Double Solenoid 2 units ＋ Single Solenoid 1 unit

The Double Solenoid specification is: CV value = 0.6 and 2-position.

[ NOTE ]
Valves that do not meet the above specifications cannot be installed
in the arm. Please contact KHI for information on air system
specifications if such valves are used.

57
F Series 9. Connection of Air System
Kawasaki Robot Installation and Connection Manual

FC60L
Robot
arm-External
Robot
arm-Internal
Rc3/8
C
Joint for air
Valve
Rc3/8 D
Joint for air A1
Rc3/8 E
Joint for air
B1
A
Rc3/8
Wrist section
Joint for air
Air outlet port
(Input:0.147~0.588 MPa)
A2

B
Rc3/8 B2
Joint for suction
(Suction:-9.8~-19.6 KPa)

Robot base section Robot arm-Internal Robot wrist section

Optional equipment is shown by the dotted line (......).

The built-in valves are specified as follows:

Standard Double Solenoid 1 unit
Double Solenoid 2 units
Single Solenoid 1 unit
Option
Single Solenoid 2 units
Double Solenoid 1 unit＋ Single Solenoid 1 unit

Double Solenoid specification: CV value = 0.6 and 2-position.

[ NOTE ]
Valves that do not meet the above specifications cannot be installed
in the arm. Please contact KHI for information on air system
specifications if such valves are used.

58
F Series 9. Connection of Air System
Kawasaki Robot Installation and Connection Manual

9.2 AIR SUPPLY TO THE ROBOT ARM As shown on the left and below, the air
connection port is provided in the base
FS06N, FS06L, FC06N, FC06L, FS10C, FS10N, section of robot arm.
FS10E, FC10N
！ CAUTION
Supply input pressure; 0.147~0.588 MPa
to the Port A (Rc3/8 Joint)
Port B
For the air purge specification, Port B
Port A is provided with Rc3/8 joint in the
same way as Port A.

！ CAUTION
FS10L, FC10L, FS20C, FS20N, FC20N
For air purge specification, supply clean
dry air with input pressure of 0.196 MPa.

For FC series, conduct purging from Port B.

Port B ！ CAUTION
Port A
For FC series, apply input pressure of
-9.8 ~ -19.6 KPa.

FS10X, FS20X, FS30N, FS30L, FC30N, FC30L, FS45C, FS45N, FC45N, FD50N, FS60L

Port A Port B

FC60L

Port E
Port D

Port C
Port A Port B

59
F Series 9. Connection of Air System
Kawasaki Robot Installation and Connection Manual

< Reference >

FS series When air regulator is connected:
Connect the tool driving air source of
Port A Port B
Port A externally with [Filter +
Regulator].

Since the robot arm built-in valve

Input pressure
Regulator 0.196 MPa is a non-oiling type, do not use any
lubricator (oiler).
Mist
separator
If clean dry air cannot be supplied for air
Filter
purge, referring to the left figure, connect
＋ the [Mist separator + Regulator] to a place
Regulator
provided between the output port section
Input pressure
of [Filter + Regulator] for Port A and Port
0.147~0.588 MPa
B.

< Reference >

FC series When air regulator is connected:

Connect the tool driving air source of
Port A Port B Port A externally with [Filter +
Regulator].

Since the robot arm built-in valve

Vacuum control is a non-oiling type, do not use any
valve lubricator (oiler).
(Regulator)

Connect the suction unit to Port B through

the vacuum control valve.
Filter
Suction unit
＋
Regulator

Input pressure Adjustment

0.147~0.588 MPa pressure
-9.8 ~ -19.6 KPa

60
F Series 9. Connection of Air System
Kawasaki Robot Installation and Connection Manual

9.3 CONNECTION OF AIR OUTLET PORT IN THE WRIST SECTION WITH THE
TOOL

As shown in the figure below, air outlet ports are provided in the wrist section. The outlet ports
are Rc1/8 Joints.

Port A1

Port B1

Port A2 (Option)
Port B2 (Option)

！ CAUTION

When mounting the joint, ensure that the joints for

the air outlet ports are not turned. If the joints turn,
the internal tube may bend or break causing the air to
be trapped.

61
F Series
Kawasaki Robot Installation and Connection Manual

MEMO

62
 KAWASAKI ROBOT F Series (C/D/E)
INSTALLATION AND CONNECTION
May 2002 : 1st Edition
June 2008 : 6th Edition

Publication : KAWASAKI HEAVY INDUSTRIES, LTD.

90202-1062DEF

Copyright © 2008 KAWASAKI HEAVY INDUSTRIES, LTD. All rights reserved.