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M0106-1 ver 2.3

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 P0101

Страница 1: ...m0403 Product Manual Tool changer TC20 M0106 1 Tool changers Swivels Swivel tool changers Grippers Hose packages Valve units Tool systems ...

Страница 2: ...2 M0106 1 ver 2 3 ...

Страница 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...

Страница 4: ...7 Tool attachment TA20 4E steel Article no P0124 17 2 1 8 Pneumatic diagram for TC20 and TA20 18 2 1 9 Circuit diagram E0185 001 for P0103 and P0104 P0124 19 2 2 Options to tool changers and tool attachment 20 2 2 1 4x air coupling M5 robot side Article no P1115 20 2 2 2 4x air coupling M5 tool side Article no P1116 21 2 2 3 Tool stand kit Article no P0142 21 2 2 4 Robot adaptation kit 22 2 2 5 Li...

Страница 5: ...hanger 28 4 2 2 Inspection of the tool attachment 28 4 3 Cleaning 29 4 3 1 Cleaning and lubrication of swivel with tool changer 29 4 3 2 Cleaning of tool attachment 30 4 4 Replacement of wear parts 31 4 4 1 Replacement of air sealings 31 4 4 2 Replacement of signal pins TC20 4E only 31 4 5 Complete service of tool changer 32 4 6 Replacement of tool changer 32 5 SPARE PARTS 34 5 1 Part list for too...

Страница 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...

Страница 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...

Страница 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...

Страница 9: ... to facilitate electrical installation and a tool stand kit The tool changer TC20 4 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 TC20 4 and TC20 4E cannot transport fluids For other bolt circles adaptation plates between the tool changer and t...

Страница 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 ...

Страница 11: ...ght and centre of gravity P0101 P0101 P0102 P0101 P0123 Weight Mass centre X Y Z Weight Mass centre X Y Z Weight Mass centre X Y Z 0 38 kg 0 2 0 0 18 5 mm 0 48 kg 0 1 0 0 21 9 mm 0 67 kg 0 1 0 0 25 8 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 8 6 Open TC marked Open 6 10 bar Close TC marked Cl...

Страница 12: ...409 1 50 4 M6 Weight 0 1 kg Maximum tool load M6 screws Fz static Mx My dynamic Mz dynamic 200 N 100 Nm 100 Nm Maximum tool load M5 screws Fz static Mx My dynamic Mz dynamic 200 N 100 Nm 75 Nm Air ducts Number of ducts Connection tool side 4 M5 Note Tools can be mounted to the tool attachment using four M6 screws alternatively the tool attachment can be mounted to the tool using four M5 screws ...

Страница 13: ...O 9409 1 50 4 M6 Weight 0 3 kg Maximum tool load M6 screws Fz static Mx My dynamic Mz dynamic 200 N 200 Nm 100 Nm Maximum tool load M5 screws Fz static Mx My dynamic Mz dynamic 200 N 200 Nm 75 Nm Air ducts Number of ducts Connection tool side 4 M5 Note Tools can be mounted to the tool attachment using four M6 screws alternatively the tool attachment can be mounted to the tool using four M5 screws ...

Страница 14: ...14 M0106 1 ver 2 3 2 1 5 Tool changer with air and electric signals TC20 4E Article P0103 Tool changer TC20 4E transfers 4 pneumatic channels and 8 electrical signals to the tool attachment ...

Страница 15: ... 0 4 17 9 mm 0 5 kg 4 0 0 3 22 0 mm 0 7 kg 3 0 0 2 25 4 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 8 6 Open TC marked Open 6 10 bar Close TC marked Close 6 10 bar 10 bar 150 l min M5 Oil clean and waterless filtered air with max 25µm particle content Electrical signals Circuit diagram Total nu...

Страница 16: ...ool load M6 screws Fz static Mx My dynamic Mz dynamic 200 N 100 Nm 100 Nm Maximum tool load M5 screws Fz static Mx My dynamic Mz dynamic 200 N 100 Nm 75 Nm Air ducts Number of ducts Connection tool side 4 M5 Electrical signals Total number of signals Connection tool side 8 0 5 m cable 0 25 mm with free end Note Tools can be mounted to the tool attachment using four M6 screws alternatively the tool...

Страница 17: ...m tool load M6 screws Fz static Mx My dynamic Mz dynamic 200 N 200 Nm 100 Nm Maximum tool load M5 screws Fz static Mx My dynamic Mz dynamic 200 N 200 Nm 75 Nm Air ducts Number of ducts Connection tool side 4 M5 Electrical signals Total number of signals Connection tool side 8 0 5 m cable 0 25 mm with free end Note Tools can be mounted to the tool attachment using four M6 screws alternatively the t...

Страница 18: ...18 M0106 1 ver 2 3 2 1 8 Pneumatic diagram for TC20 and TA20 ...

Страница 19: ...M0106 1 ver 2 3 19 2 1 9 Circuit diagram E0185 001 for P0103 and P0104 P0124 ...

Страница 20: ...ool attachment Can be mounted at two different positions at TC20 4 and one single position at TC20 4E To be used together with option P1116 on the tool attachment Technical data Weight 0 1 kg Air ducts Total number of ducts Max air pressure Air flow Connection robot side Air quality 4 10 bar 150 l min M5 Oil clean and waterless filtered air with max 25µm particle content ...

Страница 21: ...osition at TA20 4E To be used together with option P1115 on the tool changer Technical data Weight 0 02 kg Air ducts Number of ducts Connection tool side 4 M5 2 2 3 Tool stand kit Article no P0142 This parking bracket kit mounted on the tool stand gives together with option TA20 4 or TA20 4E a stable tool stand for easy tool changing Technical data Weight 0 3 kg Maximum load 20 kg ...

Страница 22: ... Robot System Products for more information 2 2 6 Connection kits and cables Part number Description P0025 Electrical connection kit for P0103 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...

Страница 23: ...5 Fit tool changer Lift the tool 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 may cause personal injury and equipment damage if dropped 6 Mount tool changer Mount the tool changer with the enclosed s...

Страница 24: ...oles 4 Mount tool attachment Mount the tool attachment using a torque wrench with either M5 or M6 screws o M5 screws are put in from the tool attachment side to threaded M5 holes in the gripper tool o M6 screws are put in from the gripper tool side to the threaded M6 holes in the tool attachment See tightening torques above 5 Connect air Connect air according to markings NOTE Pneumatic diagram is ...

Страница 25: ... 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 ...

Страница 26: ...l 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 and guide pins Cleaning agent Denatured alcohol or similar Signal pins at tool changer and signal contacts at t...

Страница 27: ...vities 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...

Страница 28: ...ttachment 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 TC20 8E 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...

Страница 29: ...ly 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 is done or there might else be a risk that the tool attachment jams 3 Clean signal pins TC20 4E only Clean only the contact surfaces NOTE Avoid cleaning solvent in the housing 4 General cleaning Clean ...

Страница 30: ...f tool attachment Action Note 1 Clean grooves Wipe the grooves for the locking balls with a cloth 2 Clean contact surfaces TA20 4E only Clean the signal contact surface with a cloth 3 General cleaning Clean the tool attachment in general ...

Страница 31: ...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 ...

Страница 32: ...ounting 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 bre...

Страница 33: ...injury and equipment damage if dropped NOTE Be careful not to damage the signal pins at the tool side of the tool changer TC20 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 ...

Страница 34: ...tion Part number Wear part Pcs 1 Securing screw MC6S 6x30 4 2 Air sealing I0158 X 4 3 Ball I0146 4 4 O ring I0218 1 5 O ring I0155 1 6 O ring I0156 1 7 O ring I0160 1 8 Spring I0220 1 9 O ring I0159 4 10 Signal pins I0154 X 8 11 O ring I0214 X 1 12 Screw MRX 3x25 4 13 Signal interface P1113 1 ...

Страница 35: ... 2 Part list for tool attachment P0102 P0123 P0104 and P0124 Item Description Part number Wear part Pcs 1 Blind plugg M8 I0197 2 2 Signal interface P0208 023C 1 3 Screw MRX 3x20 4 4 Cover P0208 019C 1 5 Screw MFX Z 2 5x6 4 ...

Страница 36: ...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...

Страница 37: ...M0106 1 ver 2 3 37 ...

Страница 38: ...38 M0106 1 ver 2 3 ...

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