Kamada and Palace boss Oliver Glasner won the Europa League together two years ago.
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The Japan international told Palace's website: “In the Premier League, I think one of the team’s main objectives is to qualify for next season’s European competition, and I hope I can contribute to that.
“When I was in Germany, my Frankfurt team tended to make great progress in the cup competitions.
"So in that sense, the cup competitions will be a good chance to win a trophy with Crystal Palace too, and I would like to play in this team with the aim of winning a big title like that.”