90202-1017DEE Installation and Connection C1x C2x C5x C7x Controller PDF

KAWASAKI ROBOT
C1✻/C2✻/C5✻/C7✻ Controller
INSTALLATION
AND
CONNECTION
KAWASAKI HEAVY INDUSTRIES, LTD.
90202－1017DEE
Preface
This manual is subject to change without notice and without our legal
responsibility.
Kawasaki pursues a policy of continuing improvement in design and specification

of the product. The right is therefore, reserved to vary this manual without prior
notice.
This manual is copyrighted and all rights are reserved by KHI.

This manual may not, in whole or part, be reproduced in any form or by any
means without prior written permission from KHI.
This manual is prepared with the best care but anyway it is impossible to exclude
any misinterpretation by the user or any spelling mistakes.
In case of doubts or if the robot behavior is different from that reported in this
manual please would you get in touch with the nearest Kawasaki or Kawasaki’s
agent.
KHI cannot anticipate every possible circumstance that might involve a potential
hazard. If a procedure, work method or operating technique not specifically
recommended by KHI is used, you must satisfy yourself that it is safe for you and
others. In this case you are completely responsible for eventual damages on
human bodies or things.
If you discover physical defects in the manual, KHI will replace the manual at no
charge during 90 days period after you purchased the robot.
If you do not observe warnings and/or cautions to be taken in the manual as

described below, it might result in the serious injuries or damages on human
bodies or robots.
Therefore you must take extreme care to observe these warnings and cautions.
All rights reserved. Copyright  2001 by KAWASAKI HEAVY INDUSTRIES, LTD.
KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION i

Introduction
This Manual describes working instructions explains concerning the installation and
connection of a Kawasaki Robot, C Series Controller.
This Manual describes the installation and connection of the Controller Unit, wiring,
and the connect of the primary power. Read “EXTERNAL I/O SIGNAL” and
“OPERATION MANUAL” about energizing the primary power and the operation
after that.
You are recommended to well understand the contents of this Manual fully, as well as
to look to your own safety for the work.
This Manual describes only the installation and connection of “Controller Unit”.
Therefore, if you desire to know the installation and connection of Robot Arm , please
read “INSTALLATION AND CONNECTION = Arm =” together with this Manual .
Moreover, for the details of Arc Welding Robot, please also read the
“INSTALLATION AND CONNECTION = Arc Welding =” together with this
Manual .
This manual described for the object of the following Robot Controller as
shown below:
C11 (J Series, F Series (Except FS02/03 Series))
C12 (JF20)
C20 (J Series, F Series (Except FS02/03 Series))
C21 (U Series, Z Series)
C22 (UD Series, ZD Series)
C23
C52 (FS30/45, U Series, Z Series)
C70 (FS02/03 Series)
C75 (NS Series)
ii KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

Safety
Safety
Whenever you see the symbols shown below in this manual or on the machine, read and
understand their messages.
Peruse all these installations, the connect points books, and documents of the relation ahead of
the installation without fail and use it correctly.
！ DANGER
This danger symbol identifies special warnings or

procedures which, if not strictly observed, will result
in serious injury or death.
！ WARNING
This warning symbol identifies special warnings or
procedures which, if not strictly observed, could
result in serious injury or death.
！ CAUTION
This caution symbol identifies special instructions

or procedures which, if not strictly followed, may
result in injury.
［ NOTE ］
This note symbol identifies supplementary
information, or to emphasize a point or procedure,
or to give a tip for easier operation.
KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION iii

Safety
Safety
When you transport and install the Robot Controller

When you require to transport Kawasaki Robot Controller to the installation place，while
strictly observing the following cautions and carry out transportation and installing work.
！ WARNING
Do not enter the controller under of lifting up and the neighborhood

when you transport it by the crane.
The person must not support the controller when you transport it by the
fork-lift truck.
！ CAUTION
Note that the impact joins occasionally when you transport it because
the controller part is composed of precise electronic parts.
Arrange the injury thing etc. of the passage to do the transportation to

the installation place safely beforehand.
iv KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

Safety
Safety
Installation environment of Robot Controller

Set up the controller in the place where the following ambient conditions was satisfied when
you install the controller.
The ambient temperature is within the range of 0°C ∼ 45°C .

The relative humidity is 35 ∼ 85%RH.
(However, free from dew formation.)
A place where is free practically from dust, smoke, water and other harmful foreign matters.
(Controller protection grade IP53)
A place where is free from combustible and/or corrosive liquid and gas.
A place where is free from excessively large vibration.
A place where is good at electric noise influences.
(Controller primary power noise. 1KV/1µs or less)
！ IMPORTANT
Install an appropriate serge killer in the equipment (Electromagnetic
contact equipment, Electromagnetic brake, Electromagnetic solenoid
and Inducement motor etc.) where a lot of noises are generated near
installed place and suppress the generation noise.
A place where can conform to the requirement of Robot's power specification.

(Regulation +/-10% or less)
A place where Class 3 specialized earthing is allowed. (100Ω or less)
Arrange and install the Robot Controller Unit outside the safety fence of the work
envelope of the robot as shown below.
Work envelope of robot.
Safety fence
Entranc
e Controller
part.
KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION v

Safety
Safety
When you connect the harness

Observe the following matters strictly when you connect the Robot Manipulator with the Robot
Controller.
！ DANGER
Confirm whether the primary power for the controller of the customer
preparation is intercepted when you connect the primary power. Tag which
shows work in Breaker so that customer's Breaker might not be turned on
must be put up until all connects of the primary power end or other persons
must observe it.
They might get an electric shock when connecting it with the power supply
entered and are very dangerous.
！ WARNING
Do not connect the primary power when you connect the Robot
Manipulator with Robot Controller.
They might get the accident of the electric shock etc.
！ IMPORTANT
At the harness connection, be careful not to mistake the selection of

connectors to be connected.
When you forcibly connect the harness, it causes the damage of the
connector and the breakdown of the electrical system.
Do not get on the motor harness and the signal harness and do not put
the thing. Moreover, it is necessary to be stepped by neither person nor
the car (fork-lift truck etc.).
It causes the damage of harness and the breakdown of the electrical
system.
Avoid the power line and adjoining and wiring in parallel as much as
possible.
Especially, separate absolutely with the power line of a high voltage/ high
current.（1m or more.）
The noise generated from the power line causes the malfunction.
vi KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

Safety
Safety
When you connect the primary power

！ WARNING
Connect with the earthing wires, the lines to protect noise and electric
shock.
Use special earthing wires (Class 3 Specialized earthing 100Ω.or less).
2
Arrange recommended cables (1.25～8.0mm ) minimum.
Never common use with the earthing cable and/or earthing pole (base
metal) such as for welding machine without fail.
Connect a minus pole of the welding power source (base metal) with a
base metal or a direct jig at the application of the arc welding work etc.
Insulate having never shared about the earthing wire of the main body of
the robot and the controller.
Connect the controller's power supply surely without fail before turning on
the primary power, and regularly install all the covers etc. It causes the
electric shock.
！ CAUTION
Prepare the primary power with which controller's specification is filled for
the momentary power interruption, voltage fluctuation, and power
capacity, etc. about the primary power.
The power monitoring circuit works at the elevation of the drop of the
voltage of the momentary which exceeds the momentary power
interruption of the primary power or the range of use, the power supply is
intercepted, and it becomes an error.
Put the noise-filter etc. when the noise might mix from the primary power
and decrease the noise level.
Install the switch of the primary power with the robot unit. Consider the
switch of the primary power never to use it together with the welder etc.
Use leakage Breaker for former Breaker for the leakage accident
prevention for the primary power switch.
(You must use the Time Delay Relay 100mA/unit or more in the
sensitivity current.)
KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION vii

✎ MEMO
viii KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

CONTENTS
Safety ...................................................................................................................................... iii
When you transport and install the Robot Controller ............................................................................ iv
Installation environment of Robot Controller ........................................................................................... v
When you connect the harness .............................................................................................................. vi
When you connect the primary power................................................................................................... vii
Work flow at the Robot Controller Installation and Connection .......................................... 2
Appearance and Specification of Robot Controller................................................................ 4
1. Transportation of Robot Controller ................................................................................... 12

● Case of Wire Sling............................................................................................................................. 12
● Case of the fork-lift truck ................................................................................................................... 13
● For the move by the caster. .............................................................................................................. 14
● Case of C70, C75 Controller’s Transportation ................................................................................ 15
2. Arrangement of Robot Controller ..................................................................................... 16
● C11,C12,C20,C21,C22 Controller .................................................................................................. 16
● C52 Controller................................................................................................................................... 17
● Fixation of controller (C11, C12, C20, C21, C22) .......................................................................... 18
● C70, C75 Controller ......................................................................................................................... 19
3. Connection of Multi-Function Panel and Small Teach Pendant (Option)..................... 20

● C11, C12, C20,C21,C22, C52 Controller ....................................................................................... 20
● C70, C75 Controller ......................................................................................................................... 21
4. Wiring Instructions between Robot Controller and Robot ............................................... 22

● C11, C12 Controller........................................................................................................................... 23
● C20,C21 Controller............................................................................................................................ 24
● C22 Controller .................................................................................................................................... 25
● C52 Controller .................................................................................................................................... 26
● C70, C75 Controller........................................................................................................................... 27
5. Connection of Primary Power........................................................................................... 33
● C11, C12, C20, C21, C22 Controller .............................................................................................. 34
● C52 Controller................................................................................................................................... 36
● C70, C75 Controller ......................................................................................................................... 38
Appendix.1 Connection of Sensor Cable ............................................................................. 40
Appendix.2 Solenoid Valve Wiring Diagram ........................................................................ 46
Appendix.3 Sensor Wiring Diagram ..................................................................................... 51
Appendix 4 Example of Sensor Noise Measures.............................................................. 60
INDEX ................................................................................................................................... 61
KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION 1

Work flow at the Robot Controller Installation and Connection
Work flow at the Robot Controller

Installation and Connection
This work flow describes only the Robot Controller. Refer to “INSTALLATION and
CONNECTION =Robot Arm” for details of the Robot Manipulator.
Examination of installation Refer to “Appearance and specification

position (The earthing wire
of Robot Controller”.
includes) and environment
ENVIRONMENT
Prior
Work
Confirmation of supply power Refer to “Appearance and specification
voltage and power capacity. of Robot Controller”.
Transportation of Robot Refer to “1. Transportation of Robot

Controller
Controller”
Installation and arrangement of Refer to “2. Arrangement of Robot

Robot Controller Controller”.
Actual Connection of Multi-Function Refer to “3. Connection of

work. Panel, Small Teach Pendant, Multi-Function Panel and Small Teach
and separation harness Pendant”. and
Refer to “4. Wire Instruction between
the Robot Controller and Robot”.
See “INSTALLATION and
CONNECTION =Robot Arm” also.
Connection of primary power Refer to “5. Connection of the Primary

Power”.
2 KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

Work flow at the Robot Controller Installation and Connection
Work flow at the Robot Controller

Installation and Connection
Turning on and confirmation of (Note) Refer to ‘EXTERNAL I/O

SIGNAL’ for “External control power
“Control power". supply”.
Turning on and confirmation of (Note) Refer to ‘EXTERNAL I/O

Work “Motor Power". SIGNAL’ for “External EMERGENCY
after STOP Switch”.
connecting
Robot
Controller
with
the Robot motion confirmation of
Robot Refer to ‘OPERATION MANUAL’
Tool with arm.
（Teach Mode.）
Additionally, confirmation of Refer to ‘OPERATION MANUAL’

various Functions.
Work completion. ✱ In this manual, the paragraph of

“Connection of the primary power” is
described.

Appearance and Specification of Robot Controller
Appearance and Specification of

Robot Controller
● C11,C20,C21 CONTROLLER
460.8
400
Multi-Function Operation Unit

Panel and
Small Teach
Pendant
connector 1240
1028
Servo Unit
Brake release unit

connecting port
430
Left Front
308.5
210
RS232C
Connector.
Primary power
intaking port
‘Control Power ’
Switch (Breaker)
Servo Unit
exhaust port
Separation harness
connector box
Rear
Right


Robot Controller
● C22 Controller
460.8
400
Multi-Function Operation Unit

Panel and
Small Teach
Pendant
connector
1240
1028
Servo Unit
Regenerative
resistor unit
Separation Brake release unit
harness connecting port
connector box
430
Left Rear
308.5
210
RS232C
Connector.
Primary power
intaking port
‘Control Power’
Switch (Breaker)
Servo Unit
exhaust port
Right Rear


Robot Controller
● C52 Controller
Control Power
ON/OFF handle
Primary power
intaking port
Hook for Multi Function Panel
Hook for
Multi Function Panel Cable
Hour
meter
AC 100V
Consent
FDD Unit Multi Function Panel

(Option) connector
Left Front
Exhaust fan
5-φ22
I/O Signal
Suction intalking port
fan
Separation
harness
connector
Right Rear


Robot Controller
● C70, C75 Controller
500 270
470
420
RS232C connector
Brake release
unit connecting port
Floppy disk drive (Option)
Multi Function Panel

or Small Teach Pendant
Left Front connector
Exhaust port
Right Rear


Robot Controller
● With Multi-Function Panel (Type 1)
“EMERGENCY
STOP” Switch “TEACH LOCK” Switch
“Trigger” switch “Trigger” switch
Liquid crystal display.
Pen only for touch panel.
PC card insertion entrance. Contrast adjustment volume.
Multi-Function Panel Multi-Function Panel

(Type 1) stand.
(Angle adjustable)
Operation
panel
Operation
Unit
Servo Unit


Robot Controller
● With Multi-Function Panel (Type 2)

(Type 2) (Option)

(Type 2) connector


Robot Controller
● With Small Teach Pendant
EMERGENCY
STOP Switch
“TEACH LOCK” Switch
Liquid crystal
display
Trigger key
Jog key
Operation
panel
Operation
Unit
Small
Teach
Pendant
Servo
Unit


Robot Controller
Self-sustaining fully closed, indirect cooling system

Construction
C11, C12 : Approx. 67kg
Mass C20, C21, C23 : Approx. 70kg
C22 : Approx. 82kg
C52 : Approx. 90kg
C70, C75 : Approx. 30kg
Ambient Temperature 0 ∼ 45°C
Environment Humidity 35∼85% RH (Free from dew formation)

AC 200V(50Hz)/AC 220V(60Hz) ± 10% 3 Phase (except C70)
Power Source AC 200∼240V(50/60Hz) ± 10% Single Phase (C70, C75)
Power Capacity. Refer to the table below.
Earthing Class 3 specialized earthing or more(100Ω.or less)

Harness length of
Multi-Function Panel or Small 5m, 10m, 15m
Teach Pendant
5m, 10m, 15m
Length of separation harness (Harness length between Robot main body and Robot Controller)
Reference.
Model Power Recommended Power Cable Size

capacity (including earthing wire)
NS320 1.5KVA 1.25mm2 or more.(AWG#16 or more)
FC02/03, FC02 1.5KVA 1.25mm2 or more.(AWG#16 or more)
Js5/JA5/JC5/JW5 5KVA 3.5mm2 or more.(AWG#12 or more)
Js6/Js10/JA10/JM10 5KVA 3.5mm2 or more.(AWG#12 or more)
FS/FC/FW06, FS10C/N/E, FA06N/L, 5KVA 3.5mm2 or more.(AWG#12 or more)
FA/FS/FP20, FS10L
JF20 5KVA 3.5mm2 or more.(AWG#12 or more)
Js30/Js40 10KVA 8.0mm2 or more.(AWG# 8 or more)
FS30N/L, FS45C/N 10KVA 8.0mm2 or more.(AWG#12 or more)
U Series, Z Series 10KVA 8.0mm2 or more.(AWG# 8 or more)
UD Series, ZD Series 10KVA 8.0mm2 or more (AWG# 8 or more)

1. Transportation of Robot Controller

● Case of Wire Sling
！ WARNING
The person must never support the controller who lifted

up. And the person must never enter the controller under
and the neighborhood.
Wrap the wire around the pipe frame by the designated
method.
Ensure whether the installation bolt of the controller and
the frame loosens. Retighten it if loose.
It causes for the controller to fall and to damage.
Wire
Prepare discontinuing wire and crane, etc. for the load
The interference
of 150kg or more in consideration of occasioning
prevention material
1m or more. being equipped with the full options.
must be placed
between the frame,
and the wire must be To lift up with the wire, cross the wire on the frame T
crossed. part in the upper part of the controller as shown in a
left figure. Do not slip at the time of lifting up.
The length of the wire:1m or more from the frame as

shown in a left figure.
Place the interference prevention material (cloth etc.)

for the wire when the wire is used to interfere with the
frame and so as not to damage.
Be careful about might the inclination of the control

when lifts up.
C52 Controller C11,C12,C20,C21,C22 Controller
Be careful about not caught to other equipment etc. of
the cable etc.


● Case of the fork-lift truck
！ WARNING
Fix to the fork-lift truck with the falling prevention band

surely so that the controller should not fall.

Pass the fork under of the controller when you

transport it by using the fork-lift truck.
Be careful about not applying of the shock at the

transportation.
Be careful about not caught to other equipment etc. of

the cable etc.
Falling prevention band.
Pass the fork through this position.


● For the move by the caster.
！ WARNING
Move when you use the caster by the path from

which the moved plane is guaranteed.
It is assumed that the move on the inclination and the
irregularity side falls by the controller, and receives
serious damage.
The controller falls if you incline it as follows.

Back and forth direction :Approx. 10° or more
Right and left direction :Approx. 15° or more
Release (Push the “OFF” side) the stopper of two casters in front of the controller.
Move from among a vertical frame with the lower side.
Put caster's stopper into the state of the lock (Push the “ON” side) when controller's move is completed.


● Case of C70, C75 Controller’s Transportation
Transport the controller with two persons or supplementary tools (crane etc.) for safety because the weight of the
controller is 30kg.
● Transportation of two persons
● Lift up with the crane

2. Arrangement of Robot Controller

● C11,C12,C20,C21,C22 Controller
Arrange the controller on the horizontal floor.
Separate a controller right side from the wall by

200mm or more.

Separate a controller left side from the wall by
100mm or more.
100mm 200mm
or or
more. more.
！ CAUTION
Close neither the suction port nor

the exhaust port when you
arrange the controller. Separate
from the wall by 200mm or more.
For the controller, the air outlet for air cooling is in

the back and it is in the bottom the suction entrance.
(There is a controller that there is a suction port the
back and under a right side, too.)
200mm
Exhaust port or more.
Suction port


● C52 Controller
Separate a controller right side from the wall by

200mm or more.

Separate a controller left side from the wall by
100mm or more.
100mm 200mm
or
more.
or
more.
！ CAUTION
Close neither the suction port nor
the exhaust port when you
arrange the controller. Separate
For the controller, the air outlet for air cooling is in

the back and it is in the bottom the suction
entrance.
Exhaust port
(There is a controller that there is a suction port the
back and under a right side, too.)
200mm
or more.
Suction port


● Fixation of controller (C11, C12, C20, C21, C22)
！ WARNING
The controller must not fix with special metal fittings and
not fall.
Serious damage is received when falling in the outside
power. Moreover, when the robot moving, there is a
possibility to malfunction, too and it is dangerous.
Anchor bolt(M12)
Attached, fixed Attached, bolt(M8)
metal fittings Loosen bolt (M8) of fixed metal fittings attached
under both sides of the controller and keep free.
Nut.
Fix fixed metal fittings with anchor bolt (M12).

545.4 Prepare the construction of the anchor and the bolt
by the customer.
Bottom anchor
！ CAUTION
Put up fixed metal fittings to the controller
frame squarely.
○ × ×
Tighten controller side bolt (M8) of fixed metal

fittings.


100mm or more
Separate a controller left side, right side and top side

100mm 100mm
or more or more
Separate a controller rear side from the wall by
200mm or more.
Controller
200mm
or more

3. Connection of Multi-Function Panel and Small Teach Pendant (Option)
3. Connection of Multi-Function Panel

and Small Teach Pendant (Option)
● C11, C12, C20,C21,C22, C52 Controller
！ WARNING
Do not connect the primary power when you connect
Multi-Function Panel and Small Teach Pendant with the
controller. There is a possibility such as the electric
shock accidents etc.
Connect the Multi Function Panel or the Small Teach Pendant cable with the connector of a left facing of the
operation unit. Turn enough until turning the outer ring and being locked after inserting the connector.
Hook the Multi Function Panel or the Small Teach Pendant cable to the hook at the left of on the frame the
part. Hook the hand strap of the Small Teach Pendant to this hook.
Hook.
Hand strap.
Multi-Function Panel
Hook. (Type 1)
Multi-Function Panel
(Type 2)
Small Teach
Pendant
！ CAUTION
Do not put the thing other than the
Multi-Function Panel harness or
Small Teach Pendant on the hook.
C11,C12,C20,C21,C22 Controller C52 Controller

3. Connection of Multi-Function Panel and Small Teach Pendant (Option)
3. Connection of Multi-Function Panel

and Small Teach Pendant (Option)
！ WARNING
Do not connect the primary power when you connect
Multi-Function Panel and Small Teach Pendant with
the controller. There is a possibility such as the
electric shock accidents etc.
Connect the cable of the Multi Function Panel or the Small Teach Pendant with the connector for the Multi
Function Panel or the Small Teach Pendant in front of the controller. Tighten by the hand firmly after inserting
the connector.
Moreover, a lucent seat for the operation seat protection has adhered to the Small Teach Pendant when shipping.
Remove and use it when you use the Small Teach Pendant.
Connector for
Multi Function
Panel
or
Small Teach Pendant
Controller Front side
Exclusive plug
Connect an exclusive plug without fail
Small Teach
when you do not use the Multi Function
Pendant
Panel or the Small Teach Pendant.
！ CAUTION
When the Multi Function Panel or the Small Teach Pendant panel
cable is detached, it causes breakdown controller, the Multi Function
Panel and the Small Teach Pendant as the control power supply is
turning on. Therefore, detach the cable with the control power
turned off without fail.
✱ Prepare the installation of the Multi Function Panel or the Small Teach Pendant by the customer.

4. Wiring Instructions between Robot Controller and Robot
4. Wiring Instructions between

Robot Controller and Robot
！ WARNING
Do not connect the primary power when you connect the controller with the
robot. It might get the accident of the electric shock etc.
！ IMPORTANT
At the harness connection, be careful not to mistake the selection of
connectors to be connected. When you forcibly connect the harness, it
causes the damage of the connector and the breakdown of the electrical
system.
Do not get on the motor harness and the signal harness and do not put the
thing. Moreover, it is necessary to be stepped by neither person nor the car
(fork-lift truck etc.). It causes the damage of harness and the breakdown of
the electrical system.
Avoid the power line and adjoining and wiring in parallel as much as
possible. Especially, separate absolutely with the power line of a high
voltage/ high current.（1m or more） The noise generated from the power
line causes the malfunction.
Avoid adjoining and wiring for the robot motor harness and the
communication harness in parallel, and bundle the harness. Distribute and
wire for the harness.
Moreover, uses the twist pair shield line for the communication harness and
the sensor harness. Connect an outside film in the shield line with an
appropriate FG terminal etc. (Refer to "Appendix 4.")
The PWM noise for the robot motor control causes the adverse effect for the
communication harness etc. as a radiation noise, and it might cause the
communication mistake.
Separate the welder secondary harness and the robot signal harness
without fail, and avoid storage in the same duct.
Switch noise occurs since controls the motor drive with PWM in motor
harness (Power harness) between the robot and the controller. Therefore,
it might influence on the control signal line when motor harness wire in
parallel, and observe the following matters.
・Separate the power line and the signal line as much as possible.
・Make the power line length which is as the shortest as possible.
・Avoid wiring in parallel, and bundle wiring for the power line and the
signal line as much as possible.
・Ground the shield of the power line surely with the FG terminal.
・Separate the power line and the control line when wiring for the duct.


● C11, C12 Controller.
Connector box
Connect the robot and the controller
Connector box cover according to the following procedures.
(1) Remove the connector box cover in the

controller bottom of the rear side.
M4×3(Long)
M4×2(Short)
(2) Connect the separation harness to the

designated part.
Push the connector SV-M1～M4 until
Fixed block
the locking sound.
Tighten the machine screw at both ends
and fix it after pushing to connector
Fixed block SV-S1.
SV-M1
Motor harness SV-M2
← Motor harness
SV-M3
SV-M4
Signal harness
SV-S1 ← Signal harness
(3) Place each harness in a fixed block and

install it with the cover.
！ WARNING
Fix each connector surely with a lock or a fixed
machine screw. There is a possibility of the robot
mis-operation when the connector come off.


● C20,C21 Controller.
Connector box
Connector box cover Connect the robot and the controller

according to the following procedures.
(1) Remove the connector box cover in the

M4×3(Long)
M4×2(Short)

designated part.
Fixed block Push the connector SV-M1～M5 until
the locking sound.
Fixed block SV-S1.
SV-M1
Major axis motor harness SV-M2 ←Major axis
motor harness
Minor axis motor harness SV-M3
SV-M4 ←Minor axis
SV-M5 motor harness
Signal harness
SV-S1 ←Signal harness

！ WARNING


● C22 Controller
Connector box
Connector box cover (1) Remove the connector box cover in the
M4×3(Long)
M4×2(Short)

designated part.
Push the connector SV-M1～M5 until
Fixed block the locking sound.
SV-S1.
SV-M1
←Major axis motor harness
SV-M2
Earth terminal (6 places) Fixed block
Major axis
motor harness SV-M3
SV-M4 ←Minor axis motor harness
SV-M5
Minor axis motor harness
SV-S1 ←Signal harness
Signal harness
！ WARNING
Connect the harness with the earthing wire line to
the earth terminal (Either in 6 places) of the
connector box without fail.


● C52 Controller
Connect the separation harness to the

designated part.
Major axis motor harness
Signal harness.
Separation harness
connector
！ WARNING
Fix the each connector surely.
There is a possibility of the robot mis-operation when
the connector come off.



(1) Remove the controller cover.

M4×4 (Screw)
Cover
(2) Draw in the separation harness from cable

intaking port, and fix to cable fixed plate
by cable clamp.
Shield
Fix the shield part

by cable clamp.
Shield
Cable clamp
Cable intaking port
Cable fixed plate


(3) Connect the separation harness (motor

harness and signal harness) to the
designated part.
1GB-CN2 X201 Tighten the machine screw at both ends
X001 and fix it after pushing to connector

1GB-CN2,1GB-CN6.
1GB-CN2
Push the connector X001,X101,X102,X201
until the locking sound.
X102
X001
X101
X101 ←Motor harness
X102
Signal harness Motor harness 1GB-CN2

(1GB-CN2, 1GB-CN6, X201) (X001, X101, X102) 1GB-CN6 ←Signal harness
X201
(4) Install the controller cover.
！ WARNING
Connect the harness with the earthing wire line to
the earth terminal (Either in 6 places) in the controller
without fail.


！ CAUTION
For the harness with the earth line, Connect this earth line to the
earth terminal on the controller side and the robot main body side
without fail.
Connection of JS5, JA5, JC5, JW5, JS6, Connection of U-Series.

JS10, JS15, JA10, JM10
No.2 No.1
Robot Base
(View from
the rear side.)
Robot Base
(View from CN1 CN3
the rear side.)
Major axis motor harness CN2 Earthing

Motor harness.
Signal harness. Minor axis motor harness
Signal harness
Connection of JS30/40.
CN1 Earthing
CN3
Robot Base
(View from
the rear side.)
CN2
Major axis motor harness
Signal harness


！ CAUTION
without fail.
Connection of FS06/FA06, FS10E/N/C

(B001)
(A001)
X4A
No.2 No.1 X3A
Earthing
Signal harness
Signal harness
Motor harness
Motor harness
Connection of FS20/FA20, FS10L

(B001)
(A001)
No.2 No.1
X4A X3A
Signal harness Earthing

Signal harness
Motor harness
Motor harness


！ CAUTION
without fail.
Connection of FS30/45
(B001)
(A001)
CN1 CN2 CN3

X4A X5A X3A
Major axis Earthing
motor harness
Signal harness
Wrist axis motor harness
Wrist axis motor harness Major axis motor harness
Signal harness
Connection of FS02/03, FC02
Locking lever
！ CAUTION
Do not take the locking lever with
fingers, when you release the
X401 connector. There is a possibility you
catch fingers in the lever. Push the
locking lever with the finger cushion.
Signal Motor
harness harness


！ CAUTION
without fail.
Connection of NS320

5. Connection of Primary Power

！ DANGER
Confirm whether the primary power for the controller of the

customer preparation is intercepted. They might get an electric
shock and are very dangerous when connecting it with the power
supply turned on.
The tag which shows work in Breaker so that customer's Breaker
might not be turned on must be put up until all connects of the
primary power end or other persons must observe it.
！ WARNING
Confirm whether the power supply specification is suitable for the
power supply described to the label pasted to a controller right
side. When a power supply (The example: high voltage) different
from the specification is connected, an internal electric part is
damaged.
Execute the enforcement of the earthing wire by the Specialized

earthing Class 3 or more (100Ωor less). Avoid using with the
equipment such as the welder together.
！ IMPORTANT
Ensure the regulation to the robot of the supply power beforehand.
There is occasioning that the influence is caused in the robot
performance if the supply power changes by ±10% or more, and
improve the supply power.
Improve the noise by using the noise filter etc. when there is a
possibility that the noise mixes(2kv/1μs or more) through the
power supply from other peripheral equipment.
It is forecast that the equipment* with a low noise malfunctions by
the influence of the PWM noise from the robot motor through the
supply power. Therefore, investigate whether such an equipment
is in the surrounding beforehand.
* In Power directly connected type proximity switch etc. , there is
something by which a part of the influence is received easily and
carefully. (Refer to Appendix 4)


● C11, C12, C20, C21, C22 Controller
Connect the primary power according to the
following procedures.
(1) Turn OFF the primary power for customer's
controller.
Connect with
customer's primary
power Circuit
breaker.
(2) Set “CONTROL POWER” switch (Circuit

“CONTROL POWER” Switch (Circuit breaker).
breaker) on a right side of Operation Unit to
the “OFF” side.
(3) Remove the designated cover on a right side of

Operation Unit.
Operation Unit right side cover
:M4×4
Primary power harness connection part cover
Operation Unit :M4×4
right side cover.
Primary power
harness Clamp.
Primary power harness

connection part cover.
(4) Pass the primary power harness through cable

Cable Clamp clamp, and install it. Show a detailed procedure as
follows.
Tighten and remove the lock nut among

1st step :φ9～11
2nd step :φ11～14 controllers of cable clamp.
3rd step :φ14～17 Cut the cable clamp according to the electric
4th step :φ17～19 wire diameter used as shown in a left figure.
Board outside controller
Refer to a left figure for the relation of the part
Lock nut
where you cut the harness diameter.
[ NOTE ]
Tighten and fix the tightening screw after
Select the harness used after confirming the use
passing the harness through clamp and adjusting
power capacity. ☞
“Appearance and length.
specification of Robot Controller” Tighten the lock nut enough by installing cable
Be careful about occurring such as the voltage
decrease and heat of the harness when the wire clamp on controller's installation hole.
diameter is thin.


(5) Remove the primary power connection terminal
cover.
If you put into the state to push up packing for the
lock up, and you pull the cover forward straight ,
it is possible to remove.
(6) Put up Crimp-Type Terminal (Round type) to the
point of the primary power harness. Do not
expose the metal part by Crimp-part’s of
Crimp-Type Terminal using the insulation thing.
Breaker screw :M5
Earthing terminal :M5
(7) Connect the primary power harness with the
PUSH breaker terminal (lower 3 places) and exclusive
earth terminal.
Packing for lock. ！ WARNING

connection terminal cover
Tighten the terminal enough.
It might become the accident of the
electric shock, malfunction of robot and
Earthing wire terminal breakdown of the electrical system when
you using it while having loosened.
Breaker screw (8) Install the primary power harness connection

terminal cover.
！ WARNING
Install the primary power harness
connection terminal cover when wiring
termination.
When you touch the terminal, it might get
an electric shock if does not install the
cover.
(9) Install the Operation Unit right side cover and

the primary power harness connection part
cover.


● C52 Controller
controller.
Connect with
customer's primary
power Circuit
breaker.
“CONTROL POWER” Switch (Circuit breaker). (2) Set “CONTROL POWER” switch (Circuit
breaker) on a controller door to the “OFF”
side.
OFF
Primary power intaking port
(3) Remove the designated cover on a left side of

controller.
[ NOTE ]
Select the harness used after confirming the use
power capacity. ☞ “Appearance and
specification of Robot Controller”
Be careful about occurring such as the voltage
decrease and heat of the harness when the wire
diameter is thin.


Primary power harness (4) Put up Crimp-Type Terminal (Round type) to the
point of the primary power harness. Do not
expose the metal part by Crimp-part’s of
Crimp-Type Terminal using the insulation thing.
(5) Connect the primary power harness with the

breaker terminal (right 3 places) and exclusive
earth terminal.
Primary power harness PUSH

connection terminal cover
！ WARNING
breakdown of the electrical system when
(6) Install the primary power harness connection

terminal cover.
Earthing wire terminal Breaker screw
！ WARNING
termination.
When you touch the terminal, it might get
cover.


controller.
Connect with
customer's primary
power Circuit
breaker.
“CONTROL POWER” Switch (Circuit breaker)

(2) Set “Control Power” switch (circuit breaker) of
the controller front panel to the “OFF” side
without fail.
(3) Remove the controller cover (Top and side

cover).
M3×4 (Screw)
Cover

(4) Draw in primary power cable from cable intaking port, and
fix to cable fixation plate with attached cable clamp.
(5) Put up Crimp-Type Terminal (Round type) to the point of

the primary power harness. Do not expose the metal part by
Crimp-part’s of Crimp-Type Terminal using the insulation
thing.
Breaker screw :M4
Earthing terminal :M4
Cable intaking port
Cable fixation plat Noise filter
(6) Connect the primary power cable with the terminal and the
Cable fixation plat Noise filter exclusive earth terminal of the noise filter.
！ WARNING
Earth terminal
breakdown of the electrical system when
The exclusive earth terminal is in the interior
(7) Install the cover of the noise filter terminal after connecting
of the cable fixation plate.
Exclusive the primary power supply cable.
earth
terminal
！ WARNING
termination.
Cable fixation plat
Earth terminal When you touch the terminal, it might get
cover.
(8) Install the controller cover.

Appendix.1 Connection of Sensor Cable
Appendix.1
Connection of Sensor Cable
！ WARNING
Turn off the control power when you connect the sensor
cable. It might get the accident of the electric shock etc.
！ CAUTION
Confirm enough and connect the signal name about the
connect of the faston terminal for the sensor. When the
connect is mistaken, it causes the breakdown of the
electrical system in the controller.
[ NOTE ]
• Ensure whether to have suited the proximity switch and the limit switch.
• JW5 cannot use the sensor cable.
Sensor cable (option)
Js5/JC5/Js10/Js15/Js30/Js40/UD100/UD150 house the sensor cable in their arms.

Js5/JC5 Js10
The customer is requested to arrange terminals.
Taking-out port for sensor cable Faston terminal for sensor.

φ12 hole

Approx. 1m
Taking-out port for

sensor cable.
Faston terminal for sensor. Sensor cable (option)
Approx. 1m
The customer is requested to
arrange terminals.

Appendix.1
！ CAUTION
Process the terminal to the not used line surely so as not
to become the short-circuit and an earthing. It causes the
breakdown.
Js30/Js40
Faston terminal for sensor
The customer is requested

to arrange terminals.
Taking-out port for sensor cable

Approx. 1.8m
UD100
The customer is requested

to arrange terminals. Taking-out port for sensor cable
Sensor cable Connector

for sensor

Appendix.1
FS6/10/20/30/45
Taking-out port for sensor cable
The customer is requested Sensor cable (option)

to arrange terminals. Approx. 1.5m
FS02/03, FC02
The customer is requested to arrange terminals.

Appendix.1
J/U series, FS02?03, FC02
Faston terminal for sensor, Connector Color of wire

Sensor input signal 1 ......................SIG1 1 Brown
Sensor cable
Sensor input signal 2 ......................SIG2 2 Red
Sensor input signal 3 ......................SIG3 3 Yellow
Sensor input signal 4 ......................SIG4 4 Orange
DC24V........................................... +24V 5 Blue, Purple
GND................................................ .24G 6 Green, Black, Gray, White
ROEV-SB
(0.3Sq × 5P Outside diameter : 8.6mm)
F series (except FS02/03, FC02 )

Sensor cable
Sensor input signal 1 XSIG1 Blue

Black
Sensor input signal 2 XSIG2 Purple
Black
Sensor input signal 3 XSIG3 Gray
Black
Sensor input signal 4 XSIG4 Pink
Black
Brawn
Black
24V X24V Red
Black
GND X24G
RFV-K38
Sq P
(0.3 × 6 Outside diameter : 11mm)
[ NOTE ]
• Because power supply (DC24V) for this sensor uses the power supply with
built-in the controller, the supply from the outside is unnecessary.
• Select the proximity sensor etc. so as not to exceed the current power capacity
of a built-in power supply.
Current capacity : 0.2A or less.
(SIG1-4 are approx. 10mA/point necessary.)

Appendix.1
How to Connect Proximity Switch and Limit Switch
You can connect the proximity switch or limit switch to the faston terminal and thus, can transmit signals as WX
signals.
On this occasion, be careful the peculiar connection method of proximity switch and of limit switch.
Case to connect proximity switch

Faston / Connector Proximity switch
+24V (5) +24V

SIG1 (1) SIG
24G (6) GND
Case to connect limit switch

Faston / Connector Limit switch
SIG1 (1)
+24G (6)
Case to connect using proximity switch together with limit switch

Faston / Connector Proximity switch.
+24V (5) +24V
SIG1 (1) SIG
24G (6) GND
Limit switch.
SIG2 (2)
！ IMPORTANT
Since the arm is built-in of the sensor cable; The proximity switch is
influenced and there is a case where the proximity switch mis-operates
about the noise of the motor in the arm according to kind such as
connected proximity switches.
For this case, without using the sensor cable with built-in robot; Connect
by wiring to the outside or construct and use necessary noise measures
to select the one which noises and is high for the proximity switch.
( Refer to “Appendix 4 Example of Sensor Noise Measures ” )
Use the twist twisted pair line and the shield line for the harness for
wiring to the outside.

Appendix.1
How to Use Sensor signal
The sensor input signal (SIG1,SIG2,SIG3,SIG4) are assigned internally in general purpose input signals
(IN13,IN14,IN15,IN16).
External signal. Internal signal name.

Sensor signal.1(SIG1) IN13
Sensor signal.４(SIG4) IN16
！ IMPORTANT
Since general purpose signal is assigned internally, when you use them
as sensor signals, IN13, IN14, IN15, and IN16 cannot be used.
The sensor signal and General Purpose Signal are switched by the jumper switch on the “1FR” or
“1GW” board in Controller.
Refer to “EXTERNAL I/O SIGNAL” for details.
！ CAUTION
The selection of use/Not used is possible by one set of
IN13-16 which consists of four point unit. Change the jumper
of J5 by combining the figure below.
For example， avoid setting by which 1∼3 of J5 is made A-B
and/or 4∼5 is made B-C.
J5 Not used Use

1FR board 1GW board
for internal sensor
COM1 .......... 1 1 ........ Power supply(+24V)
IN13............. 2 2 ........ IN13
IN14............. 3 3 ........ IN14
IN15............. 4 4 ........ IN15
IN16............. 5 5 ........ IN16
A B C A B C

Appendix.2 Solenoid Valve Wiring Diagram
Appendix.2
Solenoid Valve Wiring Diagram
Note : NS320 does not prepare the solenoid value wring for the uesr.
Solenoid valve wiring diagram
(1) Js5/JC5/JW5
Controller. Robot.
(2) Js10/Js15
Controller. Robot.

Appendix.2
(3) Js30/Js40
Controller Robot
(4) FS06/10/20
Controller Robot

Appendix.2
(5) FS30/45
Controller Robot
(6) UX/UZ/UT
Controller Robot

Appendix.2
(7) UD
Controller Robot
(8) ZX/ZT
Controller Robot

Appendix.2
(9) ZD
Controller Robot
(10) FS02/03, FC02
Controller Robot
Function Diagram
+24V SOL
1FR/1GW board Arm section

Appendix.3 Sensor Wiring Diagram
Appendix.3
Sensor Wiring Diagram
Note : The sensor line cannot be used for NS320.
Sensor wiring diagram
(1) Js5/JC5(The sensor line cannot be used for JW5.)
Controller
Robot

Appendix.3
(2) Js10/Js15
Controller
Robot

Appendix.3
(3) Js30/40
Controller
Robot

Appendix.3
(4) FS6/10/20
Controller
Robot

Appendix.3
(5) FS30/45
Controller
Robot

Appendix.3
(6) UD
Controller
Robot

Appendix.3
(7) ZD
Controller
Robot

Appendix.3
(8) FS02/03, FC02
Controller
Robot

Appendix.3
Function diagram
Case of the proximity switch
Proximity switch
+24V
Photo coupler 24V
SG1～4 OUT
24G
OV
Case of the limit switch
+24V
Limit switch
SG1～4
24G
！ IMPORTANT
Since the arm is built-in of the sensor cable; The proximity switch is
influenced and there is a case where the proximity switch mis-operates
about the noise of the motor in the arm according to kind such as
connected proximity switches.
For this case, without using the sensor cable with built-in robot; Connect
by wiring to the outside or construct and use necessary noise measures
to select the one which noises and is high for the proximity switch.
( Refer to “Appendix 4 Example of Sensor Noise Measures ” )
Use the twist twisted pair line and the shield line for the harness for
wiring to the outside.

Appendix.4 Example of Sensor Noise Measures
Appendix 4
Example of Sensor Noise Measures
(1) Use the twist pair shield line for the line connected with the sensor. And, connect an outside film in the shield line with
an appropriate FG terminal.
It is as short.
Moreover, do not succeed with a general electric wire, and draw out the shield outside
film as it is or connect it with the screw etc. of the case by using the same kind of
volume eye line.
However, do the measure such as the peels of them if there is an insulation thing such as
paints between the screw and the case when stopping with the screw.
(2) Ground the noise source and the power supply (0V side) with the capacitor.
Capacitor (Example; 0.22µF/630V)

In the installed position, one near the sensor is the best.
If you can have the pull from the terminal block of the sensor,
we will recommend the method.
(3) Put the insulator between the sensor and the installation table (metal). (plastic and rubber, etc.)
Insulator
Sensor
Installation table (metal)

INDEX
INDEX
Numerical
1FG board 51, 52, 53, 56
1FP board 51, 52, 53, 54, 55, 56, 58
1FR board 45
1GB board 28, 51, 52, 53, 54, 55, 56
1GW board 45
1HJ board 58
A
ambient temperature ⅴ, 11
anchor bolt 18
appearance and specification of Robot Controller 5
arrangement of Robot Controller 16
B
breake release unit connecting port 5
C
cable clamp 34
cable fixation plate 27, 39
cable intaking port 27, 39
case of wire sling 12
cause of folk lift truck 13
circuit breaker (CB) 34, 38
class 3 specialized earthing 11
connect the primary power ⅶ, 33
Connection of Multi Function Panel 20
connection of primary power 33
connection of sensor cable 40
connection of Small Teach Pendant 20
connector block 23, 24, 25
control power switch 5, 27
E
earth terminal 25, 35, 39
earthing ⅶ
exhaust port 5, 16, 19

INDEX
F
falling prevention belt 13
fixation block 23, 24, 25
fixation of Robot Controller 18
for the move by the caster 14
function diagram 50, 59
H
humidity 11
I
installation environment of Robot Controller ⅴ
limit switch 40, 44
M
major axis motor harness 24, 25, 29, 30, 31
motor harness 23, 28, 29, 30, 31
Multi Function Panel 8
N
noise filter 39
O
operation unit 5
P
power cable size (including earthing wire) 11
power capacity 11
power source 11
primary power intaking port 4, 5
proximity 40, 44
R
regenerative resistor unit 4, 5

INDEX
S
safety ⅳ
safety fence ⅴ
sensor cable 40, 43
sensor noise measure 60
sensor signal how to use sensor signal 45
sensor wiring diagram 51
separation harness connector box 23, 24, 25
servo unit 5
signal harness 23, 24, 25, 27, 28, 30, 31
Small Teach Pendant 10
solenoid valve wiring diagram 46
suction port 16
T
Transportation of Robot Controller 12
W
when you connect the harness ⅵ
when you transport and connect the Robot Controller ⅳ
wiring instructions between Robot Controller and Robot 23, 24, 25, 29, 30, 31
work flow at the Robot Controller installation and connection 3
wrist axis harness 24, 25, 29, 30, 31

✎ MEMO

C1✻/C2✻/C5✻/C7✻ Controller
INSTALLATION AND CONNECTION
June 1997 : 1st Edition

October 2001 : 5th Edition
Publication : KAWASAKI HEAVY INDUSTRIES, LTD.

ROBOT DIVISION
90202-1017DEE
All rights reserved. Copyright  2001 by KAWASAKI HEAVY INDUSTRIES, LTD.

Kawasaki Robotics
(UK) Limited
Kawasaki Robotics GmbH
Kawasaki Robotics Kawasaki Heavy

(USA), Inc. Industries, Ltd.
Kawasaki Machine Systems

Korea, Ltd.
KAWASAKI HEAVY INDUSTRIES, LTD.
Kawasaki Heavy 4-1, Hamamatsu-cho 2-Chome, Minato-ku TEL +81-3-3435-6908

Industries, Ltd. Tokyo 105-6116 JAPAN FAX +81-3-3437-9880
Kawasaki Robotics 28059 Center Oaks Court Wixom, TEL +1-248-305-7610

(USA), Inc. Michigan, 48393 U.S.A. FAX +1-248-305-7618
Kawasaki Robotics Greengate, Middleton Manchester, M24 1SA TEL +44-1925-71-3000

(UK) Limited UNITED KINGDOM FAX +44-1925-71-3001
Kawasaki Robotics Sperberweg29, 41468 Neuss, GERMANY TEL +49-2131-3426-0

GmbH FAX +49-2131-930973
Kawasaki Machine 3FI(307), Industrial Complex Support Bidg., 637 TEL +82-32-821-6941
Systems Korea, Ltd. Kojan-Dong, Namdong-Gu, Inchon, 405-310 Korea FAX +82-32-821-6947
Akashi Works 1-1 Kawasaki-cho, Akashi 673-8666 JAPAN TEL +81-78-921-2946

FAX +81-78-923-6548
＊ All descriptions in this booklet subject to change for improvement without prior notice.

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KAWASAKI ROBOT

KAWASAKI HEAVY INDUSTRIES, LTD.

Kawasaki pursues a policy of continuing improvement in design and specification

This manual is copyrighted and all rights are reserved by KHI.

If you do not observe warnings and/or cautions to be taken in the manual as

All rights reserved. Copyright  2001 by KAWASAKI HEAVY INDUSTRIES, LTD.

KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION i

ii KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

This danger symbol identifies special warnings or

This caution symbol identifies special instructions

KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION iii

When you transport and install the Robot Controller

Do not enter the controller under of lifting up and the neighborhood

Arrange the injury thing etc. of the passage to do the transportation to

iv KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

Installation environment of Robot Controller

The ambient temperature is within the range of 0°C ∼ 45°C .

A place where can conform to the requirement of Robot's power specification.

Work envelope of robot.

KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION v

When you connect the harness

At the harness connection, be careful not to mistake the selection of

vi KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

When you connect the primary power

KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION vii

viii KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

Appearance and Specification of Robot Controller................................................................ 4

1. Transportation of Robot Controller ................................................................................... 12

3. Connection of Multi-Function Panel and Small Teach Pendant (Option)..................... 20

4. Wiring Instructions between Robot Controller and Robot ............................................... 22

Appendix.1 Connection of Sensor Cable ............................................................................. 40

Appendix.2 Solenoid Valve Wiring Diagram ........................................................................ 46

Appendix.3 Sensor Wiring Diagram ..................................................................................... 51

Appendix 4 Example of Sensor Noise Measures.............................................................. 60

KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION 1

Work flow at the Robot Controller

Examination of installation Refer to “Appearance and specification

Transportation of Robot Refer to “1. Transportation of Robot

Installation and arrangement of Refer to “2. Arrangement of Robot

Actual Connection of Multi-Function Refer to “3. Connection of

Connection of primary power Refer to “5. Connection of the Primary

2 KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

Work flow at the Robot Controller

Turning on and confirmation of (Note) Refer to ‘EXTERNAL I/O

Turning on and confirmation of (Note) Refer to ‘EXTERNAL I/O

Additionally, confirmation of Refer to ‘OPERATION MANUAL’

Work completion. ✱ In this manual, the paragraph of

KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION 3

Appearance and Specification of

Multi-Function Operation Unit

Brake release unit

4 KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

Appearance and Specification of

Multi-Function Operation Unit

KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION 5

Appearance and Specification of

FDD Unit Multi Function Panel

6 KAWASAKI ROBOT C1✻/C2✻/C5✻/C7✻ Controller INSTALLATION and CONNECTION

Appearance and Specification of