RSP TC20 Product Manual
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RSP TC20 Product Manual

Tool changer
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Product Manual
m0403
Tool changer TC20
M0106-1
Tool changers | Swivels | Swivel tool changers | Grippers | Hose packages | Valve units | Tool systems

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Summary of Contents for RSP TC20

  • Page 1 Product Manual m0403 Tool changer TC20 M0106-1 Tool changers | Swivels | Swivel tool changers | Grippers | Hose packages | Valve units | Tool systems...
  • Page 2 M0106-1 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

    2.1.3 Tool attachment TA20-4, Article no: P0102 ..............12 2.1.4 Tool attachment TA20-4 steel, Article no: P0123............. 13 2.1.5 Tool changer with air and electric signals TC20-4E. Article: P0103 ........ 14 2.1.6 Tool attachment TA20-4E, Article no: P0104 ..............16 2.1.7 Tool attachment TA20-4E steel, Article no: P0124 ............
  • Page 5 4.3.2 Cleaning of tool attachment....................30 4.4 Replacement of wear parts ..................31 4.4.1 Replacement of air sealings ..................... 31 4.4.2 Replacement of signal pins (TC20-4E only)..............31 4.5 Complete service of tool changer ................32 4.6 Replacement of tool changer ..................32 5 SPARE PARTS .....................

  • 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 M0106-1 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 to be 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 followed.

  • 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

    The tool changer TC20-4 transfers compressed air to the tool. It can be equipped with transfer of electrical signals, via spring loaded signal pins, to the tool attachment. The electrical version is designated ’E’.

  • 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 With Air, Tc20-4. Article No: P0101

    2.1.2 Tool changer with air, TC20-4. Article no: P0101 Tool changer TC20-4 transfers 4 pneumatic channels to the tool attachment. Technical data Working temperature +10°C−+60°C Bolt pattern ISO 9409-1-40-4-M6 Maximum tool load Fz (static) ±200 N Mx/My (dynamic) ±200 Nm Mz (dynamic) ±100 Nm...

  • Page 12: Tool Attachment Ta20-4, Article No: P0102

    2.1.3 Tool attachment TA20-4, Article no: P0102 Tool attachment TA20-4 transfers 4 pneumatic channels to the tool. Technical data Working temperature +10°C−+60°C Bolt pattern ISO 9409-1-50-4-M6 Weight 0.1 kg Maximum tool load Fz (static) ±200 N M6-screws) Mx/My (dynamic) ±100 Nm Mz (dynamic) ±100 Nm Maximum tool load...

  • Page 13: Tool Attachment Ta20-4 Steel, Article No: P0123

    2.1.4 Tool attachment TA20-4 steel, Article no: P0123 Tool attachment TA20-4 transfers 4 pneumatic channels to the tool. Technical data +10°C−+60°C Working temperature Bolt pattern ISO 9409-1-50-4-M6 Weight 0.3 kg Maximum tool load Fz (static) ±200 N M6-screws) Mx/My (dynamic) ±200 Nm Mz (dynamic) ±100 Nm...

  • Page 14: Tool Changer With Air And Electric Signals Tc20-4E. Article: P0103

    2.1.5 Tool changer with air and electric signals TC20-4E. Article: P0103 Tool changer TC20-4E transfers 4 pneumatic channels and 8 electrical signals to the tool attachment. M0106-1 ver 2.3...
  • Page 15 Technical data Working temperature +10°C−+60°C Bolt pattern ISO 9409-1-40-4-M6 Maximum tool load Fz (static) ±200 N Mx/My (dynamic) ±200 Nm Mz (dynamic) ±100 Nm Weight and centre of gravity P0103 Weight 0.4 kg Mass centre X / Y / Z 2.9 / 0.4 / 17.9 mm P0103+ P0104 Weight...

  • Page 16: Tool Attachment Ta20-4E, Article No: P0104

    2.1.6 Tool attachment TA20-4E, Article no: P0104 Tool attachment TA20-4E transfers 4 pneumatic channels and 8 electrical signals to the tool. Technical data Working temperature +10°C−+60°C Bolt pattern ISO 9409-1-50-4-M6 Weight 0.1 kg Maximum tool load Fz (static) ±200 N M6-screws) Mx/My (dynamic) ±100 Nm...

  • Page 17: Tool Attachment Ta20-4E Steel, Article No: P0124

    2.1.7 Tool attachment TA20-4E steel, Article no: P0124 Tool attachment TA20-4E transfers 4 pneumatic channels and 8 electrical signals to the tool. Technical data +10°C−+60°C Working temperature Bolt pattern ISO 9409-1-50-4-M6 Weight 0.1 kg Maximum tool load Fz (static) ±200 N M6-screws) Mx/My (dynamic) ±200 Nm...

  • Page 18: Pneumatic Diagram For Tc20 And Ta20

    2.1.8 Pneumatic diagram for TC20 and TA20 M0106-1 ver 2.3...

  • Page 19: Circuit Diagram E0185-001 For P0103 And P0104/P0124

    2.1.9 Circuit diagram E0185-001 for P0103 and P0104/P0124 M0106-1 ver 2.3...

  • Page 20: Options To Tool Changers And Tool Attachment

    2.2.1 4x air coupling M5, robot side. Article no: P1115 Transfers 4 additional pneumatic channels to the tool attachment. Can be mounted at two different positions at TC20-4 and one single position at TC20-4E. To be used together with option P1116 on the tool attachment.

  • Page 21: 4X Air Coupling M5, Tool Side. Article No: P1116

    2.2.2 4x air coupling M5, tool side. Article no: P1116 Transfers 4 pneumatic channels to the tool. Can be mounted at two different positions at TA20-4 and one single position at TA20-4E. To be used together with option P1115 on the tool changer. Technical data Weight 0.02 kg...

  • Page 22: Robot Adaptation Kit

    2.2.4 Robot adaptation kit The flange of TC20 has fastening holes in accordance with ISO 9409-1-40-4-M6. Adaptation plates, which are mounted between the tool changer and the robot flange, are available for other bolt circles. The order number is customer specific, depending on the robot.

  • Page 23: Installation Of Tool Changer On Robot

    Connect air hoses Connect the air hoses according to markings. NOTE! Pneumatic diagram is found in section 2.1.8. Connect electrical signals (TC20-4E Connect signal contact M12 8p. only) Power on Unlock the circuit breaker and switch the power on.

  • Page 24: Installation Of Tool Attachment To Gripper/Tool

    3.4 Installation of tool attachment to gripper/tool Action Note Safety Read the safety section (1.1). Mount guide pins Press the two guide pins into the corresponding holes on the tool. Fit tool attachment Lift and fit the tool attachment, using the guide pins, into its appropriate guide holes.

  • Page 25: 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 26: 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 27: 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. Torque wrench For all socket head cap screws 4.1.3 Wear parts Wear parts should be replaced before considerable damage occurs.

  • Page 28: Activities And Intervals On Tool Attachment

    4.2.1 Inspection of the tool changer Visually check the following: Check Note Air sealings Not worn, damaged or dirty Locking balls Greased. Not dirty Signal pins (TC20-8E only) Not damaged or dirty Cables Not squeezed or damaged All parts No wear All parts No damage...

  • Page 29: Cleaning

    NOTE! It is important that this is done or there might else be a risk that the tool attachment jams. Clean signal pins (TC20-4E only) Clean only the contact surfaces! NOTE! Avoid cleaning solvent in the housing. General cleaning Clean the tool changer in general.

  • Page 30: 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 (TA20-4E only) Clean the signal contact surface with a cloth. General cleaning Clean the tool attachment in general. M0106-1 ver 2.3...

  • Page 31: Replacement Of Wear Parts

    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. 4.4.2 Replacement of signal pins (TC20-4E only) Replace a signal pin when worn or damaged. Action Note...

  • Page 32: Complete Service Of Tool Changer

    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 33 NOTE! Be careful not to damage the signal pins at the tool side of the tool changer (TC20-4E only). Dismount tool changer NOTE! A guide pin is mounted between the tool changer and the robot flange...

  • Page 34: Spare Parts

    5 SPARE PARTS 5.1 Part list for tool changer P0101 and P0103 Item Description Part number Wear part Securing screw MC6S 6x30 Air sealing I0158 Ball I0146 O-ring I0218 O-ring I0155 O-ring I0156 O-ring I0160 Spring I0220 O-ring I0159 Signal pins I0154 O-ring I0214...

  • Page 35: Part List For Tool Attachment P0102, P0123, P0104 And P0124

    5.2 Part list for tool attachment P0102, P0123, P0104 and P0124 Item Description Part number Wear part Blind plugg M8 I0197 Signal interface P0208-023C Screw MRX 3x20 Cover P0208-019C Screw MFX-Z 2,5x6 M0106-1 ver 2.3...

  • Page 36: 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 37 M0106-1 ver 2.3...
  • Page 38 M0106-1 ver 2.3...

This manual is also suitable for:

Tc20-4Tc20-4eP0101P0102P0123P0103 ... Show all

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