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M0619-1 ver. 2.6

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 P6411

Page 1: ...m0403 Product Manual Tool changer TC250 8 TC250 8E M0619 1 Tool changers Swivels Swivel tool changers Grippers Hose packages Valve units Tool systems ...

Page 2: ...2 M0619 1 ver 2 6 ...

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: ...Attachment TA250 8E Article no P6431 17 2 1 8 Square Tool Attachment TA250 8E Article no P6473 18 2 1 9 Pneumatic diagram for tool changers P6411 and P6412 19 2 1 10 Circuit diagram E0196 001 for P6412 20 2 1 11 Circuit diagram E0196 002 for P6418 21 2 1 12 Circuit diagram E0196 009 for P6431 and P6473 22 2 2 Options to TC 23 2 2 1 Robot adaptation kit 23 2 2 2 Tool stand kit Article no P6472 24 2...

Page 5: ...3 Cleaning 32 4 3 1 Cleaning and lubrication of tool changer 32 4 3 2 Cleaning of tool attachment 33 4 4 Replacement of tool changer 34 4 5 Replacement of wear parts 35 4 5 1 Replacement of air sealings 35 4 5 2 Replacement of signal pins TC250 8E only 35 4 5 3 Replacement of O ring 36 4 6 Complete service of tool changer 36 5 SPARE PARTS 37 5 1 Part list for tool changer P6411 and P6412 37 5 2 Pa...

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: ... for the robot WARNING Only perform work on grippers or tools attached to the tool changer if the air pressure is safely switched off WARNING Be aware that tool changer and tool attachment are heavy and 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 1 1 2 Explanat...

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: ...50 8 and TC250 8E cannot transport fluids The spring loaded signal pins of TC250 8E are placed and protected at the centre of the tool changer The contact surface of the tool attachment and the signal pins are not in connection until at the very end of the docking cycle when the tool attachment is already properly aligned This guarantees a minimum of wear of the contact surfaces The electrical uni...

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: ...409 1 125 6 M10 Weight P6411 P6411 and P6417 P6411 and P6474 6 0 kg 8 6 kg 9 5 kg Maximum tool load Fz static Mx My dynamic Mz dynamic 2 000 N 2 000 Nm 1 250 Nm Air ducts Pneumatic diagram Total number of ducts Dedicated air ducts Max air pressure Air flow Air quality Connection robot side See section 2 1 9 10 Open TC marked Open 6 10 bar Close TC marked Close 6 10 bar 10 bar 1 600 l min Oil clean...

Page 12: ...attern 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 2 000 N 2 000 Nm 750 Nm Air ducts Number of air ducts Connection tool side 8 G 1 4 Note Tools can be mounted to the tool attachment using six M10 screws alternatively the tool attachment can be mounted to t...

Page 13: ...411 Technical 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 screws Fz static Mx My dynamic Mz dynamic 2 000 N 2 000 Nm 750 Nm Air ducts Number of air ducts Connection tool side 8 G 1 4 Note Tools can be mounted to the tool attachment using six M10 screw...

Page 14: ...Tool Changer with air and electric signals TC250 8E Article P6412 Tool changer P6412 transfers 8 pneumatic channels and 19 electrical signals to the tool attachment To be used together with tool attachment P6418 P6473 or P6431 ...

Page 15: ... diagram Total number of ducts Dedicated air ducts Max air pressure Air flow Connection robot side Air quality See section 2 1 9 10 Open TC marked Open 6 10 bar Close TC marked Close 6 10 bar 10 bar 1 600 l min G 1 4 Oil clean and waterless filtered air with max 25µm particle content Electric channels Circuit diagram Total number of signals Dedicated signals Max currency Max voltage Connections E0...

Page 16: ...s 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 ducts Number of air ducts Connection tool side 8 G 1 4 Electrical signals Circuit diagram Total number of signals Dedicated signals Connection tool side E0196 002 see section 2 1 11 19 24V DC 0V DC Souriau UTOW01419SH Note Tools can be mounted to...

Page 17: ...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 ducts Number of air ducts Connection tool side 8 G 1 4 Electrical signals Circuit diagram Total number of signals Dedicated signals Connection tool side E0196 009 see section 2 1 12 19 24 V DC 0 V DC 1 0 m cable 20x0 5mm with free end Note Tools can be m...

Page 18: ...ight 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 ducts Number of air ducts Connection tool side 8 G 1 4 Electrical signals Circuit diagram Total number of signals Dedicated signals Connection tool side E0196 009 see section 2 1 12 19 24 V DC 0 V DC 1 0 m c...

Page 19: ...M0619 1 ver 2 6 19 2 1 9 Pneumatic diagram for tool changers P6411 and P6412 ...

Page 20: ...20 M0619 1 ver 2 6 2 1 10 Circuit diagram E0196 001 for P6412 ...

Page 21: ...M0619 1 ver 2 6 21 2 1 11 Circuit diagram E0196 002 for P6418 ...

Page 22: ...22 M0619 1 ver 2 6 2 1 12 Circuit diagram E0196 009 for P6431 and P6473 ...

Page 23: ...anger shaft has fastening holes in accordance with ISO 9409 1 125 6 M10 according to the following figure There are adaptation plates available for other bolt circles they are mounted between the tool changer and the robot flange The order number is customer specific depending on the robot ...

Page 24: ...robot models Contact Robot System Products for more information 2 2 4 Connection kits and cables Part number Description P8002 Electrical connection kit for P6412 23 pole female Souriau straight socket 0 5 1 5 mm2 P8002 1 Electrical connection kit for P6412 23 pole female Souriau angled socket 0 5 1 5 mm2 P8007 Electrical connection kit for P6418 19 pole male Souriau straight socket 0 5 1 mm2 P800...

Page 25: ...ues 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 Torque wrench For all socket head cap screws ...

Page 26: ...l changer to the robot flange or adaptation plate The arrow on the front of the tool changer indicates the position of the hole for the guide pin Make sure that the guide pin is fitted to the guide hole in the tool changer WARNING The tool changer is heavy and may cause personal injury and equipment damage if dropped 6 Mount tool changer Mount the tool changer with the enclosed screws Use an Allen...

Page 27: ...l 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 gripper tool side to the threaded M10 holes in the tool attachment See tightening torques above 5 Connect air Connect the air hoses according to markings NOTE Pneumatic diagram is found in section 2 1 9 6 Conn...

Page 28: ...ition 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 2 4 3 5 4 Tool ...

Page 29: ...fely switched off 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 PTFE grease Air sealings and O rings Grease I0876 MolykoteBR2Plus For locking balls Cleaning agent Denatured alcohol or similar Signal pins at tool ch...

Page 30: ...ivity 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 Cleaning 1 month Wipe the pins clean see section 4 3 1 Air se...

Page 31: ...surface clean 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 O ring Not damaged or dirty Signal pins TC250 8E only Not worn damaged or dirty Cables TC250 8E only Not squeezed or damaged All parts No wear All parts No damage All parts No dirt 4 2 2 Inspection ...

Page 32: ...nal 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 4 Clean signal pins TC250 8E only Clean only the contact surfaces NOTE Avoid cleaning solvent in the spring housing 5 General cleaning Clean th...

Page 33: ...the grooves for the locking balls with a cloth 2 Clean contact surfaces TA250 8E only Clean the signal contact surface with a cloth 3 Clean contact surfaces of air sealings Wipe the contact surfaces of the air sealings with a cloth 4 General cleaning Clean the tool attachment in general ...

Page 34: ...the air hoses from the tool changer NOTE Make sure that no dirt enters into the air hoses 7 Release electrical connectors TC250 8E only NOTE Handle the contact with care as it is sensitive to mechanical damage Make sure that no dirt enters the contacts 8 Remove screws Remove the screws holding the tool changer to the robot flange WARNING The tool changer is heavy and may cause personal injury and ...

Page 35: ...ling holes Remove all remaining parts of the sealings 3 Mount air sealings Tap in the new air sealings with a plastic mallet 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 20 signal pins 3 Replace signal pins Fit the new signal pins by pushing them into the sleeves NOTE The signal ...

Page 36: ...e service of tool changer We recommend a complete service on tool changers to be carried out every 5 years This will ensure proper function and increase the lifespan of the tool changer considerably We further recommend that the maintenance shall be carried out by qualified RSP personnel Please contact us for a quotation The 5 year tool changer service at Robot System Products includes inspection ...

Page 37: ...art Pcs 1 Securing screw 21212519 507 6 2 Air sealings 63550006 462 X 8 3 O ring I0257 X 1 4 Looking ball I0280 6 5 X ring I0282 1 6 O ring I0283 1 7 O ring I0228 1 8 X ring I0061 1 9 Signal pin TC250 8E only I0042 X 20 10 O ring I0298 1 11 O ring I0173 8 12 Guide pin I0337 1 13 Connection TC250 8E only A0196 004 1 ...

Page 38: ...ion 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 Wear part Pcs 1 Free end cable I0782 1 2 Connection plate P6476 1 3 Screw MFT M3x16 6 ...

Page 39: ...5 4 Part list for square tool attachment P6474 and P6473 Item Description Part number Wear part Pcs 1 Connection plate TA250 8E only AO178 473 X 1 2 O ring I0298 1 3 O ring I0173 8 4 Screw MFX M3x8 4 5 Screw MC6S M6x25 2 ...

Page 40: ...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 41: ...M0619 1 ver 2 6 41 ...

Page 42: ...42 M0619 1 ver 2 6 ...

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