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M0604-1 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 in the
centre of the robot mounting flange.

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Содержание P0602

Страница 1: ...m0403 Product Manual Tool changer TC350 M0604 1 Tool changers Swivels Swivel tool changers Grippers Hose packages Valve units Tool systems ...

Страница 2: ...2 M0604 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: ...attachment round TA350 8E Article no P0608 16 2 1 7 Tool attachment square TA350 8E Article no P0604 17 2 1 8 Pneumatic diagram Pne0166 001A 18 2 1 9 Circuit diagram E0166 001B for P0603 and P0608 19 2 1 10 Circuit diagram E0166 005D for P0604 20 2 2 Options to tool changers and tool attachments 21 2 2 1 Tool stand kit Article no P0639 21 2 2 2 Limitation of Robot movements 21 2 2 3 Robot adaptati...

Страница 5: ...the tool attachment 30 4 3 Cleaning 31 4 3 1 Cleaning and lubrication of tool changer 31 4 3 2 Cleaning of tool attachment 32 4 4 Replacement of wear parts 33 4 4 1 Replacement of air sealing 33 4 4 2 Replacement of signal pins TC350 8E only 33 4 4 3 Replacement of O ring 34 4 5 Complete service of tool changer 34 4 6 Replacement of tool changer 34 5 SPARE PARTS 36 5 1 Part list for tool changer P...

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: ...r 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 changers and tool attachments 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 Explanati...

Страница 8: ...ute positioning repeatability 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 Valve unit Mounted at the rear of the upper arm...

Страница 9: ...50 8 and TC350 8E cannot transport fluids The spring loaded signal pins of TC350 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...

Страница 10: ...he 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 in the centre of the robot mounting flange ...

Страница 11: ... Nm Weight and centre of gravity P0601 P0601 P0606 P0601 P0602 Weight Mass centre X Y Z Weight Mass centre X Y Z Weight Mass centre X Y Z 10 5 kg 0 1 0 1 54 0 mm 15 5 kg 0 5 0 5 69 4 mm 16 2 kg 0 0 0 1 70 7 mm Air ducts Pneumatic diagram Total number of ducts Dedicated air ducts Max air pressure Air flow Connections robot side Air quality Pne0166 001A section 2 1 8 10 Open TC marked Open 6 10 bar ...

Страница 12: ...pattern ISO9409 1 160 11 M12 Weight 5 0 kg Maximum tool load M12 screws Fz static Mx My dynamic Mz dynamic 3 500 N 3 500 Nm 3 500 Nm Maximum tool load M10 screws Fz static Mx My dynamic Mz dynamic 3 500 N 3 500 Nm 2 500 Nm Air ducts Number of ducts Connection tool side 8 G 1 4 Note Tools can be mounted to the tool attachment using eleven M12 screws alternatively the tool attachment can be mounted ...

Страница 13: ...pattern ISO9409 1 160 11 M12 Weight 5 7 kg Maximum tool load M12 screws Fz static Mx My dynamic Mz dynamic 3 500 N 3 500 Nm 3 500 Nm Maximum tool load M10 screws Fz static Mx My dynamic Mz dynamic 3 500 N 3 500 Nm 2 500 Nm Air ducts Number of ducts Connection tool side 8 G 1 4 Note Tools can be mounted to the tool attachment using eleven M12 screws alternatively the tool attachment can be mounted ...

Страница 14: ...1 ver 2 3 2 1 5 Tool changer TC350 8E Article P0603 Tool changer TC350 8E transfers 8 pneumatic channels and 18 electrical signals to the tool attachment To be used together with tool attachments P0608 and P0604 ...

Страница 15: ...0 2 0 3 72 0 mm Air ducts Pneumatic diagram Total number of ducts Dedicated air ducts Max air pressure Air flow Connections robot side Air quality Pne0166 001A section 2 1 8 10 Open TC marked Open 6 10 bar Close TC marked Close 6 10 bar 10 bar 1 600 l min 8 x G 1 4 2 x G 1 8 Open Close Oil clean and waterless filtered air with max 25µm particle content Electric channels Circuit diagram Total numbe...

Страница 16: ...ximum tool load M12 screws Fz static Mx My dynamic Mz dynamic 3 500 N 3 500 Nm 3 500 Nm Maximum tool load M10 screws Fz static Mx My dynamic Mz dynamic 3 500 N 3 500 Nm 2 500 Nm Air ducts Number of ducts Connection tool side 8 G 1 4 Electrical signals Circuit diagram Total number of signals Connection tool side E0166 001B see section 2 1 9 18 19S Souriau Note Tools can be mounted to the tool attac...

Страница 17: ...l load M12 screws Fz static Mx My dynamic Mz dynamic 3 500 N 3 500 Nm 3 500 Nm Maximum tool load M10 screws Fz static Mx My dynamic Mz dynamic 3 500 N 3 500 Nm 2 500 Nm Air ducts Number of ducts Connection tool side 8 G 1 4 Electrical signals Circuit diagram Total number of signals Connection tool side E0166 005D see section 2 1 10 18 1m 20 x 0 5 mm2 cable open end Note Tools can be mounted to the...

Страница 18: ...18 M0604 1 ver 2 3 2 1 8 Pneumatic diagram Pne0166 001A ...

Страница 19: ...M0604 1 ver 2 3 19 2 1 9 Circuit diagram E0166 001B for P0603 and P0608 ...

Страница 20: ...20 M0604 1 ver 2 3 2 1 10 Circuit diagram E0166 005D for P0604 ...

Страница 21: ...d on a stand gives in combination with square tool attachments P0602 or P0604 a robust tool stand for easy tool changing Technical data Weight 2 6 kg Maximum load 350 kg 2 2 2 Limitation of Robot movements There can be some limitations on the movement of axis 5 for some robot models Contact Robot System Products for more information ...

Страница 22: ... available for certain robot models and bolt circles The order number is customer specific 2 2 5 Connection kits and cables Part number Description P8002 Electrical connection kit for P0603 female Souriau 23S straight P8002 1 Electrical connection kit for P0603 female Souriau 23S angled P8129 50 Cable kit for P0603 Souriau 23S straight and cable 5 meter open end P8102 20 Cable kit for P0608 Souria...

Страница 23: ...rew 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 Torx key For dismounting and mounting ...

Страница 24: ...it 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 scre...

Страница 25: ...attachment using a torque wrench with either M10 or M12 screws o M10 screws are put in from the tool attachment side to threaded M10 holes in the gripper tool o M12 screws are put in from the gripper tool side to the threaded M12 holes in the tool attachment See tightening torques above 5 Connect air hoses Connect the air hoses according to markings NOTE Pneumatic diagram is found in section 2 1 8...

Страница 26: ...pare tool attachment 6 Go back to the saved position and move the tool changer in axis 6 direction the remaining distance to the tool attachment mounted on the tool 7 Save the position The robot should move to this position with low speed Sparking WARNING Electrical signals and power must be switched off and disconnected when docking the tool attachment This is to prevent sparking between signal p...

Страница 27: ...to the tool changer if the air pressure is safely 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 Teflon grease Air sealing Grease I0876 MolykoteBR2Plus Locking balls Cleaning agent Denatured alcohol or ...

Страница 28: ...tic mallet For mounting the air sealings 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 environment Generally the more contaminated environment the closer maintenance intervals The following parts are considered as wear parts o Air sealings o Signal pins...

Страница 29: ... interval is depending on number of tool changes and the environment see section 4 4 2 O ring Replace 18 months Wear parts interval is depending on number of tool changes and the environment see section 4 4 3 Tool changer Service 5 years Complete service to be done by Robot System Products see section 4 5 4 1 5 Activities and intervals on tool attachment Equipment Maintenance activity Interval Des...

Страница 30: ...maged or dirty O ring Not damaged or dirty Cables No wear no damage All parts No wear All parts No damage All parts No dirt 4 2 2 Inspection of the tool attachment Visually check the following Check Note Surface for air sealing Not damaged or dirty Signal contact surfaces Not worn or dirty Cables Not squeezed or damaged All parts No wear All parts No damage All parts No dirt ...

Страница 31: ...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 TC350 8E only Clean only the contact surfaces NOTE Avoid cleaning solvent in the spring housing 5 General cleaning Clean th...

Страница 32: ...the grooves for the locking balls with a cloth 2 Clean contact surfaces TA350 8E only Clean the signal contact surfaces with a cloth 2 Clean contact surfaces of air sealings Wipe the contact surfaces of the air sealings with a cloth 3 General cleaning Clean the tool attachment in general ...

Страница 33: ...e air sealings with a plastic mallet 4 4 2 Replacement of signal pins TC350 8E only Replace a signal pin when the spring jams or become bent Action Note 1 Switch the power off and lock the circuit breaker 2 Pull out the signal pins with a pair of pliers 3 Fit the new signal pins by pushing them into the sleeves The brass coloured part of the signal pins should be pressed fully into the sleeve 4 Un...

Страница 34: ... 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 and cleaning of the full unit replacement of all wear parts including sealings and signal pins 4 6 Replacement ...

Страница 35: ...he air hoses from the tool changer NOTE Make sure that no dirt enters into the air hoses 7 Release electrical connectors TC350 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 e...

Страница 36: ...36 M0604 1 ver 2 3 5 SPARE PARTS 5 1 Part list for tool changer P0601 and P0603 ...

Страница 37: ...12x80 11 2 Signal pin I0042 X 20 3 O ring I0057 X 1 4 X ring I0058 1 5 Spring I0204 1 6 Guide pin CPK DIN6325 12x30 2 7 Connector Souriau UT001823PHT 1 8 Screw MC6S 4x12 4 9 Air Sealings 63550006 462 X 8 10 Locking ball 2213874 20 12 11 X ring I0061 1 12 O ring I0113 1 13 O ring I0134 1 ...

Страница 38: ...0604 1 ver 2 3 5 2 Part list for tool attachment P0606 amd P0608 Item Description Part number Pcs Pcs 1 Connector Souriau UT001619SHT 1 2 Connection plate P0166 001B X 1 3 O ring I0133 1 4 Screw MC6S 5x20 4 ...

Страница 39: ...0604 1 ver 2 3 39 5 3 Part list for tool attachment P0602 amd P0604 Item Description Part number Pcs Pcs 1 Locking screw MC6S 5x20 4 2 Connection plate P0166 023B X 1 3 Screw MF6S 4x30 9 4 O ring I0031 8 ...

Страница 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...

Страница 41: ...M0604 1 ver 2 3 41 ...

Страница 42: ...42 M0604 1 ver 2 3 ...

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