RSP TC350 Series Product Manual
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RSP TC350 Series Product Manual

Tool changer
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Product Manual
m0403
Tool changer TC350
M0604-1
Tool changers | Swivels | Swivel tool changers | Grippers | Hose packages | Valve units | Tool systems

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Summary of Contents for RSP TC350 Series

  • Page 1 Product Manual m0403 Tool changer TC350 M0604-1 Tool changers | Swivels | Swivel tool changers | Grippers | Hose packages | Valve units | Tool systems...
  • Page 2 M0604-1 ver. 2.3...
  • Page 3 The information in this document is subject to change without prior notice and should not be regarded as an undertaking from 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.

  • Page 4: Table Of Contents

    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 4 MAINTENANCE AND SERVICE ................27 4.1 Maintenance chart ....................27 4.1.1 Required products ......................27 4.1.2 Recommended tools for maintenance ................28 4.1.3 Wear parts ........................28 4.1.4 Activities and intervals on tool changer ................29 4.1.5 Activities and intervals on tool attachment ............... 29 4.2 Visual inspection ......................

  • 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 M0604-1 ver. 2.3...

  • Page 7: Safety

    1.1 Safety 1.1.1 General The integrator installing the tool changer into the system must follow the safety demands stated in standards and provisions applicable in the country where the tool changer system is installed. 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 adhered to.

  • 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

    For other bolt circles adaptation plates between the tool changer and the turning disc on the robot may be needed. Such adaptation plates are available from RSP. TC350-8E M0604-1 ver. 2.3...

  • 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 Tc350-8, Article: P0601

    2.1.2 Tool changer TC350-8, Article: P0601 Tool changer TC350-8 transfers 8 pneumatic channels to the tool attachment. To be used together with tool attachments P0606 and P0602. Technical data +10°C−+60°C Working temperature Bolt pattern ISO9409-1-160-11-M12 Maximum tool load Fz (static) ±3 500 N Mx/My (dynamic) ±3 500 Nm...

  • Page 12: Tool Attachment, Ta350-8 Round. Article No: P0606

    2.1.3 Tool attachment, TA350-8 Round. Article no: P0606 Tool attachment TA350-8 transfers 8 pneumatic channels to the tool. To be used together with tool changer P0601. Technical data +10°C−+60°C Working temperature Bolt pattern ISO9409-1-160-11-M12 Weight 5.0 kg Maximum tool load Fz (static) ±3 500 N (M12-screws)

  • Page 13: Tool Attachment, Ta350-8 Square. Article No: P0602

    2.1.4 Tool attachment, TA350-8 square. Article no: P0602 Tool attachment TA350-8 transfers 8 pneumatic channels to the tool. To be used together with tool changer P0601. Technical data +10°C−+60°C Working temperature Bolt pattern ISO9409-1-160-11-M12 Weight 5.7 kg Maximum tool load Fz (static) ±3 500 N (M12-screws)

  • Page 14: Tool Changer Tc350-8E, Article: P0603

    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. M0604-1 ver. 2.3...
  • Page 15 Technical data +10°C−+60°C Working temperature Bolt pattern ISO9409-1-160-11-M12 Maximum tool load Fz (static) ±3 500 N Mx/My (dynamic) ±3 500 Nm Mz (dynamic) ±3 500 Nm Weight and centre of gravity P0603 Weight 10.5 kg Mass centre X / Y / Z -0.4 / -0.1 / 53.9 mm Weight 16.0 kg...

  • Page 16: Tool Attachment Round, Ta350-8E. Article No: P0608

    2.1.6 Tool attachment round, TA350-8E. Article no: P0608 Tool attachment TA350-8E round transfers 8 pneumatic channels and 18 electrical signals to the tool. To be used together with tool changer P0603. Technical data +10°C−+60°C Working temperature Bolt pattern ISO9409-1-160-11-M12 Weight 5.5 kg Maximum tool load Fz (static)

  • Page 17: Tool Attachment Square, Ta350-8E. Article No: P0604

    2.1.7 Tool attachment square, TA350-8E. Article no: P0604 Tool attachment TA350-8E square transfers 8 pneumatic channels and 18 electrical signals to the tool. To be used together with tool changer P0603. Technical data +10°C−+60°C Working temperature Bolt pattern ISO9409-1-160-11-M12 Weight 6.1 kg Maximum tool load Fz (static)

  • Page 18: Pneumatic Diagram Pne0166-001A

    2.1.8 Pneumatic diagram Pne0166-001A M0604-1 ver. 2.3...

  • Page 19: Circuit Diagram E0166-001B For P0603 And P0608

    2.1.9 Circuit diagram E0166-001B for P0603 and P0608 M0604-1 ver. 2.3...

  • Page 20: Circuit Diagram E0166-005D For P0604

    2.1.10 Circuit diagram E0166-005D for P0604 M0604-1 ver. 2.3...

  • Page 21: Options To Tool Changers And Tool Attachments

    2.2 Options to tool changers and tool attachments 2.2.1 Tool stand kit. Article no: P0639 This tool stand kit, mounted 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...

  • Page 22: Robot Adaptation Kit

    2.2.3 Robot adaptation kit The flange of the tool changer shaft has fastening holes in accordance with ISO9409-1-160-11-M12. Adaptation plates are available for other bolt circles, they are mounted between the tool changer and the robot flange. The order number is customer specific, depending on the robot.

  • Page 23: 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 24: 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 25: 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 the guide pin into the hole on the tool. Fit the tool attachment Lift and fit the tool attachment, using the guide pin, into its appropriate guide hole.

  • Page 26: Limitation Of Robot Movements

    3.6 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. 3.7 Hints Programming The following will ensure a correct docking position. Action Attach a spare tool attachment (without the external air module) to the tool changer. Position the spare tool attachment above the tool attachment that is mounted on the tool.

  • Page 27: Maintenance And Service

    4 MAINTENANCE AND SERVICE 4.1 Maintenance chart The tool changer and tool attachment must be maintained regularly to ensure proper function. The specified intervals are approximate and valid under normal conditions. Under extreme conditions, such as dirty environments or extreme robot movements, the intervals should be shortened.

  • Page 28: 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. Screw driver For removing the air sealings. Plastic mallet For mounting the air sealings. Torque wrench For all socket head cap screws.

  • Page 29: Activities And Intervals On Tool Changer

    4.1.4 Activities and intervals 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). Guide pin Clean and 1 month...

  • Page 30: Visual Inspection

    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 Signal pins Not damaged or dirty O-ring Not damaged or dirty Cables No wear, no damage All parts No wear All parts No damage...

  • Page 31: 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.

  • Page 32: Cleaning Of Tool Attachment

    4.3.2 Cleaning of tool attachment Action Note Clean grooves Wipe the grooves for the locking balls with a cloth. Clean contact surfaces (TA350-8E only) Clean the signal contact surfaces with a cloth. Clean contact surfaces of air sealings Wipe the contact surfaces of the air sealings with a cloth.

  • Page 33: Replacement Of Wear Parts

    4.4 Replacement of wear parts 4.4.1 Replacement of air sealing Action Note Remove the air sealings with a screw driver. Wipe clean the sealing holes. Remove all remaining parts of the sealing. Mount new air sealings Tap in the 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.

  • Page 34: Replacement Of O-Ring

    We recommend a complete service on tool changers to be carried out every 5 years. 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 qualified RSP personnel. Please contact us for a quotation.
  • Page 35 Dismounting the tool changer Action Note Safety Read the safety section (1.1). Dismount tool Leave tool, with tool attachment mounted, in tool stand. Service position Place the robot in service position. NOTE! The tool change function shall be in locked position. Power off Switch the power off and lock the circuit breaker.

  • Page 36: Spare Parts

    5 SPARE PARTS 5.1 Part list for tool changer P0601 and P0603 M0604-1 ver. 2.3...
  • Page 37 Item Description Part number Wear parts Securing screw MC6S 12x80 Signal pin I0042 O-ring I0057 X-ring I0058 Spring I0204 Guide pin CPK DIN6325 12x30 Connector Souriau UT001823PHT Screw MC6S 4x12 Air Sealings 63550006-462 Locking ball 2213874-20 X-ring I0061 O-ring I0113 O-ring I0134 M0604-1 ver.

  • Page 38: Part List For Tool Attachment P0606 Amd P0608

    5.2 Part list for tool attachment P0606 amd P0608 Item Description Part number Connector Souriau UT001619SHT Connection plate P0166-001B O-ring I0133 Screw MC6S 5x20 M0604-1 ver. 2.3...

  • Page 39: Part List For Tool Attachment P0602 Amd P0604

    5.3 Part list for tool attachment P0602 amd P0604 Item Description Part number Locking screw MC6S 5x20 Connection plate P0166-023B Screw MF6S 4x30 O-ring I0031 M0604-1 ver. 2.3...

  • Page 40: 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 41 M0604-1 ver. 2.3...
  • Page 42 M0604-1 ver. 2.3...

This manual is also suitable for:

Tc350-8Tc350-8eP0602P0603

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