Robot System Products P6413 Product Manual Download Page 10 | Manualshive

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Robot System Products P6413 Product Manual Download Page 10

10

M0620-1 ver 2.8

2.1.1 Coordinate System Definition

A swivel tool changer adds load to the robot. If the arm and tool loads are not stated correctly
during programming the behaviour of the robot and the wear of the equipment will be affected.
Information about weight and centre of gravity can, in accordance with the co-ordinate system
stated below, be found in the technical specification tables of the swivel tool changers.

NOTE!

For the swivel tool changer origo is situated on the surface in the centre of the
robot mounting flange.

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Summary of Contents for P6413

Page 1: ...m0403 Product Manual Swivel tool changer STC250 M0620 1 Tool changers Swivels Swivel tool changers Grippers Hose packages Valve units Tool systems...

Page 2: ...2 M0620 1 ver 2 8...

Page 3: ...of this document or the software or hardware described in this document The document or parts of it may not be reproduced or copied without prior permission from Robot System Products AB It may neith...

Page 4: ...P6431 16 2 1 8 Square Tool Attachment TA250 8E Article no P6473 17 2 1 9 Pneumatic diagram 18 2 1 10 Circuit diagram E0196 004 for P6414 19 2 1 11 Circuit diagram E0196 002 for P6418 20 2 1 12 Circui...

Page 5: ...aning 32 4 3 1 Cleaning and lubrication of swivel tool changer 32 4 3 2 Cleaning of tool attachment 33 4 4 Replacement of swivel tool changer 34 4 5 Replacement of wear parts 36 4 5 1 Replacement of a...

Page 6: ...Tool stands Robot System Products swivel tool changers are constructed to maximize the flexibility and reliability of your robot fleet Through our patented locking device TrueConnect robustness and hi...

Page 7: ...nger if the air pressure is safely switched off WARNING Be aware that swivel tool changers and tool attachments are heavy and may cause personal injury and equipment damage if dropped NOTE The swivel...

Page 8: ...ins in place in the swivel tool changer even if the air pressure drops When using a swivel tool changer compressed air and electric signals will be directly available at the tool without loose hanging...

Page 9: ...l version is designated E The swivel tool changer STC250 6 and STC250 6E cannot transport fluids The spring loaded signal pins of STC250 6E are placed and protected along a circle close to the centre...

Page 10: ...ng the behaviour of the robot and the wear of the equipment will be affected Information about weight and centre of gravity can in accordance with the co ordinate system stated below be found in the t...

Page 11: ...25 6 M10 Maximum tool load Fz static Mx My dynamic Mz dynamic 2 000 N 2 000 Nm 1 250 Nm Weight and centre of gravity Z 14 3 kg 90 mm 16 8 kg 103 mm 17 8 kg 108 mm P6413 P6413 with P6417 P6413 with P64...

Page 12: ...pattern ISO9409 1 125 6 M10 Weight 2 7 kg Maximum tool load M10 screws Fz static Mx My dynamic Mz dynamic 2 000 N 2 000 Nm 1 250 Nm Maximum tool load M8 screws Fz static Mx My dynamic Mz dynamic 2 00...

Page 13: ...chnical data Working temperature 10 C 60 C Bolt pattern ISO9409 1 125 6 M10 Weight 3 6 kg Maximum tool load M10 screws Fz static Mx My dynamic Mz dynamic 2 000 N 2 000 Nm 1 250 Nm Maximum tool load M8...

Page 14: ...250 Nm Weight and centre of gravity Z 14 6 kg 88 mm 17 3 kg 101 mm 17 3 kg 102mm 18 2 kg 107 mm P6414 P6414 with P6418 P6414 with P6431 P6414 with P6473 Air channels Pneumatic diagram User channels ro...

Page 15: ...tic Mx My dynamic Mz dynamic 2 000 N 2 000 Nm 1 250 Nm Maximum tool load M8 screws Fz static Mx My dynamic Mz dynamic 2 000 N 2 000 Nm 750 Nm Air channels Connection tool side 8 x G 1 4 Electrical sig...

Page 16: ...c Mx My dynamic Mz dynamic 2 000 N 2 000 Nm 1 250 Nm Maximum tool load M8 screws Fz static Mx My dynamic Mz dynamic 2 000 N 2 000 Nm 750 Nm Air channels Connection tool side 8 x G 1 4 Electrical signa...

Page 17: ...ht 3 7 kg Maximum tool load M10 screws Fz static Mx My dynamic Mz dynamic 2 000 N 2 000 Nm 1 250 Nm Maximum tool load M8 screws Fz static Mx My dynamic Mz dynamic 2 000 N 2 000 Nm 750 Nm Air channels...

Page 18: ...18 M0620 1 ver 2 8 2 1 9 Pneumatic diagram...

Page 19: ...M0620 1 ver 2 8 19 2 1 10 Circuit diagram E0196 004 for P6414...

Page 20: ...20 M0620 1 ver 2 8 2 1 11 Circuit diagram E0196 002 for P6418...

Page 21: ...M0620 1 ver 2 8 21 2 1 12 Circuit diagram E0196 009 for P6431 and P6473...

Page 22: ...Dependent on robot model alternative rotation stops are required which are available from RSP The flange of the swivel tool changer has fastening holes in accordance with ISO 9409 1 125 6 M10 accordi...

Page 23: ...e limitations on the movement of axis 5 for some robot models Contact Robot System Products for more information 2 2 4 Connection kits and cables Part number Description P8002 Electrical connection ki...

Page 24: ...es for mounting screw class 8 8 Dimension Torque M4 3 Nm M5 6 Nm M6 10 Nm M8 24 Nm M10 47 Nm M12 82 Nm M16 200 Nm 3 2 Recommended tools for installation Tools Applications Complete set of Allen keys F...

Page 25: ...hanger may cause damage if dropped 5 Mount swivel tool changer Mount the swivel tool changer with the enclosed screws Use an Allen key for tightening see tightening torques above 6 Turn robot arm into...

Page 26: ...he tool attachment using a torque wrench with either M8 or M10 screws o M8 screws are put in from the tool attachment side to threaded M8 holes in the gripper tool o M10 screws are put in from the gri...

Page 27: ...rvice position Place the robot in service position 4 Pneumatic air off NOTE The pressure in the pneumatic system must be released before dismounting begins 5 Power off Switch the power off and lock th...

Page 28: ...obot should move to this position with low speed 3 6 2 Electrical installation Connection kits for the swivel tool changer and tool attachment are available see section 2 2 4 3 6 3 Tool stand NOTE To...

Page 29: ...is safely switched off NOTE Swivel tool changers must only be dismantled and repaired by Robot System Products during the warranty period Otherwise the warranty will not be valid 4 1 1 Required produc...

Page 30: ...ties and intervals Equipment Maintenance activity Interval Description Swivel tool changer Inspection 2 weeks Visual inspection of swivel tool changer see section 4 2 1 Swivel tool changer Cleaning 1...

Page 31: ...4 2 1 Inspection of the swivel tool changer Visually check the following Check Note Air connections Not damaged or dirty Air sealings No wear not damaged or dirty Electrical connection STC250 6E only...

Page 32: ...l cleaning may be necessary to free any balls stuck in place 3 Lubricate looking balls Apply a small amount of grease Molykote BR2Plus on the locking balls NOTE It is important that this is done or th...

Page 33: ...lls and the contact surfaces of the air sealings with a cloth 2 Clean contact surfaces of air sealings Wipe the contact surfaces of the air sealings with a cloth 2 Clean contact surfaces TA250 8E only...

Page 34: ...locked position 4 Power off Switch the power off and lock the circuit breaker NOTE Read the safety chapter for the robot 5 Pneumatic air off NOTE The pressure in the pneumatic system must be released...

Page 35: ...eavy and may cause damage if dropped NOTE Be careful not to damage the signal pins at the tool side of the swivel tool changer 9 Dismount swivel tool changer NOTE A guide pin is mounted between the sw...

Page 36: ...s Action Note 1 Remove air sealings Remove the air sealings with a screw driver NOTE There are totally 8 air sealings 2 Clean sealing holes Wipe clean the sealing holes Remove all remaining parts of t...

Page 37: ...ould be pressed fully into the sleeve 4 Power on Unlock the circuit breaker and switch the power on 4 6 Complete service of swivel tool changer We recommend a complete service on swivel tool changers...

Page 38: ...1 Part list for swivel tool changer P6413 and P6414 Item Description Part number Wear part Pcs 1 Locking screw M10x160 MC6S 10X160 1 2 Spring loaded signal pins P6414 only I0042 X 20 3 Air sealing 63...

Page 39: ...on Part number Wear part Pcs 1 Connector TA250 8E only A0196 035 1 2 Connection plate TA250 8E only P6476 1 3 Screw MFT M3x16 6 5 3 Part list for tool attachment P6431 Item Description Part number Wea...

Page 40: ...5 4 Part list for square tool attachment P6473 and P6474 Item Description Part number Wear part Pcs 1 Connection plate TA250 8E only AO178 473 1 2 O ring I0298 1 3 O ring I0173 8 4 Screw MFX M3x8 4 5...

Page 41: ...d used in new products They shall be sorted according to type and surface coating and handed over to an authorized recycling facility Metal components of steel and aluminium are substantial in size an...

Page 42: ...42 M0620 1 ver 2 8...

Page 43: ...M0620 1 ver 2 8 43...

Page 44: ...44 M0620 1 ver 2 8...

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