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M0605-1 ver 2.5

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 STC350

Страница 1: ...m0403 Product Manual Swivel with tool changer STC350 M0605 1 Tool changers Swivels Swivel tool changers Grippers Hose packages Valve units Tool systems ...

Страница 2: ...2 M0605 1 ver 2 5 ...

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: ...le no P0608 18 2 1 8 Tool attachment square TA350 8E Article no P0604 19 2 1 9 Pneumatic diagram 20 2 1 10 Circuit diagram E0167 006 for P0607 and P0695A 21 2 1 11 Circuit diagram E0166 003 for P0608 22 2 1 12 Circuit diagram E0166 005 for P0604 23 2 2 Options for swivel with tool changer 24 2 2 1 Robot adaptation kit rotation stop 24 2 2 2 Adaptation plates 24 2 2 3 Tool stand kit Article no P063...

Страница 5: ...attachment 34 4 3 Cleaning 35 4 3 1 Cleaning and lubrication of swivel with tool changer 35 4 3 2 Cleaning of tool attachment 36 4 4 Replacement of swivel with tool changer 37 4 5 Replacement of wear parts 39 4 5 1 Replacement of air sealings 39 4 5 2 Replacement of signal pins STC350 6E only 40 4 6 Complete service of tool changer 40 5 SPARE PARTS 41 5 1 Part list for swivel with tool changer P06...

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: ... 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 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 attachme...

Страница 8: ...ace 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 with the swivel with integrated tool changer does in addition significantly reduce the design and...

Страница 9: ...he electrical versions are designated E The swivel with tool changer STC350 6 and STC350 6E cannot transport fluids The spring loaded signal pins of STC350 6E are placed and protected along a circle close to the centre of the 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 guarantees a minimum o...

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: ...ic Mz dynamic 3500 N 3500 Nm 3500 Nm Weight and centre of gravity 22 8 kg 0 2 2 5 93 6 mm 28 0 kg 0 4 1 8 110 6 mm 28 4 kg 0 2 2 0 111 9 mm P0605 P0605 and P0606 P0605 and P0602 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 Connections robot side See section 2...

Страница 12: ...olt pattern ISO9409 1 160 11 M12 Weight 5 2 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 11 M12 screws alternatively the tool attachment can be mounted ...

Страница 13: ...olt 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 11 M12 screws alternatively the tool attachment can be mounted ...

Страница 14: ... Swivel with tool changer STC350 6E Article no P0607 Swivel with tool changer STC350 6E transfers 6 pneumatic channels and 12 electrical signals to the tool attachment To be used together with tool attachments P0608 and P0604 ...

Страница 15: ...s 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 Connections robot side See section 2 1 9 8 Open TC marked 8 6 10 bar Close TC marked 7 6 10 bar 10 bar 800 l min Oil clean and waterless filtered air with max 25µm particle content G 1 4 Electrical signals Circuit diagram Total number of signals Ded...

Страница 16: ...vel with tool changer STC350 6E Sealed Article no P0695A Swivel with tool changer STC350 6E transfers 6 pneumatic channels and 12 electrical signals to the tool attachment To be used together with tool attachments P0608 and P0604 ...

Страница 17: ...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 Air quality Connections robot side See section 2 1 9 8 Open TC marked 8 6 10 bar Close TC marked 7 6 10 bar 10 bar 800 l min Oil clean and waterless filtered air with max 25µm particle content G 1 4 Electrical signals Circuit diagram Total number of signals De...

Страница 18: ... 5 5 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 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 ...

Страница 19: ...aximum 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 005D see section 2 1 10 18 1m 20 x 0 5 mm2 cable open end Note Tools can be moun...

Страница 20: ...20 M0605 1 ver 2 5 2 1 9 Pneumatic diagram ...

Страница 21: ...M0605 1 ver 2 5 21 2 1 10 Circuit diagram E0167 006 for P0607 and P0695A ...

Страница 22: ...22 M0605 1 ver 2 5 2 1 11 Circuit diagram E0166 003 for P0608 ...

Страница 23: ...M0605 1 ver 2 5 23 2 1 12 Circuit diagram E0166 005 for P0604 ...

Страница 24: ...ot Dependent on robot model alternative rotation stops are required which are available from RSP 2 2 2 Adaptation plates The flange of the swivel with tool changer has fastening holes in accordance with ISO 9409 1 according to the figure below Dependent on robot model adaptation plates for other bolt circles between the tool changer and the turning disc on the robot may be needed Adaptation plates...

Страница 25: ...els Contact Robot System Products for more information 2 2 5 Connection kits and cables Part number Description P8002 Electrical connection kit for P0607 and P0695A female Souriau 23S straight P8002 1 Electrical connection kit for P0607 and P0695A female Souriau 23S angled P8129 50 Cable kit for P0607 and P0695A Souriau 23S straight and cable 5 meter open end P8102 20 Cable kit for P0608 Souriau 1...

Страница 26: ...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 27: ...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 swivel 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 da...

Страница 28: ...luding hose bracket with the screws and nuts See tightening torques above NOTE Dependent on robot models there are alternative models of rotation stops 9 Connect air Connect the air hoses according to markings see section 2 1 9 10 Connect signal cable STC350 6E only Connect signal contact 23P Souriau 11 Power on Unlock the circuit breaker and switch the power on ...

Страница 29: ...l attachment Mount the tool attachment using a torque wrench with either M8 or M10 screws o M8 screws are put in from the tool attachment side to threaded M8 holes in the gripper tool o 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 Connect the air hoses according to markings NOTE Pneumatic diagram is fou...

Страница 30: ...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 hoses at air connections marked 7 and 8 6 Release tool attachment Connect compressed air to the air...

Страница 31: ...he position The robot should move to this position with low speed 3 5 2 Electrical installation Connection kits for the tool changer and tool attachment are available see section 2 2 5 3 5 3 Tool stand NOTE To guarantee reliability and a long service life for the tool changer the tool stand must be stable both in terms of its design and attachment NOTE The tool stand must not be spring loaded See ...

Страница 32: ...ttached 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 For water and air couplings Grease I0876 Molykote BR2Plus For guide pins and lockin...

Страница 33: ...ities and intervals Equipment Maintenance activity Interval Description Swivel with tool changer Inspection 2 weeks Visual inspection of swivel with tool changer see section 4 2 1 Swivel with 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 sectio...

Страница 34: ... swivel with tool changer Visually check the following Check Note Air connections Not damaged or dirty Air sealings No wear not damaged or dirty Electrical connection STC350 6E only Not damaged or dirty Signal pins STC350 6E only No wear not damaged or dirty Cables STC350 6E only No wear not damaged Locking balls Greased not dirty All parts No wear not damaged or dirty 4 2 2 Inspection of the tool...

Страница 35: ...ditional 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 STC350 6E only Clean only the contact surfaces NOTE Avoid cleaning solvent in the spring housing 5 General cleaning Cl...

Страница 36: ...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 37: ...l 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 STC350 6E only Release signal contact Souriau 23P NOTE Handle the contact with care as it is sensitive to mechanical damage Make sure that no dirt e...

Страница 38: ... 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 9 Dismount 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 39: ...acement of air sealings Action Note 1 Remove air sealings Remove the air sealings with a screw driver NOTE There are totally 6 air sealings 2 Clean sealing holes Wipe clean the sealing holes 3 Mount new air sealings Tap in the air sealings with a plastic mallet ...

Страница 40: ...signal pins should be pressed fully into the sleeve 4 Power on Unlock the circuit breaker and switch the power on 4 6 Complete service of tool changer We recommend a complete service on tool changers to be carried out every 30 months This will ensure proper function and increase the lifespan of the tool changer considerably We further recommend that the maintenance shall be carried out by qualifie...

Страница 41: ...M0605 1 ver 2 5 41 5 SPARE PARTS 5 1 Part list for swivel with tool changer P0605 P0607 and P0695A ...

Страница 42: ... 6 5 O ring I0061 1 6 O ring I0113 1 7 Roto Glyd ring I0148 9 8 Looking ball 2213874 20 12 9 X ring I0111 1 10 Spring I0204 8 11 O ring I0031 8 12 Air coupling I0196 8 13 Souriau connector STC350 6E only I0206 1 14 Sealing P0605 and P0607 I0213 1 14 Sealing P0695A I1183 1 The signal and power pins water air couplings and O rings are also considered as wear parts see section 4 1 3 ...

Страница 43: ...5 1 ver 2 5 43 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 44: ...4 M0605 1 ver 2 5 5 3 Part list for tool attachment P0602 and 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 45: ...and 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 an recy...

Страница 46: ...46 M0605 1 ver 2 5 ...

Страница 47: ...M0605 1 ver 2 5 47 ...

Страница 48: ...48 M0605 1 ver 2 5 ...

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