B Series

Installation and
Connection Manual

Kawasaki Heavy Industries, Ltd.

90202-1120DEK
B Series Preface
Kawasaki Robot Installation and Connection Manual

Preface

This manual describes installation and connection procedures for Kawasaki Robot B Series.

Read and understand the contents of this manual and "Safety Manual" 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 Manual” for controller
“Installation and Connection Manual” for arc welding

This manual is applicable to the following robot arms.

BX100S, BX100N, BX100L, BX130X, BX165N, BX165L, BX200L
BX200X, BX250L, BX300L, BT165L, BT200L

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 © 2012 Kawasaki Heavy Industries Ltd. All rights reserved.

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B Series 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. Should any unexplained questions or problems arise,
please contact Kawasaki.
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 “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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B Series Table of Contents
Kawasaki Robot Installation and Connection Manual

Table of Contents

Preface .............................................................................................................................................................. i
Symbols ............................................................................................................................................................. ii
1 Precautions.......................................................................................................................................... 1
1.1 Precautions during Transportation, Installation and Storage .......................................................... 1
1.2 Installing Environment of Robot Arm ............................................................................................. 2
1.3 Residual Risks during Work ............................................................................................................. 3
2 Work Flow at Arm Installation and Connection ........................................................................... 13
3 Motion Range and Specifications of Robot................................................................................... 14
3.1 Determination of Safety Fence Installation Location ................................................................... 14
3.2 Motion Range and Specifications of Robot................................................................................... 15
3.3 Mechanical Stoppers........................................................................................................................ 27
3.3.1 JT1 Stopper Block ...........................................................................................................................28
4 Robot Transportation Method......................................................................................................... 32
4.1 Using Wire Sling.............................................................................................................................. 32
4.1.1 Using Hoisting Jig............................................................................................................................32
4.1.2 Fastening Wire Sling Directly on the Arm ....................................................................................38
4.2 Forklift .............................................................................................................................................. 48
5 Installation Dimensions of Base Section........................................................................................ 53
6 Movement Reaction Acting on Installation Surface during Operation ....................................... 56
7 Installation Method .......................................................................................................................... 57
7.1 When Installing the Base Directly on the Floor ............................................................................ 57
7.2 When Installing the Robot Base Plate on the Floor ...................................................................... 58
8 Mounting of Tools ........................................................................................................................... 59
8.1 Dimensions of Wrist End ................................................................................................................ 59
8.2 When Passing Cable/Hose through Wrist Hollow Section .......................................................... 59
8.3 Specification of Mounting Bolt ...................................................................................................... 60
8.4 Load Capacity .................................................................................................................................. 61
9 Mounting External Equipment ....................................................................................................... 67
9.1 Service Tapped Hole Positions ....................................................................................................... 67
9.2 Calculation of Load Caused by External Equipment.................................................................... 73

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B Series 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
“Installation and connection 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 “Installation and connection 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
B 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 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 tools and
workpieces) 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

A door
with safety plug
Scope of robot motion
(Tool and workpieces are included)
Safety fence
Approximately 1 m Approximately 1 m
Mechanical Mechanical
stopper stopper

Approximately Approximately
1m 1m

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B Series 1 Precautions
Kawasaki Robot Installation and Connection Manual

1.3 Residual Risks during Work

！ WARNING

Pay attention to the hazardous places listed in the drawings below.

Hazardous places for high temperature and electric shock (BX100S, BX100N)

Hazardous place for high

temperature
Hazardous place for
electric shock

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B Series 1 Precautions
Kawasaki Robot Installation and Connection Manual

Hazardous places for high temperature and electric shock (BX100L, BX130X, BX165N,
BX165L, BX200L)

Hazardous place for

high temperature
Hazardous place for
electric shock

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B Series 1 Precautions
Kawasaki Robot Installation and Connection Manual

Hazardous places for high temperature and electric shock (BX200X)

Hazardous place for

high temperature
Hazardous place for
electric shock

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B Series 1 Precautions
Kawasaki Robot Installation and Connection Manual

Hazardous places for high temperature and electric shock (BX250L, BX300L)

Hazardous place for

high temperature
Hazardous place for
electric shock

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B Series 1 Precautions
Kawasaki Robot Installation and Connection Manual

Hazardous places for high temperature and electric shock (BT165L, BT200L)

Hazardous place for

high temperature

Hazardous place for

electric shock

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B Series 1 Precautions
Kawasaki Robot Installation and Connection Manual

Hazardous places for pinching (BX100S, BX100N)

Hazardous place for

pinching

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B Series 1 Precautions
Kawasaki Robot Installation and Connection Manual

Hazardous places for pinching (BX100L, BX130X, BX165N, BX165L, BX200L)

Hazardous place for

pinching

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B Series 1 Precautions
Kawasaki Robot Installation and Connection Manual

Hazardous places for pinching (BX200X)

Hazardous place
for pinching

10
B Series 1 Precautions
Kawasaki Robot Installation and Connection Manual

Hazardous places for pinching (BX250L, BX300L)

Hazardous place
for pinching

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B Series 1 Precautions
Kawasaki Robot Installation and Connection Manual

Hazardous places for pinching (BT165L, BT200L)

Hazardous place
for pinching

12
B Series 2 Work Flow at Arm Installation and Connection
Kawasaki Robot Installation and Connection Manual

2 Work Flow at Arm Installation and Connection

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 of Robot”.
Preparation

Refer to “5 Installation Dimensions of Base

Examination and Preparation of Section”, “6 Movement Reaction Acting on
Installation Surface Installation Surface during Operation” and
“7 Installation Method”.

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

Actual Work

Refer to “5 Installation Dimensions of Base

Section”, “6 Movement Reaction Acting on
Installation of Robot Arm
Installation Surface during Operation” and
“7 Installation Method”.

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

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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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

3 Motion Range and Specifications of Robot

3.1 Determination of Safety Fence Installation Location

Motion Range of
Point P

Point P

Tool

Workpiece

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 the section 3.2.

Safety fence
L2
L1

L0
Location of Location of
mechanical mechanical
stopper stopper

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

3.2 Motion Range and Specifications of Robot

BX100S

Motion range
of point P

Point P

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 160° 135 °/s
Motion Range
2 +120° to -65° 125 °/s
and
3 +90° to -81° 155 °/s
Maximum
4 210° 200 °/s
Speed
5 125° 160 °/s *measured condition
6 210° 300 °/s ・installed on the plate rigidly
Max. Payload 100 kg fixed on the floor
JT Torque Moment of Inertia ・3600 mm away from JT1
Wrist Load 4 830 Nm 85 kgm2 center
Capacity 5 830 Nm 85 kgm2
The noise level depends
6 441 Nm 45 kgm2
on the conditions.
Repeatability 0.06 mm
Mass 720 kg
Acoustic Noise < 80 dB (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BX100N

Motion range
of point P

Point P

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 160° 135 °/s
Motion Range
2 +120° to -65° 110 °/s
and
3 +90° to -77° 140 °/s
Maximum
4 210° 200 °/s
Speed
5 125° 200 °/s *measured condition
6 210° 300 °/s ・installed on the plate rigidly
Max. Payload 100 kg fixed on the floor
JT Torque Moment of Inertia ・4200 mm away from JT1
Wrist Load 4 588.4 Nm 60 kgm2 center
Capacity 5 588.4 Nm 60 kgm2
The noise level depends
6 294.2 Nm 30 kgm2
on the conditions.
Repeatability 0.06 mm
Mass 740 kg
Acoustic Noise < 80 dB (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BX100L

Motion range
of point P

Point P

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 160° 105 °/s
Motion Range
2 +76° to -60° 130 °/s
and
3 +90° to -75° 130 °/s
Maximum
4 210° 200 °/s
Speed
5 125° 160 °/s
*measured condition
6 210° 300 °/s
・installed on the plate rigidly
Max. Payload 100 kg fixed on the floor
JT Torque Moment of Inertia ・4600 mm away from JT1
Wrist Load 4 830 Nm 85 kgm2 center
Capacity 5 830 Nm 85 kgm2
6 441 Nm 45 kgm2 The noise level depends
on the conditions.
Repeatability 0.06 mm
Mass 930 kg
Acoustic Noise < 80 dB (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BX130X

Motion range
of point P

Point P

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 160 ° 105 °/s
Motion Range
2 +76 ° to -60 ° 90 °/s
and
3 +90 ° to -75 ° 130 °/s
Maximum
4 210 ° 200 °/s
Speed
5 125 ° 160 °/s *measured condition
6 210 ° 300 °/s ・installed on the plate rigidly
Max. Payload 130 kg fixed on the floor
JT Torque Moment of Inertia ・5000 mm away from JT1
Wrist Load 4 830 Nm 85 kgm2 center
Capacity 5 830 Nm 85 kgm2 The noise level depends
6 441 Nm 45 kgm2 on the conditions.
Repeatability 0.06 mm
Mass 970 kg
Acoustic Noise < 80 dB (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BX165N

Motion range
of point P

Point P

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 160° 105 °/s
Motion Range
2 +76° to -60° 130 °/s
and
3 +90° to -75° 130 °/s
Maximum
4 210° 120 °/s
Speed
5 125° 160 °/s
6 210° 300 °/s
Max. Payload 165 kg *measured condition
JT Torque Moment of Inertia ・installed on the plate rigidly
Wrist Load 4 930 Nm 99 kgm2 fixed on the floor
Capacity 5 930 Nm 99 kgm2 ・4300 mm away from JT1
6 490 Nm 49.5 kgm2 center
Repeatability 0.06 mm
The noise level depends
Mass 903 kg
on the conditions.
Acoustic Noise < 80 dB (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BX165L

Motion range
of point P

Point P

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 160° 120 °/s
Motion Range
2 +76° to -60° 110 °/s
and
3 +90° to -75° 130 °/s
Maximum
4 210° 170 °/s
Speed
5 125° 170 °/s
6 210° 280 °/s
Max. Payload 165 kg *measured condition
JT Torque Moment of Inertia ・installed on the plate rigidly
Wrist Load 4 952 Nm 99 kgm2 fixed on the floor
Capacity 5 952 Nm 99 kgm2 ・4600 mm away from JT1
6 491 Nm 49.5 kgm2 center
Repeatability 0.06 mm
The noise level depends
Mass 930 kg
on the conditions.
Acoustic Noise < 80 dB (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BX200L

Motion range
of point P

Point P

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 160° 105 °/s
Motion Range
2 +76° to -60° 90 °/s
and
3 +90° to -75° 100 °/s
Maximum
4 210° 120 °/s
Speed
5 125° 120 °/s
6 210° 200 °/s *measured condition
Max. Payload 200 kg ・installed on the plate rigidly
JT Torque Moment of Inertia fixed on the floor
・4600 mm away from JT1
Wrist Load 4 1334.0 Nm 199.8 kgm2
center
Capacity 5 1334.0 Nm 199.8 kgm2
6 588.0 Nm 154.9 kgm2
The noise level depends
Repeatability 0.06 mm on the conditions.
Mass 930 kg
Acoustic Noise < 80 dB (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BX200X

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 180° 125 °/s
Motion Range
2 +76° to -60° 102 °/s
and
3 +90° to -110° 85 °/s
Maximum
4 210° 105 °/s
Speed
5 125° 120 °/s
6 210° 200 °/s *measured condition
Max. Payload 200 kg ・installed on the plate rigidly
JT Torque Moment of Inertia fixed on the floor
・4600 mm away from JT1
Wrist Load 4 1334.0 Nm 199.8 kgm2
center
Capacity 5 1334.0 Nm 199.8 kgm2
6 588.0 Nm 154.9 kgm2
The noise level depends
Repeatability 0.07 mm on the conditions.
Mass 1450 kg
Acoustic Noise < 80 dB (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BX250L

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 180° 125 °/s
Motion Range
2 +76° to -60° 120 °/s
and
3 +90° to -120° 100 °/s
Maximum
4 210 ° 140 °/s
Speed
5 125 ° 140 °/s
6 210 ° 200 °/s *measured condition
Max. Payload 250 kg ・installed on the plate rigidly
JT Torque Moment of Inertia fixed on the floor
・4800 mm away from JT1
Wrist Load 4 1800.0 Nm 200.0 kgm2
center
Capacity 5 1800.0 Nm 200.0 kgm2
6 750.0 Nm 165.0 kgm2
The noise level depends
Repeatability 0.07 mm on the conditions.
Mass 1460 kg
Acoustic Noise < 80 db (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BX300L

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 180° 125 °/s
Motion Range
2 +76° to -60° 102 °/s
and
3 +90° to -120° 85 °/s
Maximum
4 210° 105 °/s
Speed
5 125° 110 °/s
6 210° 180 °/s *measured condition
Max. Payload 300 kg ・installed on the plate rigidly
JT Torque Moment of Inertia fixed on the floor
・4800 mm away from JT1
Wrist Load 4 2300.0 Nm 240.0 kgm2
center
Capacity 5 1300.0 Nm 240.0 kgm2
6 1000.0 Nm 200.0 kgm2
The noise level depends
Repeatability 0.07 mm on the conditions.
Mass 1460 kg
Acoustic Noise < 80 dB (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BT165L

Point P

Motion range
of point P

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 160° 120 °/s
Motion Range
2 +80° to -130° 110 °/s
and
3 +90° to -75° 130 °/s
Maximum
4 210° 170 °/s
Speed
5 125° 170 °/s
6 210° 280 °/s *measured condition
Max. Payload 165 kg ・installed on the plate rigidly
JT Torque Moment of Inertia fixed on the floor
・5200 mm away from JT1
Wrist Load 4 952 Nm 99 kgm2
center
Capacity 5 952 Nm 99 kgm2
6 491 Nm 49.5 kgm2
The noise level depends
Repeatability 0.08 mm on the conditions.
Mass 1100 kg
Acoustic Noise < 80 dB (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BT200L

Point P

Motion range
of point P

Type Vertical Articulated Robot

Degree of
6
Freedom
JT Motion Range Max. Speed
1 160° 105 °/s
Motion Range
2 +80° to -130° 85 °/s
and
3 +90° to -75° 100 °/s
Maximum
4 210° 120 °/s
Speed
5 125° 120 °/s
6 210° 200 °/s *measured condition
Max. Payload 200 kg ・installed on the plate rigidly
JT Torque Moment of Inertia fixed on the floor
・5200 mm away from JT1
Wrist Load 4 1334.0 Nm 199.8 kgm2
center
Capacity 5 1334.0 Nm 199.8 kgm2
6 588.0 Nm 154.9 kgm2
The noise level depends
Repeatability 0.08 mm on the conditions.
Mass 1100 kg
Acoustic Noise < 80 dB (A)*

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

3.3 Mechanical Stoppers

For JT1, JT2 and JT3 of base axes, mechanical stoppers are mounted at the places shown in the figure
below. Among them, the motion range of JT1 can be changed by changing the mounting position of
stopper block of stopper member on the moving side.

However, when the motion range is changed, it is necessary to change the motion range limits to the
corresponding values by Auxiliary function 0507.

BX100S, BX100N, BX100L, BX130X, BX165N, BX165L, BX200L, BT165L, BT200L

JT3 stopper section

JT2 stopper section

JT1 stopper block JT1 stopper section

BX200X, BX250L, BX300 L

JT3 stopper section

JT1 stopper section

JT2 stopper section

JT1 stopper block

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

3.3.1 JT1 Stopper Block

Mounting position of JT1 stopper block can be changed by angular unit of 10 degrees. In addition,
reducing the motion range is possible by mounting two stopper blocks as an option.

When mounting a stopper block:

BX100S, BX100N, BX100L, BX130X, BX165N, BX165L, BX200L, BT165L, BT200L

Stopper block mounting position can only be changed within the motion range of 180 on both plus and
minus sides due to the restriction on control and harness treatment. Total motion range of both plus and
minus sides is 320.

Mounting a stopper block as shown below makes the motion range of 180 on the plus side and 140 on
the minus side.

For BX200X, BX250L and BX300L, the motion range is 180 on both plus and minus sides due to the
restriction from control and harness treatment and total motion range of both plus and minus sides is
360. Do not change the mounting position when mounting a stopper block because the motion range
on plus (or minus) side exceeds 180 if the mounting position is changed.

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

When mounting two stopper blocks:

BX100S, BX100N, BX100L, BX130X, BX165N, BX165L, BX200L, BT165L, BT200L

Stopper blocks mounting positions can only be changed within the motion range of 180 on both plus
and minus sides due to the restriction on control and harness treatment. However, the total motion range
of both plus and minus sides is between 10 and 270.

Mounting stopper blocks as shown below makes the motion range of 130 on the plus side and 140 on
the minus side.

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B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BX200X

Stopper blocks mounting positions can only be changed within the motion range of 180° on both plus
and minus sides due to the restriction on control and harness treatment. However, the total motion range
of both plus and minus sides is between 80° and 280°.
When setting the motion range between 0° and 80° or between 290° and 350°, special stopper blocks
are necessary. In this case, contact Kawasaki.
Mounting stopper blocks as shown below makes the motion range of 150° on the plus side and 130° on
the minus side.

30
B Series 3 Motion Range and Specifications of Robot
Kawasaki Robot Installation and Connection Manual

BX250L, BX300L

Stopper blocks mounting positions can only be changed within the motion range of 180° on both plus
and minus sides due to the restriction on control and harness treatment. However, the total motion range
of both plus and minus sides is between 60° and 300°.
When setting the motion range between 0° and 60° or between 310° and 350°, special stopper blocks
are necessary. In this case, contact Kawasaki.
Mounting stopper blocks as shown below makes the motion range of 160° on the plus side and 140° on
the minus side.

31
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

4 Robot Transportation Method

4.1 Using Wire Sling

There are two ways in which robots can be hoisted up by using wire slings.

4.1.1 Using Hoisting Jig

As shown in the figure below, hoist up the robot by fastening the wire slings to the hoisting jig attached
to robot arm. Attach the hoisting jig, referring to the figure shown below.

！ WARNING
Use a hoisting jig without fail when hoisting up robot. If the robot is hoisted up
without using the jig, robot may fall.

！ 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, damage or the wire may
interfere with the harness, piping etc., or it may damage due to interfering with
surrounding objects. Remove the hoisting jig attached to the arm once the
transportation of robot is complete.

32
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

Model BX100N BX165N

4 slings
4 slings

Hoisted
up
posture

Hoisting jig
Hoisting jig

JT1 0° 0°
JT2 -50° -45°
Hoisted
JT3 -77° -75°
up
JT4 0° 0°
posture
JT5 0° 0°
JT6 0° 0°

33
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

BX100L, BX130X,
Model BT165L, BT200L
BX165L, BX200L

4 slings
4 slings

Hoisted
up
posture

Hoisting jig Hoisting jig

JT1 0° 0°
JT2 -35° -130°
Hoisted
JT3 -75° -75°
up
JT4 0° 0°
posture
JT5 0° 0°
JT6 0° 0°

34
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

Attach the hoisting jig as shown in the figure below.

BX100N, BX100L, BX130X, BX165N, BX165L, BX200L

Hexagon socket head bolt
M12 x 40 (8 bolts)
Tightening torque: 98 N·m

Plain washer
(16 washers)

Hexagon socket head bolt

M12 x 35 (8 bolts) Hexagon nut M12
Tightening torque: 98 N·m (8 nuts)

or

Hexagon socket head bolt

M12 x 30 (8 bolts)
Tightening torque: 98 N·m

35
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

Hexagon socket head bolt

M12 x 35 (8 bolts)
Tightening torque: 98 N·m

The hoisting jig shown above can be used to hoist up BX200X, BX250L, and BX300L.
For the hoisted up postures, refer to the table in section “4.1.2 Fastening Wire Sling Directly on The
Arm.”

36
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

BT165L, BT200L

Hexagon socket head bolt

M16 x 40 (2 bolts)
Tightening torque: 235.2 N·m

Hexagon socket head bolt

M16 x 55 (4 bolts)
Tightening torque: 235.2 N·m
or

Hexagon socket head bolt

M16 x 45 (4 bolts)
Tightening torque: 235.2 N·m
37
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

4.1.2 Fastening Wire Sling Directly on the Arm

BX100S

Hoist up the robot arm with wire slings by hooking at the two hook points of the arm and one hook
point of hoisting jig shown in the figure below. (Manufactured by TAIYO, Name: V-hook, Nominal
working load: 1.25 t or equivalent)

Hexagon socket head bolt

M12 x 40 (4 bolts)
Tightening torque: 98 N·m

Hoisting jig

Hook point

Hook point

Hook point

38
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

BX100L, BX130X, BX165N, BX165L, BX200L

Hoist up the robot arm with wire slings by hooking at the three hook points of the arm shown in the
figure below. (Manufactured by TAIYO, Name: V-hook, Nominal working load: 1.25 t or equivalent)

Hook point

Hook point

Hook point

39
 B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

BX200X

Hoist up the robot arm with wire slings by hooking at the three hook points of the hoisting jig shown in
the figure below. (Manufactured by TAIYO, Name: V-hook, Nominal working load: 1.25 t or
equivalent)
Hexagon socket head bolt
M12 x 25 (4 bolts)
Tightening torque: 98 N·m
Hoisting jig

Hexagon socket head bolt

M12 x 40 (2 bolts)
Tightening torque: 98 N·m

Hoisting jig
Hoisting jig

High-tension washer (8 pcs)

Hexagon socket head bolt

M8 x 25 (8 bolts)
Tightening torque: 29.4 N·m

Hook point

Hook point

Hook point

40
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

or
Hexagon socket head bolt Hexagon socket head bolt
M12 x 45 (2 bolts) M12 x 35 (2 bolts)
Tightening torque: 98 N·m Tightening torque: 98 N·m

Hexagon socket head bolt

M12 x 35 (2 bolts)
Tightening torque: 98 N·m

Hoisting jig
Hoisting jig

High-tension washer (2 pcs)

Hexagon socket head bolt

M12 x 35 (2 bolts)
Tightening torque: 98 N·m

Hook point

Hook point

Hook point

41
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

BX250L, BX300L

Hoist up the robot arm with wire slings by hooking at the one hook point of the arm and two hook
points of hoisting jig shown in the figure below. (Manufactured by TAIYO, Name: V-hook, Nominal
working load: 1.25 t or equivalent)

Hexagon socket head bolt

M12 x 25 (4 bolts)
Tightening torque: 98 N·m
Hoisting jig

Hoisting jig

High-tension washer (8 pcs)

Hexagon socket head bolt

M8 x 20 (8 bolts)
Tightening torque: 29.4 N·m

Hook point

Hook point

Hook point

42
 B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

or

Hexagon socket head bolt Hexagon socket head bolt

M12 x 45 (2 bolts) M12 x 35 (2 bolts)
Tightening torque: 98 N·m Tightening torque: 98 N·m

Hoisting jig

High-tension washer (2 pcs)

Hexagon socket head bolt

M12 x 35 (2 bolts)
Tightening torque: 98 N·m

Hook point

Hook point

Hook point

43
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

BT165L, BT200L

Hoist up the robot arm with wire slings by hooking at the three hook points of the arm shown in the
figure below and hooking the sling to prevent base section from dropping at the one hook point of the
arm and the one hook point of the jig (Manufactured by TAIYO, Name: V-hook, Nominal working
load: 1.25t or equivalent).

Hook point

Hook point
Hook point
Sling to prevent base section
from dropping mounting point

Sling to prevent base section from dropping

(with shackles at both ends)

Sling to prevent base section from

Hexagon socket head bolt
dropping mounting point
M16 x 35 (2 bolts)
Sling to prevent base section from
Tightening torque: 235.2 N·m
dropping fixing jig

44
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

Model BX100S BX165N

3 slings
3 slings

Hoisted
up
posture

JT1 0° 0°
JT2 -30° -45°
Hoisted
JT3 -81° -75°
up
JT4 0° 0°
posture
JT5 0° 0°
JT6 0° 0°

45
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

BX100L, BX130X,
Model BT165L, BT200L
BX165L, BX200L

3 slings
3 slings

Sling to prevent
base section
from dropping

Hoisted
up
posture

JT1 0° 0°
JT2 -35° -130°
Hoisted
JT3 -75° -75°
up
JT4 0° 0°
posture
JT5 0° 0°
JT6 0° 0°

46
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

Model BX200X BX250L, BX300L

3 slings 3 slings

Hoisted
up
posture

JT1 0° 0°
JT2 -40° -40°
Hoisted
JT3 -35° -35°
up
JT4 0° 0°
posture
JT5 0° 0°
JT6 0° 0°

47
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

4.2 Forklift

According to the figure below, transport the robot by using a transportation jig for forklift attached to the
robot arm. Attach the transportation jig, referring to the figure shown below.

！ CAUTION
1. Check if a fork of the forklift penetrates the transportation jig sufficiently
without fail.
2. When transporting robot on an inclined or rough surface, be careful to
maintain balance to prevent forklift/robot from falling.
3. Remove the transportation jig attached to the arm once the transportation
of robot is complete.

BX100S, BX100N

48
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

BX100L, BX130X, BX165N, BX165L, BX200L

or

49
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

BX200X, BX250L, BX300L

50
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

BT165L, BT200L

Attach the transportation jig as shown in the figure below.

BX100S, BX100N, BX100L, BX130X, BX165N, BX165L, BX200L, BX250L, BX300L

Hexagon socket head bolt

M12 x 35 (8 bolts)
Tightening torque: 98 N·m

51
B Series 4 Robot Transportation Method
Kawasaki Robot Installation and Connection Manual

or

Hexagon socket head bolt

M12 x 30 (8 bolts)
Tightening torque: 98 N·m

BT165L, BT200L

Hexagon socket head bolt

M16 x 40 (8 bolts)
Tightening torque: 235.2 N·m

52
B Series 5 Installation Dimensions of Base Section
Kawasaki Robot Installation and Connection Manual

5 Installation Dimensions of Base Section

When installing a robot, fix the base section with high tension bolts through the bolt holes.

Model BX100S

Dimensions for
installation

Cross-section
of installation
section

Bolt hole 4-22

4-M20
High tension
Material: SCM435
bolt
Strength class: minimum 10.9
Tightening
431 Nm
torque
Levelness Within 5

Remove coating on the surface and mount ground line when using *2 ground tap (M6) without using
*1 ground tap (M6, 26 counterbore).

53
B Series 5 Installation Dimensions of Base Section
Kawasaki Robot Installation and Connection Manual

BX100N, BX100L, BX130X, BX165N,

Model
BX165L, BX200L, BT165L, BT200L

Dimensions for
installation

Cross-section
of installation
section

Bolt hole 8-22

8-M20
High tension
Material: SCM435
bolt
Strength class: minimum 10.9
Tightening
431 Nm
torque
Levelness Within 5°

54
B Series 5 Installation Dimensions of Base Section
Kawasaki Robot Installation and Connection Manual

Model BX200X, BX250L, BX300L

Dimensions for
installation

Cross-section
of installation
section

Bolt hole 8-22

8-M20
High tension
Material: SCM435
bolt
Strength class: minimum 10.9
Tightening
431 Nm
torque
Levelness Within 5

55
B Series 6 Movement Reaction Acting on Installation Surface during Operation
Kawasaki Robot Installation and Connection Manual

6 Movement Reaction Acting on Installation Surface during Operation

Refer to the list below for the movement reaction that acts on the installation surface during operation.
Consider these values at installation.

BX100L,
BX130X, BX250L BT165L
Model BX100S BX100N BX165N BX200X
BX165L, BX300L BT200L
BX200L
M
(Inversion Moment 27000 31000 33400 35000 53000 50000 40400
N·m)
T
10000 10000 13000 15000 17000 17000 21700
(Rotating Torque N·m)

See the next chapter for M and T.

56
B Series 7 Installation Method
Kawasaki Robot Installation and Connection Manual

7 Installation Method

7.1 When Installing the Base Directly on the Floor

In this case, bury steel plate (35 mm Min. thickness) 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.

M20
Tightening torque:
431 N·m

or more
30 mm

Steel plate
or more
35 mm

Concrete

57
B Series 7 Installation Method
Kawasaki Robot Installation and Connection Manual

7.2 When 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.
Reaction forces received from robot are the same as when installing the base directly on the floor.

Bolt hole

Base plate

Concrete

58
B Series 8 Mounting of Tools
Kawasaki Robot Installation and Connection Manual

8 Mounting of Tools

！ WARNING

Prior to mounting tools on the robot, turn OFF the controller power switch and
the external power switch. Display signs indicating clearly “Installation and
connection in progress”, and lock out/tag out the external power switch to prevent
personnel from accidentally turning ON the power.

8.1 Dimensions of Wrist End

Pin hole Tapped holes In the robot arm end section, a flange is provided
on which hand, gun, or other tools are mounted.
Screw the mounting bolts into the tapped holes
on the circumference of 160 on the flange,
referring to the figure on the left. Moreover,
position the tool by utilizing the pin holes.

8.2 When Passing Cable/Hose through Wrist Hollow Section

When passing a cable/hose through the wrist

hollow section, clamp is attached on the wrist
flange as shown in the left figure. Provide a hole
of 100 on the flange of the tool side, or use an
optional adapter plate or an adaptor bracket
(option, standard for BX250L/300L).
Outer diameter of
clamp
Adaptor bracket
Clamp

Pin hole Tapped holes

Adaptor plate
Outer diameter
of clamp
Clamp
59
B Series 8 Mounting of Tools
Kawasaki Robot Installation and Connection Manual

8.3 Specification of Mounting Bolt

Select mounting bolts with proper length to
secure the specified screwing depth according to
Mounting bolt the tapped depth of tool mounting flange. Use
Tool parts high tension mounting bolt and tighten them to
Screw depth

Screwing depth the specified torque.

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

Optional flange
Standard flange
(Adaptor plate)
B series (except B series (except
Model BX250L/300L
BX250L/300L) BX250L/300L)
Tapped holes 6-M10 10-M10 6-M10
D 160 160 125
Pin hole 2-10H7 Depth 12 2-10H7 Depth 12 2-10H7 Depth 14
Screw depth 19 mm 13 mm (through) 20 mm
Screwing depth 13 to 14 mm 13 to 18mm 13 to 14 mm
High tension bolt SCM435, 10.9 min. SCM435, 10.9 min. SCM435, 10.9 min.
Tightening torque 56.84 Nm 56.84 Nm 56.84 Nm

Optional flange (Adaptor bracket)

Model B series (except BX250L/300L)
Tapped holes 10-M10 6-M10* 6-M10*
D 92 125 160
Pin hole 2-9H7 Depth 12 2-10H7 Depth 12 2-10H7 Depth 12
Screw depth 12 mm (through) 12 mm (through) 12 mm (through)
Screwing depth 13 to 18 mm 13 to 18 mm 13 to 18 mm
High tension bolt SCM435, 10.9 min. SCM435, 10.9 min. SCM435, 10.9 min.
Tightening torque 56.84 Nm 56.84 Nm 56.84 Nm
NOTE* No need to use the tapped holes with ☆ in the figures below.
Pin hole Pin hole
Tapped hole Tapped hole

60
B Series 8 Mounting of Tools
Kawasaki Robot Installation and Connection Manual

8.4 Load Capacity

Load mass applicable to robot is specified for each model and includes the mass of tool, etc. Applicable
load torque and moment of inertia around wrist axes (JT4, JT5, 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 Expression

Load mass : M≦Mmax. (kg)

(including workpiece)
Load torque : T=9.8ML (Nm)

L6(m) Load moment of inertia: I=ML2+IG (kgm2)

IG

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

M(kg) L: Length from axis rotation L4, 5 : Length from JT4(5) axis rotation
center to load center of center to load center of gravity
gravity (Unit: m) (See the IG : Moment of inertia around center of
figure.) gravity (Unit: kgm2)
L6: Length from JT6 axis
rotation center to load center
of gravity

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

61
B Series 8 Mounting 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 tool mass should be less than the following value.

Model Max. load mass

BX100S, BX100N, BX100L 100 kg
BX130X 130 kg
BX165N, BX165L, BT165L 165 kg
BX200L, BX200X, BT200L 200 kg
BX250L 250 kg
BX300L 300 kg

2. The load torque and the moment of inertia around each wrist axis (JT4, JT5, JT6) should be within
the following restriction.

！ CAUTION
Set the load data via Auxiliary function 0304 after mounting of tools
without fail. Operating robot with wrong settings may cause vibrations
in motion, degradation of movement performance and shortening of
machine service life.

BX100S

kg·m2

134.8 JT4, JT5

Load moment of inertia

86.73
JT6 (830, 84.49)

(441.1, 45.05)

0
441.1 830
N·m
Load torque

62
B Series 8 Mounting of Tools
Kawasaki Robot Installation and Connection Manual

BX100N

kg·m2

127.8 JT4, JT5

Load moment of inertia

75.9
JT6
(588.4, 60.0)

(294.2, 30.0)

0
294.2 588.4
N·m
Load torque

BX100L

kg·m2

134.8 JT4, JT5

Load moment of inertia

86.7
JT6 (830.2, 85.0)

(441.3, 45.0)

0
441.3 830.2
N·m
Load torque

63
B Series 8 Mounting of Tools
Kawasaki Robot Installation and Connection Manual

BX130X

kg·m2

212.2
JT4, JT5
151.9
Load moment of inertia

JT6

(830.0, 85.0)

(441.1, 45.0)

0
441.1 830.0
N·m
Load torque

BX165N

kg·m2

(69.0, 285.9)
285.9 JT4, JT5
Load moment of inertia

(930.0, 99.0)

JT6
(372.3, 86.7)
86.7
(490.3, 49.6)
0
490.3 930.0
N·m
Load torque

64
B Series 8 Mounting of Tools
Kawasaki Robot Installation and Connection Manual

BX165L, BT165L

kg·m2

(478.4, 177.6)
177.6 JT4, JT5
Load moment of inertia

(952, 99.0)
(423.1, 76.6)
76.6 JT6

(491.1, 49.6)

0
491.1 952
N·m
Load torque

BX200L, BX200X, BT200L

kg·m2

(179.6, 389.9)
389.9
JT4, JT5
Load moment of inertia

(266.5, 237.4)
237.4 JT6
(1333.7, 199.8)
(588.0, 159.9)

0
588.0 1333.7
N·m
Load torque

65
B Series 8 Mounting of Tools
Kawasaki Robot Installation and Connection Manual

BX250L

kg·m2
(722.4, 424)
424 JT4, JT5
Load moment of inertia

JT6
165 (750.0, 165) (1800.0, 200)

0
750.0 1800.0
N·m
Load torque

BX300L

kg·m2

(686.7, 790.5)
790.5
JT4, JT5
Load moment of inertia

JT6

268.5 (870.6, 268.5)

(2300.0, 240.0)
(1000.0, 200.0)

0
1000.0 2300.0
N·m
Load torque

66
B Series 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.

BX100S

4-M6 Depth 12 2x2-M6 Depth 12

Cross section A-A

2-M6 Depth 12

67
B Series 9 Mounting External Equipment
Kawasaki Robot Installation and Connection Manual

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.

BX100N

2x2-M6 Depth 12

Cross section A-A

4-M8 Depth 16

3-M6 Depth 12

68
B Series 9 Mounting External Equipment
Kawasaki Robot Installation and Connection Manual

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.

BX100L, BX130X, BX165N, BX165L, BX200L

2x2-M6 Depth 12

Cross section A-A

4-M8 Depth 16 4-M8 Depth 16

3-M6 Depth 12

69
B Series 9 Mounting External Equipment
Kawasaki Robot Installation and Connection Manual

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.

BX200X

2x2-M6 Depth 12

4-M8 Depth 16

4-M8 Depth 16

2-M12 Depth 24

Cross section A-A

70
B Series 9 Mounting External Equipment
Kawasaki Robot Installation and Connection Manual

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.

BX250L, BX300L

2x2-M6 Depth 12

4-M8 Depth 16

4-M8 Depth 16

71
B Series 9 Mounting External Equipment
Kawasaki Robot Installation and Connection Manual

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.

BT165L, BT200L

2x2-M6 Depth 12

Cross section A-A

4-M8 Depth 16
4-M8 Depth 16

3-M6 Depth 12

72
B Series 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
Using the robot beyond its specified load capacity may result in degradation of
movement performance and shortening of machine service life. If the load
exceeds load capacity, first contact Kawasaki without fail.

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 below.

Calculation Expression
BX100S, BX100N, BX100L, BX130X, BX165N, BX165L, BX200L, BT165L, BT200L

L1 L2 L3 (LW)
l3 lW

W3
W

・JT3: W(L3+lw)+W3l3≦Wmax(L3+LW)
・JT2: W(L2+L3+lw)+W3(L2+l3)≦Wmax(L2+L3+LW)

BX200X

L1 L2 L3 LW
l3 lW

W3
W

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B Series 9 Mounting External Equipment
Kawasaki Robot Installation and Connection Manual

BX250L, BX300L
L1 L2 L3 LW
l3 lW

W3
W
Wmax : Max. allowable load [kg]
W : Load on wrist end [kg]
W3 : Total load on upper arm [kg]
・JT3: W(L3+lw)+W3l3≦Wmax(L3+LW) lw : Length between wrist center and the gravity
・JT2: W+W3≦Wmax center of load on wrist section [mm]
L w : Length between wrist center and gravity center
of max. allowable load on wrist sect [mm]
l3 : Length between JT2 rotation center and gravity
center of total load on upper arm [mm]
Use data in the table below for calculation.

L1 [mm] L2 [mm] L3 [mm] Lw [mm] Wmax [kg]

BX100S 200 580 885 1171 100
BX100N 200 880 1120 600 100
BX100L 200 1126 1271 847 100
BX130X 200 1126 1666 651 130
BX165N 200 854 1271 575 165
BX165L 200 1126 1271 674 165
BX200L 200 1126 1271 680 200
BX200X 210 1252 1950 680 200
BX250L 210 1252 1350 766 250
BX300L 210 1252 1350 808 300
BT165L 720 1160 1271 674 165
BT200L 720 1160 1271 680 200

However, do not exceed the value below for W3.

W(L1+L2+L3+lw)+W3(L1+L2+l3)≤Wmax(L1+L2+L3+Lw)

！ CAUTION
W3, W, l3 and lw are set as default in shipment. When using a robot for the first
time or when changing the load mass or the position of the gravity center of the
load, set the W3, W, l3 and lw via Auxiliary 0304 and 0404. Operating robot with
wrong settings may cause vibrations in motion, degradation of movement
performance and shortening of machine service life.

74
B Series
Kawasaki Robot Installation and Connection Manual

75
 B Series
Installation and Connection Manual

2012-02 : 1st Edition

2019-10 : 11th Edition

Publication : Kawasaki Heavy Industries, Ltd.

90202-1120DEK

Copyright © 2012 Kawasaki Heavy Industries, Ltd. All rights reserved.