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M0107-1 ver 2.7

2.1.1 Coordinate System Definition

A swivel with 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 swivel with tool
changers.

NOTE!

For the swivel with tool changer origo is situated on the surface in the centre of
the robot mounting flange.

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Содержание STC20

Страница 1: ...m0403 Product Manual Swivel with tool changer STC20 M0107 1 Tool changers Swivels Swivel tool changers Grippers Hose packages Valve units Tool systems ...

Страница 2: ...2 M0107 1 ver 2 7 ...

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: ...8 Pneumatic diagram 18 2 1 9 Circuit diagram E0208 001 for P0108A with P0109 P0125 19 2 2 Options for swivel with tool changer and tool attachment 20 2 2 1 Tool stand kit 20 Article no P0142 20 2 2 2 Robot adaptation kit 21 2 2 3 Limitation of Robot movements 21 2 3 Connection kits and cables 21 3 INSTALLATION 22 3 1 Tightening torques 22 3 2 Recommended tools for installation 22 3 3 Installation ...

Страница 5: ...1 Replacement of air sealings 36 4 5 2 Replacement of signal pins on swivel with tool changer STC20 4E only 37 4 6 Complete service of swivel with tool changer 37 5 SPARE PARTS 38 5 1 Part list for swivel with tool changer P0106A 38 5 2 Part list for swivel with tool changer P0108A 40 5 3 Part list for tool attachment P0102 and P0123 42 5 4 Part list for tool attachment P0109 and P0125 43 6 DISPOS...

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: ...ool changer if the air pressure is safely switched off WARNING Be aware that swivel with tool changer and tool attachment are heavy and may cause personal injury and equipment damage if dropped NOTE The swivel with 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 ...

Страница 8: ...not spring mounted signal and power pins A built in spring ensures that the tool remains in place in the tool changer even if the air pressure drops When using a tool changer with integrated swivel compressed air and electric signals will be directly available at the tool without loose hanging cables and hoses which has to be considered during programming The combination of RSP s hose packages wit...

Страница 9: ...chment The electrical version is designated E The swivel with tool changer STC20 4 and STC20 4E cannot transport fluids The spring loaded signal pins of STC20 4E are placed and protected along a circle close to the centre of the swivel with tool changer 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 guarant...

Страница 10: ... 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 swivel with tool changers NOTE For the swivel with tool changer origo is situated on the surface in the centre of the robot mounting flange ...

Страница 11: ...ht and centre of gravity 0 8 kg 0 0 0 5 39 0 mm 0 9 kg 0 3 0 3 43 5 mm 1 1 kg 0 3 0 3 48 7 mm P0106A P0106A P0102 P0106A P0123 Weight Mass centre X Y Z Weight Mass centre X Y Z Weight Mass centre X Y Z Air channels Pneumatic diagram Total number of ducts Dedicated air ducts Max air pressure Air flow Air quality Connection robot side See section 2 1 8 6 1 inlet for Open TC marked 6 6 10 bar 1 inlet...

Страница 12: ...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 channels Number of air ducts Connections 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: ...09 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 channels Number of air ducts Connections 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 scr...

Страница 14: ...14 M0107 1 ver 2 7 2 1 5 Swivel with tool changer STC20 4E Article no P0108A Swivel with tool changer STC20 4 transfers 4 pneumatic channels and 8 electrical signals to the tool attachment ...

Страница 15: ...ss centre X Y Z Weight Mass centre X Y Z Air channels 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 6 6 10 bar Close TC marked 5 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 number of signals Dedica...

Страница 16: ...oad 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 channels Number of air ducts Connections tool side 4 M5 Electrical signals Total number of signals Dedicated signals Connections 12 4 x 24 V 4 x 0 V 4 x M8 3S Note Tools can be mounted to the tool attachment using four M6 screws alternatively th...

Страница 17: ...ol 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 channels Number of air ducts Connections tool side 4 M5 Electrical signals Total number of signals Dedicated signals Connections 12 4 x 24 V 4 x 0 V 4x M8 3S Note Tools can be mounted to the tool attachment using four M6 screws alternatively...

Страница 18: ...18 M0107 1 ver 2 7 2 1 8 Pneumatic diagram ...

Страница 19: ...M0107 1 ver 2 7 19 2 1 9 Circuit diagram E0208 001 for P0108A with P0109 P0125 ...

Страница 20: ...hanger and tool attachment 2 2 1 Tool stand kit 20 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 21: ...n plates for other bolt circles between the swivel with tool changer and the turning disc on the robot may be needed as a part of the robot adaptation kit Adaptation plates are available from RSP 2 2 3 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 2 3 Connection kits and cables Part num...

Страница 22: ...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 ...

Страница 23: ...el with tool changer to robot Lift the swivel with tool changer to the robot flange or adaptation plate Make sure that the guide pin fits to the guide hole in the swivel with tool changer NOTE The swivel with tool changer may cause damage if dropped 5 Mount swivel with tool changer Mount the swivel with tool changer with the enclosed screws Use an Allen key for tightening see tightening torques ab...

Страница 24: ...and nuts See tightening torques above Note Dependent on robot models there are alternative models of rotation stops 8 Connect air Connect the air hoses according to markings see section 2 1 8 6 Connect signal cable Connect signal contact M12 8P 7 Power on Unlock the circuit breaker and switch the power on ...

Страница 25: ...e holes 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 M8 holes in the gripper tool o M6 screws are put in from the gripper tool side to the threaded M16 holes in the tool attachment See tightening torques above 5 Connect air Connect air according to markings NOTE Pneumatic diagram...

Страница 26: ... or table 3 Service position Place the robot in service position 4 Pneumatic air off NOTE The pressure in the pneumatic system must be released before dismounting begins 5 Power off Switch the power off and lock the circuit breaker NOTE Read the safety chapter for the robot 5 Release air connections Release air at connections 5 and 6 6 Release tool attachment Connect compressed air to the air conn...

Страница 27: ...ion and move the swivel with tool changer in the direction of axis 6 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 Electrical installation Connection kits for tool attachment are available see section 2 3 Tool Identification Jumpers on signals at the tool attachment can be used to give information about w...

Страница 28: ...ivel with 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 sealings and O rings Grease I0876 Molykote BR2Plus For locking balls Cleaning agent Denatured alcohol or similar Signal pins at swivel with tool ...

Страница 29: ...4 1 4 Activities and intervals Maintenance activity Equipment Interval Description Inspection Swivel with tool changer 2 weeks Visual inspection of swivel with tool changer Inspection Tool attachment 2 weeks Visual inspection of tool attachment Cleaning Swivel with tool changer 1 month Cleaning of swivel with tool changer interval depending on environment Cleaning Tool attachment 1 month Cleaning ...

Страница 30: ...C20 4E only No wear not damaged or dirty Locking balls Greased not dirty All parts No wear not damaged or dirty 4 2 2 Inspection of the tool attachment Visually check the following Check Note Air connections Not damaged or dirty Contact surface of air sealings Not damaged or dirty Signal contact surface TA20 4E only No wear not damaged or dirty Electrical connection TA20 4E only Not damaged or dir...

Страница 31: ...balls Check each ball to make sure it moves freely 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 4 General cleaning Clean the swivel with tool changer in general ...

Страница 32: ...n Note 1 Clean grooves Wipe the grooves for the locking balls and the contact surfaces of the air sealings with a cloth 2 Clean contact surfaces Wipe the signal contact surface with a cloth TA100 8E only 3 General cleaning Clean the tool attachment in general ...

Страница 33: ...l 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 breaker NOTE Read the safety chapter for the robot 5 Pneumatic air off NOTE The pressure in the pneumatic system must be released before dismounting begins 6 Release contact STC20 4E only ...

Страница 34: ...ease rotation stop Release and remove the screws and nuts holding the rotation stop Remove the rotation stop 8 Remove screws Remove the screws holding the swivel with tool changer to the robot flange WARNING The swivel with tool changer is heavy and may cause damage if dropped NOTE Be careful not to damage the signal pins at the tool side of the swivel with tool changer ...

Страница 35: ...smount swivel with tool changer NOTE A guide pin is mounted between the swivel with tool changer and the robot flange 10 Clean the robot flange 11 Mount replacement swivel with tool changer Follow instructions in section 3 3 ...

Страница 36: ...sealings with a screw driver NOTE There are totally 4 air sealings 2 Clean sealing holes Wipe clean the sealing holes Remove all remaining parts of sealing and 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 ...

Страница 37: ... should be pressed fully into the sleeve 4 6 Complete service of swivel with tool changer We recommend a complete service on swivel with tool changers to be carried out every 5 years This will ensure proper function and increase the lifespan of the swivel with tool changers considerably We further recommend that the maintenance shall be carried out by qualified RSP personnel Please contact us for ...

Страница 38: ...38 M0107 1 ver 2 7 5 SPARE PARTS 5 1 Part list for swivel with tool changer P0106A ...

Страница 39: ...3 Socket head cap screw MC6S 4x12 2 4 O ring I0218 X 1 5 O ring I0156 X 1 6 Spring I0220 1 7 Air coupling 3HXG1113 3 X 3 8 Air coupling I0331 X 3 9 Sealing I0175 X 7 10 Guide pin CPK 6X16 1 11 Securing screw MF6S 4x10 1 12 O ring I0163 X 1 13 O ring I0155 X 1 14 O ring I0159 X 4 15 Looking ball I0146 4 16 O ring I0160 X 1 ...

Страница 40: ...40 M0107 1 ver 2 7 5 2 Part list for swivel with tool changer P0108A ...

Страница 41: ... I0220 1 10 O ring I0163 X 1 11 Socket head cap screw MC6S M5x40 8 12 Screw MRX 3x6 2 13 Cable bracket P0208 033B 1 14 Socket head cap screw MRX H 3x20 4 15 O ring I0218 X 1 16 Air coupling I0331 X 3 17 Air coupling 3HXG1113 3 X 3 18 Electrical housing complete A0173 009 1 19 O ring I0285 0 24m X 1 20 Slipring housing A0173 016 1 21 Sealing I0177 1 22 Socket head cap screw M4x16 X 23 Guide pin CPK...

Страница 42: ...42 M0107 1 ver 2 7 5 3 Part list for tool attachment P0102 and P0123 Item Description Part number Pcs 1 Securing screw MFX Z 2 5x6 4 2 Cover P0208 019 1 3 Dust cap I0300 4 ...

Страница 43: ...M0107 1 ver 2 7 43 5 4 Part list for tool attachment P0109 and P0125 Item Description Part number Pcs 1 Securing screw MFX Z 2 5x6 4 2 Cover P0208 019 1 3 O ring I0825 1 4 Connector M8 I0029 4 ...

Страница 44: ...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 45: ...M0107 1 ver 2 7 45 ...

Страница 46: ...46 M0107 1 ver 2 7 ...

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