Walther prazision 91489, Working Instruction

Page: 12 / 191

Working instruction
english
typ 91489
Technical data
12
5 Technical data
Overall height 96 mm; main dimensions according to drawing.
Weights:
•
robot side = 9.2 kg at max. population in standard version
•
tool side = 6.2 kg at max. population in standard version.
Quick change system;
the robot can move to the final position with up to 100% speed.
Connecting time: approx. 1,5 s
Disconnecting time: < 1 s
(without any movement of the robot in push technique).
Compressed air connection (at the locking unit): 6 bar and/or 12 bar
(see data sheet for loads).
Max. carrying force: 25 kN
(see load diagram on next page).
Position repeatability:
•
X-axis/ Y-axis:
±
0,03 mm
•
Z-axis:
±
0,01 mm
Mass center of gravity (in relation to robot flange) = 58 mm.
Periodic intervals for maintenance:
800.000 up to 1.5 million couple cycles depending on operating conditions.
In case of function mode push-pull technique the robot takes over the connection process until
just before final position und must overcome the reaction forces of the elements:
•
elements without pressure:
-
reaction force of each cooling water element = 230 N
- reaction force of each compressed air element = 60 N
•
elements pressurized:
- reaction force of each cooling water element = 250 N (5 barg)
- reaction force of each compressed air element = 205 N (6 barg).
The tool changer only pulls in the residual stroke and locks large loads with 5 bar cylinder pres-
sure.
After the first relief (load over head) the tool changer has also safely locked loads
which are higher than the maximum
coupling load up to the load upper limit.
Also see section 5.2 functional sequences
ATTENTION:
Please observe load statements of the robot manufacturer