Summary of Contents for Robot System Products TC60 Series
- Page 1 Product Manual Tool changers TC60, TC120, TC180 M0623-2 Tool changers | Swivels | Swivels with Tool changers | Grippers | Hose packages | Valve Units | Tool systems...
- Page 2 M0623-1 ver 2.6...
- Page 3 Robot System Products AB. Robot System Products AB assumes no responsibility for errors that may occur in this document. Robot System Products AB bears no responsibility for damage that is incurred by the use of this document, or the software or hardware described in this document.
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Page 4: Table Of Contents
CONTENTS 1 INTRODUCTION ...................... 6 1.1 Safety ......................... 7 1.1.1 General ..........................7 1.1.2 Explanation of warnings ..................... 7 1.2 Description of RSP tool changers ................8 1.3 Complementary Equipment ..................8 2 TECHNICAL SPECIFICATIONS ................9 2.1 Description of tool changers and tool attachments ............. 9 2.1.1 Coordinate System Definition ................... - Page 5 3.5 Hints ......................... 45 3.5.1 Programming ........................45 3.5.2 Sparking ........................... 45 3.5.3 Electrical installation ......................45 3.5.4 Tool Stand ........................45 3.5.5 Tool Identification ......................45 4 MAINTENANCE AND SERVICE ................46 4.1 Maintenance chart ....................46 4.1.1 Required products ......................46 4.1.2 Recommended tools for maintenance ................
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Page 6: Introduction
TrueConnect™ tool changing mechanism with our swivel technology, combining the best out of two technologies. Robot System Products’ product lines are available for all major robot brands and come with complete documentation. 3D-models for simulation are available for download at: www.rsp.eu.com... -
Page 7: Safety
The products are all prepared for CE-certification. The user of the Robot System Products tool changer is responsible that law and directives applicable in respective countries, with regards to safety, are followed. The user is also responsible to guarantee that all safety devices are installed correctly. -
Page 8: Description Of Rsp Tool Changers
1.2 Description of RSP tool changers Our tool changers enable robots to handle and switch between multiple tools. They are built to ensure reliable and smooth operation, being compact with low weight and robust design and incorporating many safety features. Depending on model and options, electrical signals, weld and servo power, data, water and compressed air are transferred from the robot side to the tool. -
Page 9: Technical Specifications
These options are generally useable within the product family. This document presents: The Robot System Products TC60-8, TC120-8 and TC180-8 tool changers including tool attachments. Options to configure tool changers and tool attachments. These options can as well be ordered as accessories for retrofitting. -
Page 10: Coordinate System Definition
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. -
Page 11: Tool Changer Tc60-8. Article No: P1301
2.1.2 Tool changer TC60-8. Article no: P1301 The tool changer TC60-8 transfers 8 pneumatic channels to the tool attachment, has inlets for Open TC and Close TC, 3 positions for options and 1 for magnetic sensors. To be used together with P1302. Technical data Working temperature +10°C - +60°C... -
Page 12: Tool Attachment, Ta60-8. Article No: P1302
2.1.3 Tool attachment, TA60-8. Article no: P1302 The tool attachment TA60-8 transfers 8 pneumatic channels to the tool and has 3 positions for options. To be used together with P1301. Technical data Working temperature +10°C - +60°C Bolt pattern ISO 9409-1-80-6-M8 Weight 1.0 kg Maximum tool load... -
Page 13: Tool Changer Tc120-8. Article No: P1401
2.1.4 Tool changer TC120-8. Article no: P1401 The tool changer TC120-8 transfers 8 pneumatic channels to the tool attachment, has inlets for Open TC and Close TC, 3 positions for options and 1 for magnetic sensors. To be used together with P1402. -
Page 14: Tool Attachment, Ta120-8. Article No: P1402
2.1.5 Tool attachment, TA120-8. Article no: P1402 The tool attachment TA120-8 transfers 8 pneumatic channels to the tool and has 3 positions for options. To be used together with P1401. Technical data Working temperature +10°C - +60°C Bolt pattern ISO 9409-1-100-6-M10 Weight 1.3 kg Maximum tool load... -
Page 15: Tool Changer Tc180-8. Article No: P1801
2.1.6 Tool changer TC180-8. Article no: P1801 The tool changer TC180-8 transfers 8 pneumatic channels to the tool attachment, has inlets for Open TC and Close TC, 3 positions for options and 1 for magnetic sensors. To be used together with P1802. -
Page 16: Tool Attachment, Ta180-8. Article No: P1802
2.1.7 Tool attachment, TA180-8. Article no: P1802 The tool attachment TA180-8 transfers 8 pneumatic channels to the tool and has 3 positions for options. To be used together with P1801. Technical data Working temperature +10°C - +60°C Bolt pattern ISO 9409-1-125-6-M10 Weight 1.8 kg Maximum tool load... -
Page 17: Pneumatic Diagram For P1301, P1401 And P1801
2.1.8 Pneumatic diagram for P1301, P1401 and P1801 M0623-1 ver 2.6... -
Page 18: Options For Tool Changers And Tool Attachments
2.2 Options for tool changers and tool attachments 2.2.1 Signal interface Souriau, robot side. Article no: P1305 Transfers 17 electrical signals to the 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. -
Page 19: Signal Interface Souriau, Tool Side. Article No: P1306
2.2.2 Signal interface Souriau, tool side. Article 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 signals Connection, tool side 1.0 m cable (7x2x0.5mm²) with free end M0623-1 ver 2.6... -
Page 20: Circuit Diagram E0182-001 For P1305/P1306
2.2.3 Circuit diagram E0182-001 for P1305/P1306 M0623-1 ver 2.6... -
Page 21: Signal Interface Souriau, Robot Side. Article No: P1311
2.2.4 Signal interface Souriau, robot side. Article no: P1311 Transfers 17 electrical signals to the tool attachment through spring loaded signal pins. Can be mounted at one position on the tool changer. On the housing 2 separate M8-contacts for connecting sensors are mounted. To be used together with option P1312 on the tool attachment. -
Page 22: Signal Interface Souriau, Tool Side. Article No: P1312
2.2.5 Signal interface Souriau, tool side. Article no: 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 signals Connection, tool side 1.0 m cable (17x0.34 mm2) with free end... -
Page 23: Circuit Diagram E0182-002 For P1311/P1312
2.2.6 Circuit diagram E0182-002 for P1311/P1312 M0623-1 ver 2.6... -
Page 24: Servo Power Interface Souriau, Robot Side. Article No: P1307
2.2.7 Servo power interface Souriau, robot side. Article no: P1307 Transfers 8 servo power signals to the tool attachment. Can be mounted at 3 different positions on 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. -
Page 25: Servo Power Interface Souriau, Tool Side. Article No: P1308
2.2.8 Servo power interface Souriau, tool side. Article no: P1308 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 power signals Connection, robot side... -
Page 26: Circuit Diagram E0182-003 For P1307/P1308
2.2.9 Circuit diagram E0182-003 for P1307/P1308 M0623-1 ver 2.6... -
Page 27: High Voltage Interface, Robot Side. Article No: P1322
2.2.10 High voltage interface, robot side. Article no: P1322 Transfers 2 high voltage power signals to the tool attachment. Can be mounted 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 P1322. -
Page 28: High Voltage Interface, Tool Side. Article No: P1323
2.2.11 High voltage interface, tool side. 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 power Total number of signals Connection... -
Page 29: Circuit Diagram E0182-026 For P1322/P1323
2.2.12 Circuit diagram E0182-026 for P1322/P1323 M0623-1 ver 2.6... -
Page 30: Air Coupling 2 Channels, Robot Side. Article No: P1325
2.2.13 Air coupling 2 channels, robot side. Article no: P1325 Transfers 2 air channels 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... -
Page 31: Air Coupling 2 Channels, Tool Side. Article No: P1326
2.2.14 Air coupling 2 channels, 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 Total number of ducts G 3/8”... -
Page 32: Magnetic Sensors Tc Opened/Tc Closed. Article No: P1324
2.2.15 Magnetic sensors TC Opened/TC Closed. Article no: P1324 Magnetic sensor that gives +24V signal ”TC Opened” when tool 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. -
Page 33: Guide Pins. Article No: P1314
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 data Weight 0.03 kg M0623-1 ver 2.6... -
Page 34: Parking Bracket Kit. Article No: P1313
2.2.17 Parking bracket kit. Article no: P1313 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 2 different positions on the tool attachment. Technical data Weight 0.4 kg... -
Page 35: Parking Bracket Kit. Article No: P1331
2.2.18 Parking bracket kit. Article no: P1331 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! Only for TA60. -
Page 36: Parking Bracket Kit. Article No: P1405
2.2.19 Parking bracket kit. Article no: P1405 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! Only for TA120. -
Page 37: Parking Bracket Kit. Article No: P1805
2.2.20 Parking bracket kit. Article no: P1805 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! Only for TA180. -
Page 38: Tool Stand Kit. Article No: P0423
2.2.21 Tool stand kit. 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 data Weight 0.7 kg Maximum load... -
Page 39: Robot Adaptation Kits
2.2.22 Robot Adaptation Kits The flange of TC60 shaft has fastening holes in accordance with ISO 9409-1-80-6-M8. The flange of TC120 shaft has fastening holes in accordance with ISO 9409-1-100-6-M10. The flange of TC180 shaft has fastening holes in accordance with ISO 9409-1-125-6-M10. Adaptation plates, which are mounted between the tool changer and the robot flange, are available for other bolt circles. -
Page 40: Installation
3 INSTALLATION 3.1 Tightening torques Tightening torques for mounting (screw class 8.8) Dimension Torque 3 Nm 6 Nm 10 Nm 24 Nm 47 Nm 82 Nm 200 Nm 3.2 Recommended tools for installation Tools Applications Complete set of Allen keys For dismounting and mounting. -
Page 41: Installation Of Tool Changer On Robot
3.3 Installation of tool changer on robot Action Note Safety Read the safety section (1.1) Service position Place the robot in service position Power off Switch the power off and lock the circuit breaker NOTE! Read the safety chapter for the robot. Mount guide pin Press the enclosed guide pin into the robot flange. - Page 42 Connect air hoses Connect air hoses to the hose fittings. NOTE! Pneumatic diagram is found in section 2.1.8. Connect signals Connect electrical connectors in accordance with selected options. Power on Unlock circuit breaker and switch power on. M0623-1 ver 2.6...
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Page 43: Installation Of Tool Attachment To The Gripper/Tool
3.4 Installation of tool attachment to the gripper/tool Action Note Safety Read the safety section (1.1). Mount guide pin Press a guide pin into the hole on the tool. Fit tool attachment Lift the tool attachment to the tool and fit using the guide pin, if applicable, into its appropriate guide hole. - Page 44 TA60 M8-screws are put in from the gripper/tool side to the threaded M8-holes in the tool attachment. TA120/TA180 M10-screws are put in from the gripper/tool side to the threaded M10-holes in the tool attachment. See tightening torques above. M8/M10 Connect air hoses Connect air hoses to the hose fittings.
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Page 45: Hints
3.5 Hints 3.5.1 Programming The following will ensure a correct docking position. Action Attach a spare tool attachment to the tool changer. Position the spare tool attachment above the tool attachment that is mounted on the tool. The correct position is found when the tool attachments are parallel, centered and the engraved arrows are on the same line. -
Page 46: Maintenance And Service
Only perform work on grippers or tools attached 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... -
Page 47: Recommended Tools For Maintenance
4.1.2 Recommended tools for maintenance Tools Applications Complete set of Allen keys For dismounting and mounting. Pair of pliers For dismounting the signal pins. 27mm spanner For dismounting Water/air couplings Sliding hammer with M4 tap. For dismounting the guide pins. Screw driver For removing the air sealings. -
Page 48: Maintenance Activities On Tool Changer
4.1.4 Maintenance activities on tool changer Equipment Maintenance Interval Description activity 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 1 month... -
Page 49: Visual Inspection
4.2 Visual inspection 4.2.1 Inspection of the tool changer Visually check the following: Check Note Air sealings No wear, not damaged or dirty Locking balls Greased. Not dirty Guide pins Greased, No wear Air couplings No wear, not damaged or dirty Signal pins Not damaged or dirty Servo power interface... -
Page 50: Cleaning
4.3 Cleaning 4.3.1 Cleaning and lubrication of tool changer Action Note Clean locking balls Wipe the locking balls with a cloth. Check locking balls Check each ball to make sure it moves freely. Additional cleaning may be necessary to free any balls stuck in place. Lubricate looking balls Apply a small amount of grease (Molykote BR2Plus) on the... - Page 51 Clean signal pins Clean only the contact surfaces! NOTE! Avoid cleaning solvent in the spring housing. Clean guide pins Wipe the guide pins with a cloth. Apply a small amount of grease (Molykote BR2Plus) on the guide pins. Clean tool changer in generally M0623-1 ver 2.6...
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Page 52: Cleaning And Lubrication Of Tool Attachment
4.3.2 Cleaning and lubrication of tool attachment Action Note Clean grooves Clean the grooves for the locking balls with a cloth. NOTE! It is important that this is done or else there is a risk that the tool attachment jams. Clean contact surfaces Wipe the contact surfaces of the air sealings/couplings with a... -
Page 53: Replacement Of Wear Parts
4.4 Replacement of wear parts 4.4.1 Replacement of air sealings, P1301, P1401 and P1801 Action Note Remove air sealings Remove the air sealings with a screw driver. NOTE! There are totally 8 air sealings. Clean sealing holes Wipe clean the sealing holes. Remove all remaining parts of sealings and glue. -
Page 54: Replacement Of Signal Pins, P1305 And P1311
4.4.2 Replacement of signal pins, P1305 and P1311 Replace a signal pin when the spring jam, or become bent. Action Note Switch power off Switch the power off and lock the circuit breaker. Remove signal pins Pull out the signal pins with a pair of pliers. -
Page 55: Replacement Of Servo Power/High Voltage Interface On Tool Changer
4.4.3 Replacement of servo power/high voltage interface on tool changer, P1322 and P1307 Replace the servo power interface regularly or when signal problems occur. Action Note Power off Switch the power off and lock the circuit breaker. Disconnect interface Remove connector from the servo power interface. -
Page 56: Replacement Of Signal/Air Interface On Tool Attachment
4.4.4 Replacement of signal/air interface on tool attachment, P1326, P1323, P1312, P1308 and P1306 Replace the servo power interface regularly or when signal problems occur. Action Note Undock tool attachment Undock tool attachment, switch power off and lock the circuit breaker. -
Page 57: Replacement Of Air Sealings, P1325
4.4.5 Replacement of air sealings, P1325 Action Note Remove air sealing Remove the air sealing with a screw driver. NOTE! There are totally 2 air sealings. Clean sealing hole Wipe clean the sealing hole. Remove all remaining parts of sealing and glue. Mount new air sealing Glue the new air sealing in the sealing groove. -
Page 58: Replacement Of Guide Pins (Option)
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. -
Page 59: Replacement Of Tool Changer, Tc240-1/ Tc480-1
4.6 Replacement of tool changer, TC240-1/ TC480-1 Recommended tools Tools Applications Complete set of Allen keys For dismounting and mounting of tool changer Torque wrench For all socket head cap screws Action Note Safety Read the safety section (1.1). Dismount tool Leave tool, with tool attachment mounted, in tool stand. - Page 60 Release contacts NOTE! Handle the contact with care, as it is sensitive to mechanical damage. Make sure that no dirt enters the contacts. 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 equipment damage if dropped.
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Page 61: Replacement Of Tool Attachment, Ta240-1/ Ta480-1
4.7 Replacement of tool attachment, TA240-1/ TA480-1 Recommended tools Tools Applications Complete set of Allen keys For dismounting and mounting of tool changer Torque wrench For all socket head cap screws Replacing the tool attachment Action Note Safety Read the safety section (1.1). - Page 62 Remove screws Remove the screws holding the tool attachment to the tool. NOTE! The tool attachment can be fitted to the gripper/tool in two ways. WARNING! The tool attachment is heavy and may cause personal injury and equipment damage if dropped.
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Page 63: Spare Parts
5 SPARE PARTS 5.1 Tool changer 5.1.1 Part list for tool changer TC60, P1301 Item Description Part number Wear part Guide pin CPK 8x40 m6 DIN 6325 Screw, M8x40 21212519-459 Locking ring I0758 Locking ball 2213874-12 Air sealing I0760 O-ring I0090 O-ring I0298... -
Page 64: Part List For Tool Changer Tc 120, P1401
5.1.2 Part list for tool changer TC 120, P1401 Item Description Part number Wear part Guide pin CPK 8x40 m6 DIN 6325 Screw, M8x40 21212519-499 Locking ring I1037 Locking ball 2213874-12 Air sealing I0230 O-ring I0090 O-ring I0113 X-ring I0228 X-ring I0148 M0623-1 ver 2.6... -
Page 65: Part List For Tool Changer Tc180, P1801
5.1.3 Part list for tool changer TC180, P1801 Item Description Part number Wear part Guide pin CPIG 10x50 m6 DIN7979 Screw, M8x40 21212519-499 Locking ring I1093 Locking ball 2213874-12 O-ring I0173 O-ring I0244 X-ring I1094 X-ring I1076 Air sealing I0230 M0623-1 ver 2.6... -
Page 66: Part List For Option To Tc, Signal/Air Interface, P1305, P1311 And P1325
5.1.4 Part list for option to TC, signal/air interface, P1305, P1311 and P1325 Item Description Part number Wear part Signal interface, 12 signals P1305 Spring loaded signal pin I0154 Signal, interface, 17 signals P1311 Spring loaded signal pin I0154 Two G 3/8” air P1325 O-ring I0115... -
Page 67: Part List For Option To Tc, Power/High Voltage Interface
5.1.5 Part list for option to TC, power/high voltage interface Item Description Part number Wear part Power signal interface, 8 signals P1307 Screws H 5X25 High voltage interface, 2 signals P1322 Screws H 5X25 5.1.6 Part list for option to TC, magnetic sensors Item Description TC120/TC180 Part number... -
Page 68: Tool Attachment
5.2 TOOL ATTACHMENT 5.2.1 Part list for Tool attachment TA60-8, TA120-8, TA180-8 Item Description Part number Wear part Tool attachment, TA60-8 P1302 Tool attachment, TA120-8 P1402 Tool attachment, TA180-8 P1802 M0623-1 ver 2.6... -
Page 69: Part List For Option To Ta, Misc
5.2.2 Part list for option to TA, misc. Item Description Part number Wear part Two G 3/8” air P1326 High voltage interface P1323 Signal interface, 17 signals P1312 Power signal interface, 8 signals P1308 Signal interface, 12 signals P1306 Guide pins CPK5X16 Screws 21212711-327... -
Page 70: Disposal And Recycling
6 DISPOSAL AND RECYCLING Taking care of spent equipment Used equipment must be taken care of in an environmentally-friendly way. When disposed of, a major share of the material, or its energy content, can be recycled. The quantities possible to recycle vary depending on technical resources and practises in respective country. - Page 71 M0623-1 ver 2.6...
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