RSP STC20 Product Manual
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RSP STC20 Product Manual

Swivel with tool changer
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Product Manual
m0403
Swivel with tool changer STC20
M0107-1
Tool changers | Swivels | Swivel tool changers | Grippers | Hose packages | Valve units | Tool systems

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Summary of Contents for RSP STC20

  • Page 1 Product Manual m0403 Swivel with tool changer STC20 M0107-1 Tool changers | Swivels | Swivel tool changers | Grippers | Hose packages | Valve units | Tool systems...
  • Page 2 M0107-1 ver 2.7...
  • 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 Description of swivel with tool changers and tool attachments ........9 2.1.1 Coordinate System Definition ................... 10 2.1.2 Swivel with tool changer STC20-4. Article no: P0106A ........... 11 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 Swivel with tool changer STC20-4E.
  • Page 5 4.5 Replacement of wear parts ..................36 4.5.1 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 ............

  • 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 M0107-1 ver 2.7...

  • Page 7: Safety

    1.1 Safety 1.1.1 General The integrator installing the swivel with tool changer into the system must follow the safety demands stated in standards and provisions applicable in the country where the swivel with tool changer system is to be installed. The products are all prepared for CE-certification. The user of the Robot System Products swivel with tool changer is responsible that law and directives applicable in respective countries, with regards to safety, are followed.

  • Page 8: Description Of Rsp Swivel With Tool Changer

    The combination of RSP’s hose packages with the swivel with integrated tool changer does in addition significantly reduce the design and installation times for the system integrator.

  • Page 9: Technical Specifications

    ’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.

  • Page 10: Coordinate System Definition

    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.

  • Page 11: Swivel With Tool Changer Stc20-4. Article No: P0106A

    2.1.2 Swivel with tool changer STC20-4. Article no: P0106A Swivel with tool changer STC20-4 transfers 4 pneumatic channels to the tool attachment. Technical data +10°C−+60°C Working temperature Bolt pattern ISO 9409-1-40-4-M6 Maximum tool load Fz (static) ± 200 N Mx/My (dynamic) ±...

  • 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 +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) ±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: Swivel With Tool Changer Stc20-4E. Article No: P0108A

    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. M0107-1 ver 2.7...
  • Page 15 Technical data +10°C−+60°C Working temperature 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 1.1 kg P0108A Weight Mass centre X / Y / Z 2.3 / -1.1 / 41.7 mm 1.2 kg P0108A+ P0109...

  • Page 16: Tool Attachment Ta20-4E, Article No: P0109

    2.1.6 Tool attachment TA20-4E, Article no: P0109 Tool attachment TA20-4E transfers 4 pneumatic channels and 12 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) ±100 Nm...

  • Page 17: Tool Attachment Ta20-4E Steel, Article No: P0125

    2.1.7 Tool attachment TA20-4E steel, Article no: P0125 Tool attachment TA20-4E transfers 4 pneumatic channels and 12 electrical signals 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...

  • Page 18: Pneumatic Diagram

    2.1.8 Pneumatic diagram M0107-1 ver 2.7...

  • Page 19: Circuit Diagram E0208-001 For P0108A With P0109/P0125

    2.1.9 Circuit diagram E0208-001 for P0108A with P0109/P0125 M0107-1 ver 2.7...

  • Page 20: Options For Swivel With Tool Changer And Tool Attachment

    2.2 Options for swivel with tool changer and tool attachment 2.2.1 kit 20. Article no: P0142 Tool stand 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...

  • Page 21: Robot Adaptation Kit

    Dependent on robot model adaptation 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.

  • Page 22: 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 23: Installation Of Swivel With Tool Changer On Robot

    3.3 Installation of swivel with 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.
  • Page 24 Fit the rotation stop Fit the rotation stop including hose bracket with the screws and nuts. See tightening torques above. Note! Dependent on robot models there are alternative models of rotation stops. Connect air Connect the air hoses according to markings (see section 2.1.8).

  • Page 25: 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 26: Manual Unlocking Of Swivel With Tool Changer

    3.5 Manual unlocking of swivel with tool changer Action Note Safety Read the safety section (1.1). Park the tool Park the tool on a tool stand or table. NOTE! Make sure that the tool attachment and tool are fully supported by a tool stand or table.

  • Page 27: Hints

    3.6 Hints Programming The following will ensure a correct docking position. Action Attach a spare tool attachment to the swivel with tool changer. Position a spare tool attachment above the tool attachment that is mounted on the tool. The right position is found when the tool attachments are parallel, centered and engraved arrows are on the same line.

  • Page 28: Maintenance And Service

    4 MAINTENANCE AND SERVICE 4.1 Maintenance chart The swivel with tool changers and the tool attachments 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 29: 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. Flat-head screwdriver 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 30: Visual Inspection

    Check Note Air connections Not damaged or dirty Air sealings No wear, not damaged or dirty Electrical connection (STC20-4E only) Not damaged or dirty Signal pins (STC20-4E 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...

  • Page 31: Cleaning

    4.3 Cleaning 4.3.1 Cleaning and lubrication of swivel with 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 and the contact surfaces of the air sealings with a cloth. Clean contact surfaces Wipe the signal contact surface with a cloth. (TA100- 8E only). General cleaning Clean the tool attachment in general.

  • Page 33: Replacement Of Swivel With Tool Changer

    Pneumatic air off NOTE! The pressure in the pneumatic system must be released before dismounting begins. Release contact (STC20-4E only) Release signal contact M12 8P. NOTE! Handle the contact with care, as it is sensitive to mechanical damage. Make sure that no dirt enters the contacts.
  • Page 34 Dismount air Put markings on the air hoses. Dismount them from the swivel with tool changer. NOTE! Make sure that no dirt enters into the air hoses. Release rotation stop Release and remove the screws and nuts holding the rotation stop. Remove the rotation stop.
  • Page 35 Dismount swivel with tool changer NOTE! A guide pin is mounted between the swivel with tool changer and the robot flange. Clean the robot flange Mount replacement swivel with tool Follow instructions in section 3.3. changer M0107-1 ver 2.7...

  • Page 36: Replacement Of Wear Parts

    4.5 Replacement of wear parts 4.5.1 Replacement of air sealings Action Note Remove air sealings Remove the air sealings with a screw driver. NOTE! There are totally 4 air sealings. Clean sealing holes Wipe clean the sealing holes. Remove all remaining parts of sealing and glue.

  • Page 37: Replacement Of Signal Pins On Swivel With Tool Changer (Stc20-4E Only)

    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 a quotation.

  • Page 38: Spare Parts

    5 SPARE PARTS 5.1 Part list for swivel with tool changer P0106A M0107-1 ver 2.7...
  • Page 39 Item Description Part number Wear part Socket head cap screw MC6S 6x65 Air sealing I0158 Socket head cap screw MC6S 4x12 O-ring I0218 O-ring I0156 Spring I0220 Air coupling 3HXG1113-3 Air coupling I0331 Sealing I0175 Guide pin CPK 6X16 Securing screw MF6S 4x10 O-ring I0163...

  • Page 40: Part List For Swivel With Tool Changer P0108A

    5.2 Part list for swivel with tool changer P0108A M0107-1 ver 2.7...
  • Page 41 Item Description Part number Wear part Signal pin I0223 Socket for signal pins I0222 Socket head cap screw MC6S 6x80 Socket head cap screw MC6S 4x12 Air sealing I0158 Looking ball I0146 O-ring I0218 O-ring I0156 Spring I0220 O-ring I0163 Socket head cap screw MC6S M5x40 Screw...

  • Page 42: Part List For Tool Attachment P0102 And P0123

    5.3 Part list for tool attachment P0102 and P0123 Item Description Part number Securing screw MFX-Z 2,5x6 Cover P0208-019 Dust cap I0300 M0107-1 ver 2.7...

  • Page 43: Part List For Tool Attachment P0109 And P0125

    5.4 Part list for tool attachment P0109 and P0125 Item Description Part number Securing screw MFX-Z 2,5x6 Cover P0208-019 O-ring I0825 Connector, M8 I0029 M0107-1 ver 2.7...

  • Page 44: 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 45 M0107-1 ver 2.7...
  • Page 46 M0107-1 ver 2.7...

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