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M0109-1 ver 2.2

2.1.1 Coordinate System Definition

A 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 tool changer.

NOTE!

For the tool changer and tool changer with tool attachment, the origo is situated in
the centre of the robot mounting flange.

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Summary of Contents for P1001

Page 1: ...m0403 Product Manual Tool changer TC5 M0109 1 Tool changers Swivels Swivel tool changers Grippers Hose packages Valve units Tool systems ...

Page 2: ...2 M0109 1 ver 2 2 ...

Page 3: ...e 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 neither be imparted to a third party nor otherwise be used without authorization Infringement hereof will be subject to action in accordance with the applicable laws Further copies of this document can be...

Page 4: ...r TC5 and TA5 15 2 1 7 Circuit diagram E0211 006 for P1003 16 2 1 8 Circuit diagram E0211 007 for P1004 17 2 2 Options to tool changers and tool attachment 18 2 2 1 Signal interface 8 signals robot side Article no P1013 18 2 2 2 Signal interface 8 signals tool side Article no P1014 19 2 2 3 Tool stand kit Article no P1005 20 2 2 4 Robot adaptation kit 20 2 2 5 Limitation of Robot movement 21 2 2 6...

Page 5: ...l attachment 27 4 3 Cleaning 28 4 3 1 Cleaning and lubrication of swivel with tool changer 28 4 3 2 Cleaning of tool attachment 29 4 4 Replacement of wear parts 30 4 4 1 Replacement of air sealings 30 4 4 2 Replacement of signal pins TC5 4E only 30 4 5 Complete service of tool changer 31 4 6 Replacement of tool changer 31 5 SPARE PARTS 33 5 1 Part list for tool changer P1001 and P1003 33 5 2 Part ...

Page 6: ...l systems Tool stands Robot System Products tool changers are constructed to maximize the flexibility and reliability of your robot fleet Through our patented locking device TrueConnect robustness and high safety are combined with low weight and compactness With our swivels you can provide compressed air water electrical and data signals as well as weld and servo power to your tools with robot mot...

Page 7: ...tool changer if the air pressure is safely switched off WARNING Be aware that tool changer and tool attachment may cause personal injury and equipment damage if dropped NOTE The tool changer shall always be in locked position also when empty to avoid unexpected locking if air pressure is lost WARNING Electric signals and power must be disconnected switched off when docking the tool attachment This...

Page 8: ...bility The principle behind the locking mechanism is the uniform distribution of load obtained by pressing looking balls into spherical grooves In consequence substantially larger positional tolerances are accepted during docking 1 3 Complementary Equipment Complementary equipment is described in separate documents Article Note Cable and Hose Package Complete packages for most robots on the market...

Page 9: ...s to facilitate electrical installation and a tool stand kit The tool changer TC5 6 transfers compressed air to the tool It can be equipped with transfer of electrical signals via spring loaded signal pins to the tool attachment The electrical version is designated E The tool changers TC5 6 and TC5 4E cannot transport fluids For other bolt circles adaptation plates between the tool changer and the...

Page 10: ...haviour 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 tool changer NOTE For the tool changer and tool changer with tool attachment the origo is situated in the centre of the robot mounting flange ...

Page 11: ... Fz static Mx My dynamic Mz dynamic 50 N 50 Nm 50 Nm Weight and centre of gravity P1001 P1001 P1002 Weight Mass centre X Y Z Weight Mass centre X Y Z 0 23 kg 0 0 16 2 0 4 mm 0 28 kg 0 0 19 1 0 2 mm Air ducts Pneumatic diagram Total number of ducts Dedicated air ducts Max air pressure Air flow Connection robot side Air quality See section 2 1 6 8 Open TC marked O 6 10 bar Close TC marked C 6 10 bar...

Page 12: ...0 C Bolt pattern ISO 9409 1 31 5 4 M5 Weight 0 06 kg Maximum tool load M6 screws Fz static Mx My dynamic Mz dynamic 50 N 50 Nm 50 Nm Maximum tool load M5 screws Fz static Mx My dynamic Mz dynamic 50 N 50 Nm 30 Nm Air ducts Number of ducts Connection tool side 6 M5 NOTE Tools can be mounted to the tool attachment using four M5 screws alternatively the tool attachment can be mounted to the tool usin...

Page 13: ...e of gravity P1003 P1001 P1003 Weight Mass centre X Y Z Weight Mass centre X Y Z 0 26 kg 0 3 4 1 15 6 mm 0 34 kg 0 2 5 8 19 0 mm Air ducts Pneumatic diagram Total number of ducts Dedicated air ducts Max air pressure Air flow Connection robot side Air quality See section 2 1 6 6 Open TC marked O 6 10 bar Close TC marked C 6 10 bar 10 bar 100 l min M5 Oil clean and waterless filtered air with max 25...

Page 14: ...6 screws Fz static Mx My dynamic Mz dynamic 50 N 50 Nm 50 Nm Maximum tool load M5 screws Fz static Mx My dynamic Mz dynamic 50 N 50 Nm 30 Nm Air ducts Number of ducts Connection tool side 4 M5 Electrical signals Circuit diagram Total number of signals Connection tool side E0211 007 see section 2 1 8 8 0 8 m cable 8x0 25 mm with free end NOTE Tools can be mounted to the tool attachment using four M...

Page 15: ...M0109 1 ver 2 2 15 2 1 6 Pneumatic diagram for TC5 and TA5 NOTE Ducts 1 and 2 are not available for TC5 4E and TA5 4E ...

Page 16: ...16 M0109 1 ver 2 2 2 1 7 Circuit diagram E0211 006 for P1003 ...

Page 17: ...M0109 1 ver 2 2 17 2 1 8 Circuit diagram E0211 007 for P1004 ...

Page 18: ...ger To be used with option P1014 on the tool attachment Technical data Weight 0 04 kg Electrical signals Circuit diagram Total number of signals Dedicated signals Max current Max voltage Connections E0211 006 see section 2 1 7 8 1 A 60 V M12 8p NOTE P1013 is included in P1003 An additional P1013 can be mounted on P1003 making totally 16 electrical signals transferable but limiting the pneumatic ch...

Page 19: ...different positions on the tool attachment To be used with option P1013 on the tool changer Technical data Weight 0 02 kg Electrical signals Circuit diagram Total number of signals Connection tool side E0211 007 see section 2 1 8 8 0 8 m cable 8 x 0 25 mm with free end NOTE P1014 is included in P1004 An additional P1014 can be mounted on P1004 ...

Page 20: ...and spacers shall be mounted on the tool attachments P1002 or P1004 Technical data Weight 0 02 kg Maximum load 5 kg 2 2 4 Robot adaptation kit The flange of TC5 has fastening holes in accordance with ISO 9409 1 40 4 M6 Adaptation plates which are mounted between the tool changer and the robot flange are available for other bolt circles The order number is customer specific depending on the robot ...

Page 21: ... M12 8P M12 8S 2 meter cable 0 25 mm P0025 30 Electrical connection kit for P0103 M12 8P M12 8S 3 meter cable 0 25 mm 3 INSTALLATION 3 1 Tightening torques Tightening torques 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 For dismounting and mounting ...

Page 22: ...the enclosed guide pin into the adaptation plate 5 Fit tool changer Lift the tool changer to the robot flange or adaptation plate Make sure that the guide pin is fitted to the guide hole in the tool changer WARNING The tool changer may cause personal injury and equipment damage if dropped 6 Mount tool changer Mount the tool changer with the enclosed screws Use an Allen key for tightening see tight...

Page 23: ...nt tool attachment Mount the tool attachment using a torque wrench with either M4 or M5 screws o M4 screws are put in from the tool attachment side to threaded M4 holes in the gripper tool o M5 screws are put in from the gripper tool side to the threaded M5 holes in the tool attachment See tightening torques above 5 Connect air Connect air according to markings NOTE Pneumatic diagram is found in s...

Page 24: ... 7 Save the position The robot should move the final distance to this position with low speed 3 5 2 Sparking WARNING Electrical signals and power must be switched off and disconnected when docking the tool attachment This is to prevent sparking between signal pins and tool attachment 3 5 3 Electrical installation Connection kits for the tool changer and tool attachment are available see section 2 ...

Page 25: ...NOTE 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 products Product Specification Note Grease 3HXG1000 413 Magnalube G Teflon grease O rings Grease I0876 MolykoteBR2Plus Locking balls Cleaning agent Denatured alcohol or similar Signal pins at tool changer and signal contacts at tool att...

Page 26: ... and intervals on tool changer Equipment Maintenance activity Interval Description Tool changer Inspection 2 weeks Visual inspection of tool changer see section 4 2 1 Tool changer Cleaning 1 month Cleaning of tool changer interval depending on the environment see section 4 3 1 Looking balls Clean and lubricate 1 month Check wipe clean and lubricate looking balls see section 4 3 1 Signal pins Clean...

Page 27: ...attachment interval depending on the environment see section 4 3 2 4 2 Visual inspection 4 2 1 Inspection of the tool changer Visually check the following Check Note Air sealings Not worn damaged or dirty Locking balls Greased Not dirty Signal pins TC5 4E only Not damaged or dirty Cables Not squeezed or damaged All parts No wear All parts No damage All parts No dirt 4 2 2 Inspection of the tool at...

Page 28: ...itional 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 there might else be a risk that the tool attachment jams 3 Clean signal pins TC5 4E only Clean only the contact surfaces NOTE Avoid cleaning solvent in the housing 4 General cleaning Clean the swi...

Page 29: ...f tool attachment Action Note 1 Clean grooves Wipe the grooves for the locking balls with a cloth 2 Clean contact surfaces TA5 4E only Clean the signal contact surface with a cloth 3 General cleaning Clean the tool attachment in general ...

Page 30: ...glue 3 Replace air sealing Glue the new air sealing in the sealing groove Use a small amount of Loctite 480 or similar Press the sealing 60 120 seconds until the glue hardens Action Note 1 Power off Switch the power off and lock the circuit breaker 2 Remove signal pins Pull out the signal pins with a pair of pliers NOTE There are totally 8 signal pins 3 Replace signal pins Fit the new signal pins ...

Page 31: ...mounting and mounting of tool changer Torque wrench For all socket head cap screws Dismounting the tool changer Action Note 1 Safety Read the safety section 1 1 2 Dismount tool Leave tool with tool attachment mounted in tool stand 3 Service position Place the robot in service position NOTE The tool change function shall be in locked position 4 Power off Switch the power off and lock the circuit br...

Page 32: ...may cause personal injury and equipment damage if dropped NOTE Be careful not to damage the signal pins TC5 4E only 9 Dismount tool changer NOTE A guide pin is mounted between the tool changer and the robot flange 10 Clean the robot flange adaptation plate 11 Mount replacement tool changer Follow instructions in section 3 3 ...

Page 33: ... number Wear part Pcs 1 TC5 6 P1001 1 1A Air sealing I0812 X 6 2 Signal interface P1113 1 2A Spring loaded signal pins I0154 X 8 3 Screw MRX 3x25 4 5 2 Part list for tool attachment P1002 and P1004 Item Description Part number Wear part Pcs 1 TA5 6 P1002 1 2 Signal interface P1114 1 3 Screw MRX 3x20 4 ...

Page 34: ...13 Item Description Part number Wear part Pcs 1 Screw MRX 3x25 4 2 Signal contact P0162 1 3 Signal pins I0154 X 8 4 O ring P0185 007A 1 5 4 Part list for signal interface P1014 Item Description Part number Wear part Pcs 1 Screw MRX 3x20 2 2 Cable P0208 032 1 ...

Page 35: ...nd 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 and easy to identify Copper is primarily used in transmission of power for spot welding Silver or gold plating of contact surfaces may occur Plastics Thermoplastics can in general be re heated and recy...

Page 36: ...36 M0109 1 ver 2 2 ...

Page 37: ...M0109 1 ver 2 2 37 ...

Page 38: ...38 M0109 1 ver 2 2 ...

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