Robot System Products P1301 Скачать руководство пользователя страница 10 | Manualshive

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Robot System Products P1301 Скачать руководство пользователя страница 10

10

M0623-1 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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Содержание P1301

Страница 1: ...Product Manual Tool changers TC60 TC120 TC180 M0623 2 Tool changers Swivels Swivels with Tool changers Grippers Hose packages Valve Units Tool systems...

Страница 2: ...2 M0623 1 ver 2 6...

Страница 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...

Страница 4: ...icle no P1312 22 2 2 6 Circuit diagram E0182 002 for P1311 P1312 23 2 2 7 Servo power interface Souriau robot side Article no P1307 24 2 2 8 Servo power interface Souriau tool side Article no P1308 25...

Страница 5: ...signal pins P1305 and P1311 54 4 4 3 Replacement of servo power high voltage interface on tool changer 55 4 4 4 Replacement of signal air interface on tool attachment 56 4 4 5 Replacement of air seal...

Страница 6: ...tems 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...

Страница 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 an...

Страница 8: ...looking balls into spherical grooves In consequence substantially larger positional tolerances are accepted during docking A built in spring ensures that the tool remains in place in the tool changer...

Страница 9: ...o Options to configure tool changers and tool attachments These options can as well be ordered as accessories for retrofitting o Connection kits to facilitate electrical installation An adaptation pla...

Страница 10: ...aviour 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 s...

Страница 11: ...M8 Maximum tool load Fz static Mx My dynamic Mz dynamic 600 N 600 Nm 500 Nm Weight and centre of gravity 1 8 kg 0 0 0 0 26 0 mm 2 8 kg 0 0 0 0 35 0 mm P1301 P1301 and P1302 Weight Mass centre X Y Z W...

Страница 12: ...C 60 C Bolt pattern ISO 9409 1 80 6 M8 Weight 1 0 kg Maximum tool load M8 screws Fz static Mx My dynamic Mz dynamic 600 N 600 Nm 500 Nm Maximum tool load M6 screws Fz static Mx My dynamic Mz dynamic...

Страница 13: ...M10 Maximum tool load Fz static Mx My dynamic Mz dynamic 1000 N 1000 Nm 1000 Nm Weight and centre of gravity 2 6 kg 0 0 0 0 28 0 mm 4 0 kg 0 0 0 0 37 0 mm P1401 P1401 and P1402 Weight Mass centre X Y...

Страница 14: ...60 C Bolt pattern ISO 9409 1 100 6 M10 Weight 1 3 kg Maximum tool load M10 screws Fz static Mx My dynamic Mz dynamic 1000 N 1000 Nm 1000 Nm Maximum tool load M8 screws Fz static Mx My dynamic Mz dynam...

Страница 15: ...M10 Maximum tool load Fz static Mx My dynamic Mz dynamic 1800 N 1800 Nm 1250 Nm Weight and centre of gravity 3 4 kg 0 0 0 0 28 0 mm 5 2 kg 0 0 0 0 37 0 mm P1801 P1801 and P1802 Weight Mass centre X Y...

Страница 16: ...60 C Bolt pattern ISO 9409 1 125 6 M10 Weight 1 8 kg Maximum tool load M10 screws Fz static Mx My dynamic Mz dynamic 1800 N 1800 Nm 1250 Nm Maximum tool load M8 screws Fz static Mx My dynamic Mz dynam...

Страница 17: ...M0623 1 ver 2 6 17 2 1 8 Pneumatic diagram for P1301 P1401 and P1801...

Страница 18: ...he tool attachment through spring loaded signal pins Can be mounted at 3 different positions on the tool changer To be used together with option P1306 on the tool attachment Technical data Weight 0 2...

Страница 19: ...cle no P1306 Transfers 12 signals to the tool To be mounted on the tool attachment and used together with option P1305 on the tool changer Technical data Weight 0 1 kg Electrical signals Number of sig...

Страница 20: ...20 M0623 1 ver 2 6 2 2 3 Circuit diagram E0182 001 for P1305 P1306...

Страница 21: ...ensors are mounted To be used together with option P1312 on the tool attachment Technical data Weight 0 2 kg Electrical signals Circuit diagram Total number of signals Signals transferred to tool atta...

Страница 22: ...P1312 Transfers 17 electrical signals to the tool To be mounted on the tool attachment and used together with option P1311 on the tool changer Technical data Weight 0 1 kg Electrical signals Number of...

Страница 23: ...M0623 1 ver 2 6 23 2 2 6 Circuit diagram E0182 002 for P1311 P1312...

Страница 24: ...the tool changer To be used together with option P1308 on the tool attachment NOTE Guide pins option P1314 are recommended for improved alignment at docking when using P1307 Technical data Weight 0 2...

Страница 25: ...1308 Transfers 8 servo power signals to the tool To be mounted on the tool attachment and used together with option P1307 on the tool changer Technical data Weight 0 1 kg Servo power Total number of p...

Страница 26: ...26 M0623 1 ver 2 6 2 2 9 Circuit diagram E0182 003 for P1307 P1308...

Страница 27: ...ted at 3 different positions on the tool changer To be used together with option P1323 on the tool attachment NOTE Guide pins option P1314 are recommended for improved alignment at docking when using...

Страница 28: ...Article no P1323 Transfers 2 high voltage power signals to the tool To be mounted on the tool attachment and used together with option P1322 on the tool changer Technical data Weight 0 1 kg Weld powe...

Страница 29: ...M0623 1 ver 2 6 29 2 2 12 Circuit diagram E0182 026 for P1322 P1323...

Страница 30: ...to the tool attachment Can be mounted at 3 different positions on the tool changer To be used together with option P1326 on the tool attachment Technical data Weight 0 15 kg Air channels Total number...

Страница 31: ...tool side Article no P1326 Transfers 2 air channels to the tool To be mounted on the tool attachment and used together with option P1325 on the tool changer Technical data Weight 0 1 kg Air channels T...

Страница 32: ...changer is unlocked and 24V signal TC Closed when tool changer is locked Can be mounted at one single position on the tool changer NOTE Requires option P1311 Technical data Weight 0 15 kg Electrical...

Страница 33: ...2 2 16 Guide pins Article no P1314 Guide pins aligns tool attachment at docking positions extending lifetime for not spring loaded signal pins Recommended when using options P1307 and P1322 Technical...

Страница 34: ...king bracket kit mounted on the tool attachment gives together with option P0423 a good tool stand for easy tool changing Can be mounted at 2 different positions on the tool attachment Technical data...

Страница 35: ...This parking bracket kit mounted on the tool attachment gives together with option P0423 a good tool stand for easy tool changing Can be mounted at two different positions on the tool attachment NOTE...

Страница 36: ...This parking bracket kit mounted on the tool attachment gives together with option P0423 a good tool stand for easy tool changing Can be mounted at two different positions on the tool attachment NOTE...

Страница 37: ...This parking bracket kit mounted on the tool attachment gives together with option P0423 a good tool stand for easy tool changing Can be mounted at two different positions on the tool attachment NOTE...

Страница 38: ...it Article no P0423 This tool stand kit mounted on a stand gives together with options P1313 TA60 TA120 TA180 P1331 TA60 P1405 TA120 or P1805 TA180 a good tool stand for easy tool changing Technical d...

Страница 39: ...n 2 4 Connection kits and cables Item Description Part number Pcs 1 Electrical connection kit for P1305 and P1307 Female 12 pole Souriau 0 5 1 5 mm2 socket straight shroud P8006 1 1 Electrical connect...

Страница 40: ...ew 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...

Страница 41: ...lternatively if adaptation plate is used Mount the adaptation plate on the robot flange see tightening torques above Press the enclosed guide pin into the adaptation plate 5 Fit tool changer Lift the...

Страница 42: ...hoses Connect air hoses to the hose fittings NOTE Pneumatic diagram is found in section 2 1 8 8 Connect signals Connect electrical connectors in accordance with selected options 9 Power on Unlock cir...

Страница 43: ...tool attachment to the tool and fit using the guide pin if applicable into its appropriate guide hole 4 Mount tool attachment on tool M6 M8 Mount the tool attachment using a torque wrench TA60 M6 scre...

Страница 44: ...120 TA180 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 hoses Connect air hoses to the hose fittings NOTE...

Страница 45: ...l 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 th...

Страница 46: ...y 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 Sealing and...

Страница 47: ...Torque wrench For all socket head cap screws 4 1 3 Wear parts Wear parts should be replaced before considerable damage occurs The interval depends on the number of tool changes and its working environ...

Страница 48: ...nt see section 4 4 3 High voltage interface Replace 18 months Wear and tear part interval is depending on number of tool changes and the environment see section 4 4 3 Guide pins Replace 18 months Wear...

Страница 49: ...ot damaged or dirty Servo power interface 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 attachment Visually c...

Страница 50: ...ely Additional 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...

Страница 51: ...ns Clean only the contact surfaces NOTE Avoid cleaning solvent in the spring housing 6 Clean guide pins Wipe the guide pins with a cloth Apply a small amount of grease Molykote BR2Plus on the guide pi...

Страница 52: ...contact surfaces Wipe the contact surfaces of the air sealings couplings with a cloth Apply a small amount of grease Magnalube G on the contact surfaces 3 Clean surface of signal contact Wipe the cont...

Страница 53: ...e 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 sealings and glue 3 Mount new air sealings Glu...

Страница 54: ...ecome bent Action Note 1 Switch 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 3 Replace signal pins Fit the new signal...

Страница 55: ...lock the circuit breaker 2 Disconnect interface Remove connector from the servo power interface 3 Release interface Unscrew the four screws and release the power signal interface NOTE P1322 and P1307...

Страница 56: ...hment Undock tool attachment switch power off and lock the circuit breaker 2 Disconnect interface Disconnect signals air from interface 3 Release interface Unscrew the four screws and release the sign...

Страница 57: ...a screw driver NOTE There are totally 2 air sealings 2 Clean sealing hole Wipe clean the sealing hole Remove all remaining parts of sealing and glue 3 Mount new air sealing Glue the new air sealing in...

Страница 58: ...sliding hammer with an M4 tap 4 5 Complete 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 li...

Страница 59: ...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...

Страница 60: ...tool changer to the robot flange WARNING The tool changer is heavy and may cause personal injury and equipment damage if dropped 9 Dismount tool changer NOTE Be careful not to damage the signal pins a...

Страница 61: ...y section 1 1 2 Undock 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 Dis...

Страница 62: ...fitted to the gripper tool in two ways WARNING The tool attachment is heavy and may cause personal injury and equipment damage if dropped 7 Dismount tool attachment NOTE A guide pin is mounted betwee...

Страница 63: ...ol changer TC60 P1301 Item Description Part number Wear part Pcs 1 Guide pin CPK 8x40 m6 DIN 6325 1 2 Screw M8x40 21212519 459 6 3 Locking ring I0758 1 4 Locking ball 2213874 12 6 5 Air sealing I0760...

Страница 64: ...0 P1401 Item Description Part number Wear part Pcs 1 Guide pin CPK 8x40 m6 DIN 6325 1 2 Screw M8x40 21212519 499 6 3 Locking ring I1037 1 4 Locking ball 2213874 12 8 5 Air sealing I0230 X 8 6 O ring I...

Страница 65: ...P1801 Item Description Part number Wear part Pcs 1 Guide pin CPIG 10x50 m6 DIN7979 1 2 Screw M8x40 21212519 499 6 3 Locking ring I1093 1 4 Locking ball 2213874 12 12 5 O ring I0173 8 6 O ring I0244 1...

Страница 66: ...P1311 and P1325 Item Description Part number Wear part Pcs 1 Signal interface 12 signals P1305 1 1 1 Spring loaded signal pin I0154 X 12 2 Signal interface 17 signals P1311 1 2 1 Spring loaded signal...

Страница 67: ...ace 8 signals P1307 X 1 1 1 Screws H 5X25 4 2 High voltage interface 2 signals P1322 X 1 2 1 Screws H 5X25 4 5 1 6 Part list for option to TC magnetic sensors Item Description TC120 TC180 Part number...

Страница 68: ...OOL ATTACHMENT 5 2 1 Part list for Tool attachment TA60 8 TA120 8 TA180 8 Item Description Part number Wear part Pcs 1 Tool attachment TA60 8 P1302 1 2 Tool attachment TA120 8 P1402 1 3 Tool attachmen...

Страница 69: ...ar part Pcs 1 Two G 3 8 air P1326 1 2 High voltage interface P1323 X 1 3 Signal interface 17 signals P1312 X 1 4 Power signal interface 8 signals P1308 X 1 5 Signal interface 12 signals P1306 X 1 6 Gu...

Страница 70: ...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 a...

Страница 71: ...M0623 1 ver 2 6 71...

Страница 72: ...72 M0623 1 ver 2 6...

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