Robot System Products P6413, Product Manual

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28 M0620-1 ver 2.8
3.6 Hints
3.6.1 Programming
The following will ensure a correct docking position.
Action
1 Attach a spare tool attachment to the swivel tool changer.
2 Position a spare tool attachment above the tool attachment that is mounted on the
tool.
3 The right position is found when the tool attachments are parallel, centered and
engraved arrows are on the same line.
4 Save the position. The robot can move to this position with high speed.
5 Dismount the spare tool attachment.
6 Go back to the saved position and move the swivel tool changer (in the direction of
axis 6) the remaining distance to the tool attachment (mounted on the tool).
7 Save the position. The robot 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 guarantee reliability and a long service-life for the swivel tool changer,
the tool stand must be stable, both in terms of its design and attachment.
NOTE!
The tool stand must not be spring-loaded!
See section 2.2.2 for suitable tool stand equipment.
3.6.4 Tool Identification
Jumpers on signals at the tool attachment can be used to give information about
which tool attachment that is docked in the swivel tool changer.
3.6.5 Arm load parameters
Swivel and tools are adding load to the robot and rotational friction and torque to
axis 6. If the load and torque force are not stated during programming it may
affect the behaviour and wear of the robot and robot peripherals.