RS007

Installation and
Connection Manual

Kawasaki Heavy Industries, Ltd.

90202-1250DEA
RS007 Preface
Kawasaki Robot Installation and Connection Manual

Preface

This manual describes installation and connection procedures for Kawasaki Robot RS007.

Be sure to fully understand the content of this manual and pay attention to the safety items in this
manual and the separate "Safety Manual" when performing an operation. Note that this manual only
provides descriptions of the installation and connection procedures for the arm. Also see the
"Installation and Connection Manual" for the controller and "Installation and Connection Manual (Arc
Welding Edition)" for the arc welding robot.

Again, do not perform any kind of work until you fully understand all of the contents of this manual.
Also, Kawasaki is not responsible for damages or problems that occur as a result of performing work
after referring to specific pages only.

This manual is applicable to the following robot arms.

RS007N, RS007L

The above applicable robots are further divided into RS007N/L-A and RS007N/L-B, so please check
the model number (“Model”) on the nameplate, which is affixed on the robot unit. Please contact
Kawasaki’s sales or service personnel for further details.

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 © 2020 Kawasaki Heavy Industries Ltd. All rights reserved.

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RS007 Symbols
Kawasaki Robot Installation and Connection Manual

Symbols

The items that require special attention in this manual are designated with the following symbols.

Ensure proper and safe operation of the robot and prevent physical injury or property damages 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.

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RS007 Table of Contents
Kawasaki Robot Installation and Connection Manual

Table of Contents
Preface ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ i
Symbols ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏii
1 Precautions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ1
1.1 Precautions During Transportation, Installation and Storage ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ1
1.2 Installation Environment ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ2
1.3 Residual Risk When Operating ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3
2 Arm Installation and Connection Work Flowꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ4
3 Motion Range and Specificationsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ5
3.1 Determination of Safety Fence Installation Location from Motion Range ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ5
3.2 Motion Range and Specificationsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ6
4 Transportation Methods ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ8
4.1 Wire Suspension (Without Base Plate) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ8
4.2 Wire Suspension (with Base Plate) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ9
5 Base Installation Dimensionsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10
6 Installation Method of Robot Pedestal ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11
7 Installation Method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12
7.1 Installing the Base Directly on the Floor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12
7.2 Installing the Robot Pedestal on the Floor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13
7.3 Installing the Robot Base Plate on the Floor (Without Pedestal) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 14
7.4 Installing the Robot Base Plate on the Floor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 15
8 Installation of Tools ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 16
8.1 Wrist Tip (Flange Surface) Dimensions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 16
8.2 Mounting Bolt Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 16
8.3 Load Capacity ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 17
9 Mounting External Equipment ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 19
9.1 Service Tapped Hole Positionsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 19
9.2 Calculation of Load Caused by External Equipment ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 22
10 Connection of Air System ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 24
10.1 Air Piping ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 24
10.2 Air Supply to the Robot Armꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 25
10.3 Tubing from Air Outlet to Hand ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 27

iii
RS007 1 Precautions
Kawasaki Robot Installation and Connection Manual

1 Precautions

1.1 Precautions 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 controller power switch and the external power switch
for shutting down power supply to the controller. Display signs indicating clearly
“Inspection and maintenance is in progress”, and lock out/tag out the external power
switch to prevent accidents of electric shock etc. caused when someone accidentally turns
ON the power.
4. Prior to moving 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 pose.
Be careful not to be caught by/between any moving parts due to careless approach to
robot and peripheral equipment. After setting robot to the specified pose, turn OFF the
controller power and the external power switch again as mentioned above. Display signs
indicating clearly “Inspection and maintenance is in progress,” and lock out/tag out the
external power switch before starting installation and connection.

！ CAUTION

1. Since the robot arm 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 to 60°C,
(2) Keep the relative humidity within the range of 35 to 85% RH without dew
condensation,
(3) Keep free from excessively strong vibration.

1
RS007 1 Precautions
Kawasaki Robot Installation and Connection Manual

1.2 Installation Environment

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 levelness must be within 5.
2. Be sure that the installation floor/pedestal has sufficient rigidity.
3. Secure a flatness to prevent undue force applied to the installation section. (If sufficient flatness is
unobtainable, insert liners and adjust the flatness.)
4. Keep the ambient temperature during operation within the range of 0 to 45C. (Deviation or
overload error may occur due to high viscosity of grease/oil when starting operation at low
temperatures. In this case, move the robot at low speed before regular operation.)
5. Keep the relative humidity during operation within the range of 35 to 85%RH without dew
condensation.
6. The robot installing place should be free from dust, dirt, oil, 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. (0.5 G or less)
9. The robot installing place should be free from electric noise interference.
10. The robot installing place should be sufficiently larger than the motion range of robot arm.
(1) Install safety fence so the maximum movement of fully equipped robot arm (with hand and
gun) does not cause interference.
(2) Minimize the number of entrance gates (only one is best) and equip the entrance gate with a
safety plug.
(3) Observe the requirements of ISO 10218, etc. established in each region for details of the safety
fence.

Approximately 1 m

Safety plug door

Motion range of the robot
(Hand and gun included)
Safety Fence
Approximately 1 m Approximately 1 m
Mechanical Mechanical
stopper stopper

Approximately. Approximately
1m 1m

2
RS007 1 Precautions
Kawasaki Robot Installation and Connection Manual

1.3 Residual Risk When Operating

！ WARNING

Pay attention to the residual risk areas described in the

figures below during operation.

High temperature danger areas

Catching danger areas

Electric shock danger areas

3
RS007 2 Arm Installation and Connection Work Flow
Kawasaki Robot Installation and Connection Manual

2 Arm Installation and Connection Work Flow

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

Examination of Installation Place Refer to “3 Motion Range and

and Motion Range Specifications.”
Preparation

Refer to “5 Base Installation Dimensions,”

Examination and Preparation of “6 Installation Method of Robot Pedestal”
Installation Surface and “7 Installation Method.”

Transportation of Robot Arm Refer to “4 Transportation Methods.”

Actual Work

Refer to “5 Base Installation Dimensions,”

Installation of Robot Arm “6 Installation Method of Robot Pedestal”
and “7 Installation Method.”

Refer to “8 Installation of Tools” and “10

Mounting of Tools
Connection of Air System.”

Connection to Controller Refer to “Installation and Connection

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

4
RS007 3 Motion Range and Specifications
Kawasaki Robot Installation and Connection Manual

3 Motion Range and Specifications

3.1 Determination of Safety Fence Installation Location from Motion Range

Motion Range of Point P

Point P

Tool

Workpiece

A
L0 L1 L2

The motion range of the robot is represented by the maximum area that can be covered by point P in the
figure above. Therefore, as shown in the figure below, install the safety fence outside circle whose
radius is L0+L1+L2. Where; L0 is the length from the center line of arm (point A shown above) to the
farthest point of P, L1 is the length from point P to the farthest point of wrist flange, tool and workpiece,
and L2 is safety margin. For the length of L0, refer to the drawings in “3.2 Motion Range and
Specifications.”

Safety Fence
L2
L1

L0
Location of Location of
Mechanical Mechanical
Stopper Stopper

Safety gate 5
RS007 3 Motion Range and Specifications
Kawasaki Robot Installation and Connection Manual

3.2 Motion Range and Specifications

RS007N

Model Vertically articulated robot

Degree of Freedom
6
of Motion
JT Motion Range Max. Speed
1 ±180° 470°/s
Motion Range and 2 ±135° 380°/s
Maximum 3 ±155° 520°/s
Speed 4 ±200° 550°/s
5 ±125° 550°/s
6 ±360° 1,000°/s *1 Measurement conditions
Max. Payload 7 kg ・Robot tightly fixed to a flat floor
JT Torque Moment of Inertia surface
Wrist Load 4 17.0 Nm 0.5 kgm2 ・Point 2,000 mm from the JT1 axis
Capacity 5 17.0 Nm 0.5 kgm2 center
6 10.0 Nm 0.2 kgm2
Repeated Positional Noise level varies
0.02 mm situationally.
Accuracy
Mass 35 kg
RS007N-A RS007N-B
Acoustic noise
<80 dB(A)*1 <70 dB(A)*1

6
RS007 3 Motion Range and Specifications
Kawasaki Robot Installation and Connection Manual

RS007L

Model Vertically articulated robot

Degree of Freedom
6
of Motion
JT Motion Range Max. Speed
1 ±180° 370°/s
Motion Range and 2 ±135° 310°/s
Maximum 3 ±157° 410°/s
Speed 4 ±200° 550°/s
5 ±125° 550°/s
6 ±360° 1,000°/s *1 Measurement conditions
Max. Payload 7 kg ・Robot tightly fixed to a flat floor
JT Torque Moment of Inertia surface
Wrist Load 4 17.0 Nm 0.5 kgm2 ・Point 2,200 mm from the JT1 axis
Capacity 5 17.0 Nm 0.5 kgm2 center
6 10.0 Nm 0.2 kgm2
Repeated Positional Noise level varies
0.03 mm situationally.
Accuracy
Mass 36 kg
RS007N-A RS007N-B
Acoustic noise
<80 dB(A)*1 <70 dB(A)*1

7
RS007 4 Transportation Methods
Kawasaki Robot Installation and Connection Manual

4 Transportation Methods

4.1 Wire Suspension (Without Base Plate)

Mount an eyebolt to the arm as shown in the figure below, and hoist up the robot by fastening wires to it.
(Follow the same procedures when attaching to a pedestal.)

！ WARNING
Add anti-rotation wire without fail when hoisting up robot.
If the robot rotates, eyebolt may come loose and the robot may fall.

！ CAUTION
When suspending the robot, care is required as it may tip forward or back depending on its
posture or how the various options are installed. If the robot is suspended while at an angle,
shocks may result in swinging or damage; wires may catch on the harness or piping; and
external parts may cause interference resulting in damage. After transport is completed,
remove the eyebolt attached to the robot arm.

Model RS007N RS007L

Wire (1 pc)
Anti-rotation wire
(1 pc)
Eyebolt (1 pc)
Suspended
posture

JT1 0° 0°
JT2 10° 10°
Lifting JT3 -158° -160
posture JT4 0° 0°
JT5 -22° -20°
JT6 0° 0°
Arm mounting
M6×1 pc M6×1 pc
eyebolts

8
RS007 4 Transportation Methods
Kawasaki Robot Installation and Connection Manual

4.2 Wire Suspension (with Base Plate)

Mount four eyebolts to the base plate and fasten wires to them as shown in the figure below. To prevent
the robot from falling, also mount an eyebolt to the arm and hoist it up by fastening wires to it. (Follow
the same procedures when attaching to a pedestal.)

！ CAUTION
When suspending the robot, care is required as it may tip forward or back depending on its
posture or how the various options are installed. If the robot is suspended while at an angle,
shocks may result in swinging or damage; wires may catch on the harness or piping; and
external parts may cause interference resulting in damage. After transport is completed,
remove the eyebolt attached to the robot arm.

Model RS007N RS007L

Eyebolt (1 pc) Wire (5 pcs)

Suspended
posture

Eyebolt (4 pcs)

JT1 0° 0°
JT2 10° 10°
Lifting JT3 -158° -160
posture JT4 0° 0°
JT5 -22° -20°
JT6 0° 0°
Arm mounting
M6×1 pc M6×1 pc
eyebolts
Base plate
60360-2102
part number

9
RS007 5 Base Installation Dimensions
Kawasaki Robot Installation and Connection Manual

5 Base Installation Dimensions

Use the bolt holes and fix with high tensile strength bolts during base installation.

Model RS007N, RS007L

Dimensions
of the
installed part

Cross-section
figure of the
installed part

Bolt hole 4-⌀11

4-M10
High tensile
Material: SCM435
bolt
Hardness category: at least 10.9
Tightening
57 Nm
torque
Installation
Within 5°
surface angle
[NOTE]
The robot may be removed during maintenance. Be sure to drill
precise pin holes in the locations on the installation surface as
shown above so that you can use pins when installing the robot.

10
RS007 6 Installation Method of Robot Pedestal
Kawasaki Robot Installation and Connection Manual

6 Installation Method of Robot Pedestal

Use the bolt holes and fix with high tensile strength bolts during installation of robot pedestal.

Model RS007N, RS007L

Dimensions
of the
installed part

8-11 drill

Cross-section
figure of the
installed part

Bolt hole 8-⌀11

8-M10
High tensile
Material: SCM435
bolt
Hardness category: at least 10.9
Tightening
57 Nm
torque
Installation
Within 5°
surface angle

11
RS007 7 Installation Method
Kawasaki Robot Installation and Connection Manual

7 Installation Method

！ WARNING
When installing the robot on the wall or ceiling, the robot may fall or be damaged
during the installation operation. Be sure to contact nearest Kawasaki when using
this installation method.

7.1 Installing the Base Directly on the Floor

In this case, bury steel plate of L2 thickness (See the table below.) in the concrete floor as shown in the
figure below or fix it with anchors. Fix the steel plate firmly enough to endure the reaction forces
produced by the robot.

Base 告
警 installation bolts

L1

Steel plate
壁壁
L2

Concrete

Model RS007N, RS007L

M (Overturning moment) 1,315 Nm
T (Rotational torque) 991 Nm
Base installation bolt 4-M10
Tightening torque 57 Nm
L1 At least 13 mm
L2 At least 14 mm

12
RS007 7 Installation Method
Kawasaki Robot Installation and Connection Manual

7.2 Installing the Robot Pedestal on the Floor

In this case, the installation procedures are practically the same as the procedure shown in the section
7.1.

Pedestal installation
bolt
L

L1
Steel plate

Concrete
L2

Model RS007N, RS007L

M (Overturning moment) 1,315 Nm
T (Rotational torque) 991 Nm
24 kg (L=600)
Pedestal mass
17 kg (L=300)
Pedestal installation bolt 8-M10
Tightening torque 57 Nm
600 (60360-2098*1)
L
300 (60360-2099*1)
L1 At least 15 mm
L2 At least 17 mm
*1 ( ) indicates the part number of pedestal.

13
RS007 7 Installation Method
Kawasaki Robot Installation and Connection Manual

7.3 Installing the Robot Base Plate on the Floor (Without Pedestal)

In this case, install the base plate on concrete floor or steel plate using bolt holes on the base plate.

Bolt hole

Base plate

Concrete

Model RS007N, RS007L

M (Overturning moment) 1,315 Nm
T (Rotational torque) 991 Nm
Base plate part number 60360-2102
Base plate mass 20 kg
Base plate installation hole 4-⌀14 (300  300)
Base plate dimension (mm) 400  400  16

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RS007 7 Installation Method
Kawasaki Robot Installation and Connection Manual

7.4 Installing the Robot Base Plate on the Floor

In this case, install the base plate on concrete floor or steel plate using bolt holes on the base plate.

Bolt hole

Base plate

Concrete

Model RS007N, RS007L

M (Overturning moment) 1,315 Nm
T (Rotational torque) 991 Nm
Part number of pedestal installation base plate 60360-2102
Base plate mass 20 kg
Base plate installation hole 4-⌀14 (300  300)
Base plate dimension (mm) 400  400  16

15
RS007 8 Installation of Tools
Kawasaki Robot Installation and Connection Manual

8 Installation of Tools

！ WARNING
When mounting a hand or other tools, be sure to turn OFF the controller power and
external power, and after clearly displaying that "inspection and maintenance is in
progress," lock out and tag out the external power so that an operator or third party
does not accidentally turn ON the power, causing an unexpected situation such as
electric shock.

8.1 Wrist Tip (Flange Surface) Dimensions

Pin hole
Tapped holes The tip of the robot arm features a flange for
mounting tools such as a hand or gun. As shown in
the figure on the left, tighten the mounting bolts using
the tapped holes machined around the ⌀D
circumference of the flange. Additionally, use the pin
holes and spigot holes for positioning the hand and
Spigot hole
gun.

8.2 Mounting Bolt Specifications

Select bolts with lengths that will reach the designated
Mounting bolt tightening depth, according to the tapped depths on
Tapped depth

Hand part the tool mounting flange. Additionally, use high

Tightening depth tensile bolts, and tighten to the rated torque.

！ CAUTION
If the tightening depth is above the rated value, then the
mounting bolts will bottom out and the tool may not be secured.

Model RS007N, RS007L

Tapped holes 7-M5
⌀D ⌀31.5
Pin hole ⌀5H7 Depth 6
Spigot hole ⌀20H7 Depth 4
Tapped depth 7 mm
Tightening depth 5 to 6 mm
High tensile bolt SCM435, at least 10.9
Tightening torque 6.9 Nm

16
RS007 8 Installation of Tools
Kawasaki Robot Installation and Connection Manual

8.3 Load Capacity

Load mass applicable to robot is specified for each model and includes the mass of hand and gun, etc.
Applicable load torque and moment of inertia around wrist axes (JT4, JT5, and JT6) are also specified.
Strictly observe the following restrictions on them.

！ CAUTION
Using the robot beyond its specified load may result in degradation of
movement performance and shortening of machine service life. The load
mass includes the tool mass such as hand, tool changer, shock absorber,
etc. If using the robot in excess of its load capacity, first contact
Kawasaki without fail.

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

Calculation Formula

Load mass : M≦Mmax. (kg)

(Hand included)
Load torque : T=9.8ML (Nm)
L6 (m) IG Load moment of inertia: I=ML2+IG (kgm2)

L4, 5 (m)
Mmax: Maximum load mass: See Section 3.2.

M (kg) L: Length from axis rotation center L4, 5: Length from JT4(5) axis
to load center of gravity. rotation center to load center
(Unit: m) (See figure) of gravity.

L6: Length from JT6 axis rotation IG: Moment of inertia around
center to load center of gravity. center of gravity. (Unit: kgm2)

If calculation of load is made by dividing the load into construction parts, such as hand and
workpieces, use the total calculation values of each part as load torque and moment of inertia.

17
RS007 8 Installation of Tools
Kawasaki Robot Installation and Connection Manual

Regarding the load on the robot wrist section, meet the following restriction conditions:

1. The load mass including hand mass should be less than the following value.
RS007 = 7 kg
2. The load torque and the moment of inertia around each wrist axis (JT4, JT5, and JT6) should be
within the restriction*1, as shown in the graph below.

*1 Load moment of inertia exceeding the restriction may be acceptable. In this case, ensure to specify
the load. (However, the robot movement may become slow because of optimizing acceleration and
deceleration.) See “AS Language Reference Manual” for setting the load. Operating the robot with
wrong settings may result in degradation of movement performance and shortening of machine
service life.
RS007N, RS007L

kgm2 JT4, JT5

0.71
Load moment of inertia

0.5
JT6
0.3
0.2

10 17
Nm
Load torque

18
RS007 9 Mounting External Equipment
Kawasaki Robot Installation and Connection Manual

9 Mounting External Equipment

9.1 Service Tapped Hole Positions

Service tapped holes shown in the figure below are available to mount wiring brackets and external
equipment on each part of robot arm.

！ CAUTION

Check the robot movement very carefully and confirm that

mounted brackets and external equipment do not interfere
with peripheral equipment and robot arm itself.

RS007N-A/B
<Wrist part service tapped holes of RS007N-A>

<Common for A/B> D

19
RS007 9 Mounting External Equipment
Kawasaki Robot Installation and Connection Manual

<Wrist part service tapped holes of RS007N-B>

20
RS007 9 Mounting External Equipment
Kawasaki Robot Installation and Connection Manual

RS007L-A/B
<Wrist part service tapped holes of RS007L-A>

<Common for A/B> D

D
D

<Wrist part service tapped holes of RS007L-B>

D

21
RS007 9 Mounting External Equipment
Kawasaki Robot Installation and Connection Manual

9.2 Calculation of Load Caused by External Equipment

The load capacity is set for each arm model. Strictly observe the following restrictions of the load torque
and load moment of inertia on arm.

！ CAUTION

If a load at or above the rated value is applied, this can result in deteriorated
operational functionality or service life. If an amount other than the rated load will be
applied, consult with Kawasaki.

For JT2 and JT3, limit the total load torque on wrist end and arm not to exceed the maximum allowable
load torque. The load torque and the moment of inertia can be calculated by the expression on next
page.

22
RS007 9 Mounting External Equipment
Kawasaki Robot Installation and Connection Manual

Calculation Formula
L2 L3 LW
l2 l3 lW

W3
W2 W

Wmax : Max. allowable load [kg]

W : Load on wrist end [kg]
W2 : Total load on lower arm [kg]
W3 : Total load on upper arm [kg]
lw : Position of the center of the gravity for
load on wrist section [mm]
l2 : Position of the center of the gravity for
total load on lower arm [mm]
l3 : Position of the center of the gravity for
total load on upper arm [mm]
・JT3: W(L3+lw)+W3l3 ≦Wmax(L3+LW)
・JT2: W(L2+L3+lw)+W3(L2+l3)+W2l2 ≦Wmax(L2+L3+LW)

Use data in the table below for calculation.

L1 [mm] L2 [mm] L3 [mm] Lw [mm] Wmax [kg]
RS007N 0 355 375 199 7
RS007L 0 455 475 199 7

However, do not exceed values below for W2 and W3.

Wmax ( L 1  L 2  L 3  L W ) Wmax ( L 1  L 2  L 3  L W )
W3  W2 
L1  L 2 L1

23
RS007 10 Connection of Air System
Kawasaki Robot Installation and Connection Manual

10 Connection of Air System

10.1 Air Piping

RS007 robot houses air piping and valves for driving the tool on the robot arm. The valves can be
turned ON/OFF by the Teach Pendant without using an interlock panel.

Outside of
robot arm
Inside of
robot arm

Valve

A1

Rc1/4 B1
A
Air compressor air supply
port
(Input: 0.15 to 0.6 MPa
(21.7 to 87.0 psi)) A2
Air outlet
Rc1/4 B B2
Air supply for internal
purging
(Input: 0.03 MPa (4.35 psi))
A3

B3

Robot base section Inside of robot arm Robot upper arm section

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

The built-in valves are specified as follows:

Standard No built-in valves
Option Double solenoid/Single solenoid valves 3 units max.
Note Valve specification: CV value is 0.2 and the number of switching positions is 2.

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

24
RS007 10 Connection of Air System
Kawasaki Robot Installation and Connection Manual

10.2 Air Supply to the Robot Arm

RS007N-A, RS007L-A RS007N-B, RS007L-B

Port A
Port A

Port B Port B

As shown above, the air connection ports are provided in the base section of robot arm.

！ CAUTION

Supply clean dry air with input pressure of 0.15 to 0.6 MPa (21.7 to 87.0 psi) to
Port A (Rc1/4).

For the air purge specification, Port B is provided with air inlet (Rc1/4) in the same way as Port A.

！ CAUTION

For air purge specification, supply clean dry air with input pressure of 0.03 MPa
(4.35 psi).

Tighten the couplers connected to the ports with 6.9 Nꞏm or below.

！ CAUTION

When connecting the couplers, the frame may be damaged if the couplers are
tightened with a large torque.

25
RS007 10 Connection of Air System
Kawasaki Robot Installation and Connection Manual

！ CAUTION

1. Connect external equipment such as

Port A Port B
an air dryer, a mist separator and an
air filter when the supplied air
includes water, oil, dust, etc., because
Input pressure the air supply may lead to
Regulator 0.03 MPa malfunction or damage on the built-in
(4.35 psi)
valves or the devices inside the arm.
Regulator Input pressure
In addition, conduct maintenance of
+ 0.15 to 0.6 MPa the connected equipment (draining,
Air dryer/Mist separator/ (21.7 to 87.0 psi)
Air filter filter cleaning, etc.) periodically.

Air supply <Example of external 2. Since built-in valves are non-oiling

source equipment connection> type, do not use any lubricator (oiler).

26
RS007 10 Connection of Air System
Kawasaki Robot Installation and Connection Manual

10.3 Tubing from Air Outlet to Hand

As shown in the figure below, air outlet ports are provided (optional). The outlet ports are M5.

Port B2

Port B1 Port B3

Port A1 Port A3
Port A2

！ CAUTION

When tubing, ensure that the air outlet ports are not turned.
If the outlet ports turn, the internal tube may bend or break causing air supply
stop at worst.

27
 RS007
Installation and Connection Manual

2020-08 : 1st Edition

Publication : Kawasaki Heavy Industries, Ltd.

90202-1250DEA

Copyright © 2020 Kawasaki Heavy Industries, Ltd. All rights reserved.