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INSTRUCTION MANUAL
NOTICE
For use of this document:
Please keep this document always readily available to those who use
the product. If you need an additional copy, please download the
document from our website: http: //www.nitta.co.jp/
Osaka HQ:
4-4-26 Sakuragawa, Naniwa-ku, Osaka, Osaka 556-0022
Tel: +81 6-6563-1273
FAX: +81 6-6563-1274
Tokyo Branch:
8-2-1 Ginza, Chuo-Ku, Tokyo 104-0061
Tel: +81-3-6744-2708
FAX: +81-3-6744-2709
Nagoya Branch: 1-17-23 Meieki-Minami, Nakamura-ku, Nagoya 450-0003
Tel: +81-52-589-1310
FAX: +81-52-586-5707
Nabari Plant:
1300-45 Yabata, Nabari, Mie 518-0494
Tel: +81-595-64-2916
FAX: +81 595-63-9527
Automatic Tool Changer
NITTAOMEGA type L
Nitta Corporation
Printed in Japan type L-ENOUG-00
Issued: April 2021
Revised:
Ver. No.: rev.0
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Related Manuals for Nitta NITTAOMEGA L
Summary of Contents for Nitta NITTAOMEGA L
- Page 1 For use of this document: Please keep this document always readily available to those who use the product. If you need an additional copy, please download the document from our website: http: //www.nitta.co.jp/ Nitta Corporation Osaka HQ: 4-4-26 Sakuragawa, Naniwa-ku, Osaka, Osaka 556-0022...
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Page 2: Table Of Contents
Contents Contents Preface ..............................I Notice ..............................I Product Warranty ..........................I Unpacking and Check ..........................I Safety Precautions ..........................II Overview of the Automatic Tool Changer (ATC) ..............1 １. Robot Side ..........................1 Robot Adaptor ........................ 1 Selection of Input Device ....................2 Robot adaptor plate (optional) .................. - Page 3 Contents Pneumatic Module ....................... 16 4 Ports type specifications ..................16 8 Ports type specifications ..................17 Signal module ........................18 Fall Prevention System ....................... 19 Part Names ..........................20 ４. Procedures of Installation to Robot/Tool ................21 ５. Robot Adaptor ........................21 Tool Adaptor .........................
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Page 4: Preface
- Take note that we assume no responsibility regarding any damage or accident that occurs in works performed by customers. Notice This document is only intended for customers of Nitta Corporation (hereinafter referred to as "the company"). Technical information and drawings presented in this document are proprietary of the company and it is prohibited to publish all or part of this document for any commercial purpose or disclose the same to any third party without prior written consent of the company. -
Page 5: Safety Precautions
For Safe Use of the Product a) Hazard, warning and cautions indications in this document This section describes safety precautions for proper use of the Nitta product and prevention of injuries and property damages. These precautions are classified into three levels according to severity of potential hazards and damages that may be caused by non-conformity thereto. - Page 6 Safety Precautions c) General Precautions Personnel engaged in installation, programming and maintenance works inside CAUTION the robot safety fence for the ATC must have expertise in robot operations (having completed expert training). In addition, those engaged in disassembly or assembly works of the ATC, whether in or out of the safety fences, shall read this document, installation guide, and maintenance procedures.
- Page 7 Safety Precautions Be sure to check the following items before starting the installation procedure: DANGER (a) Welding power source, control power source and driving power source are all shut off before work. (b) All hydraulic, pneumatic, and water pressure sources are off before work. (c) All residual hydraulic, pneumatic, and water pressure is released before work.
- Page 8 Safety Precautions Make sure there is no chips of sealing tape or other dusts getting into the water WARNING supply, air supply, fall prevention system, and ATC chuck/unchuck port. Otherwise, not only the product function and life may be adversely affected but also unexpected accident may occur.
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Page 9: Overview Of The Automatic Tool Changer (Atc)
１.Overview of the Automatic Tool Changer (ATC) １. Overview of the Automatic Tool Changer (ATC) A pneumatic-driven system is employed for the Nitta ATC. Basically, the ATC consists of 2 components: a robot adaptor and a tool adaptor. The ATC is compatible with all the robot tools with respective adaptor plates (optional). In addition, the ATC and its functional modules are equipped with transmission mechanisms such as a signal pin to transmit signals and power source to the tool, and pneumatic port. -
Page 10: Selection Of Input Device
１.Overview of the Automatic Tool Changer (ATC) Selection of Input Device Check specifications of the input device. Signals representing the robot CAUTION adaptor attachment condition may not be present. The chuck/unchuck sensor signal output circuit of the unit consists of a photo coupler operated by turning the proximity sensor ON/OFF, and serial resistor for photo coupler protection. -
Page 11: Robot Adaptor Plate (Optional)
１.Overview of the Automatic Tool Changer (ATC) Robot adaptor plate (optional) Conforming to the ISO flange (P.C.D.200 (M12×6)) pattern, the adaptor is mountable to a robot flange. They can also be mounted to various robots not compatible with the P.C.D.200 (M12×6) pattern with a robot adaptor plate. -
Page 12: ２. Configuration
２.Configuration: ２. Configuration: This system is composed of the ATC (Robot Adaptor and Tool Adaptor) and additional functional modules assembled thereto. The signal pin ASSY is a spring-type electric contact. Mounting bolt ASSY Tool Adaptor Mounting bolt ASSY Module Robot Adaptor Tool Tool stand Robot... -
Page 13: ３. Standard Specifications
３.Standard Specifications ３. Standard Specifications Common Specifications ○Use conditions 0-60℃ (no condensation) Ambient temperature Ambient humidity 95%RH or below (no condensation) Ambient atmosphere Free of corrosive gas Altitude 1000m or less 10-500 (Hz) Acceleration: 50 (m/s ) for 110 minutes Vibration resistance (compliant with IEC60068-2-6) ○Transport conditions... -
Page 14: Atc
３.Standard Specifications ATC Specifications Robot Adaptor See the drawing Model Tool Adaptor See the drawing Payload 350～600kg Allowable moment 4000Nm Allowable torque 4000Nm Working pressure 0.39-0.85MPa Position reproducibility ±0.025mm Number of electric See the drawing contacts Rated voltage 50VDC or below Interface Max. -
Page 15: Internal Power Wire For Atc
３.Standard Specifications Internal Power Wire for ATC Name Polyester flex-resistant power wire Model DKHV Nominal sectional area 0.5mm Material Annealed copper wire for electricity Configuration: Conductor 6/18/0.08 wires/mm No. of wires/wire dia. Outer diameter 1.1mm Insulation Material Heat-resistant vinyl material Withstand Under water 2000V/5 min... -
Page 16: Chuck And Unchuck Sensor
３.Standard Specifications Chuck and Unchuck Sensor Name Proximity switch Type DC 2-wire type or DC 3-wire type Detection method High-frequency oscillation Rated power supply 12/24VDC (common) voltage Operating voltage 10-30VDC range Leak current 0.6mA or below Operation mode Normal open *1 Output mode DC 2-wire or DC 3-wire type transistor output Switching current: 3-50mA，... -
Page 17: Precautions For Allowable Load And Installation
３.Standard Specifications Precautions for Allowable Load and Installation Rated load, rated moment, and rated torque in the ATC specifications are WARNING dynamic specifications for the unit being mounted on a robot. Ensure that the maximum load never exceeds these values during normal operations taking into account the acceleration factor during acceleration/deceleration by the robot. -
Page 18: Spot Welding Module (Seal Connector Specifications)
３.Standard Specifications Spot Welding Module (Seal Connector Specifications) Spot Welding Module Specifications Robot Side See the drawing Model Tool Side See the drawing Robot Side 0.6kg Weight 0.6kg Tool Side Voltage-proof resin Body material Welding power 2 pieces, Ground 1 Number of electrodes piece, Signal 2 pieces (max) Rated voltage... -
Page 19: Power Wire For Spot Welding Module (Power)
３.Standard Specifications Power Wire for Spot Welding Module (Power) Electric wires for internal wiring and for power Name supply Nominal sectional area 4AWG (21.1mm Material Soft-copper stranded wire Configuration: Conductor (AC) No. of wires/wire 7/126/0.18 wires/mm dia. Outer diameter 6.9mm Insulation Material Heat-resistant flexible vinyl... -
Page 20: Spot Welding Module (Direct Cabling Specifications)
３.Standard Specifications Spot Welding Module (Direct Cabling Specifications) Specifications Robot Side See the drawing Model Tool Side See the drawing Robot Side 0.6kg Weight Tool Side 0.6kg Body material Voltage-proof resin Welding power 2 pieces, Ground 1 Number of electrodes piece, Signal 2 pieces (max) Rated voltage Single-phase 600VAC... -
Page 21: Servo Motor Module
３.Standard Specifications Servo Motor Module Servo Motor Module Specifications Robot Side See the drawing Model Tool Side See the drawing Robot Side 0.8kg Weight Tool Side 0.9kg Aluminum alloy Body material 6 electrodes Motor power Number of electrodes 15 electrodes Signal Motor power 200VAC... -
Page 22: Internal Power Wire For Servo Motor Module
３.Standard Specifications Internal Power Wire for Servo Motor Module Motor power Application Brake Power Name Polyvinyl chloride wire for electric appliances Model Nominal sectional area 0.75mm 3.5mm Material Tinned annealed copper wire Conductor Configuration: no. of 30/0.18 wires/mm 45/0.32 wires/mm wires/wire dia. -
Page 23: Hydraulic Module
３.Standard Specifications Hydraulic Module Specifications See the drawing Robot Side Model See the drawing Tool Side Robot Side 0.93(kg) Weight Tool Side 0.83(kg) Body material Stainless steel Number of ports Water（Available air） Fluid used 0-80℃ (no condensation) Fluid temperature Ambient temperature 0-60°C Ambient humidity 95%RH or less... -
Page 24: Pneumatic Module
３.Standard Specifications Pneumatic Module 4 Ports type specifications See the drawing Robot Side Model See the drawing Tool Side Robot Side 0.57(kg) Weight Tool Side 0.60(kg) Body material Aluminum alloy Number of ports Fluid used 0-80℃ (no condensation) Fluid temperature Ambient temperature 0-60°C Ambient humidity... -
Page 25: Ports Type Specifications
３.Standard Specifications 8 Ports type specifications See the drawing Robot Side Model See the drawing Tool Side Robot Side 1.03(kg) Weight Tool Side 1.10(kg) Body material Aluminum alloy Number of ports Fluid used Fluid temperature 0-80℃ (no condensation) Ambient temperature 0-60°C Ambient humidity 95%RH or less... -
Page 26: Signal Module
３.Standard Specifications Signal module Specifications See the drawing Robot Side Model See the drawing Tool Side Robot Side 0.9(kg) Weight Tool Side 0.9(kg) Voltage-proof resin Body material Number of electrodes Rated voltage 50VDC or below Max. allowed current Overvoltage category III Overvoltage category Pollution level 3 Allowable pollution level... -
Page 27: Fall Prevention System
３.Standard Specifications Fall Prevention System Specifications CAR-006-M* Product No. External dimensions 60.4 x 80 x 62.3mm (height x width x thickness) Aluminum alloy Main unit material Weight 0.52kg C [dm3(s･bar)] Flow characteristics 0.15 Fluid used Working pressure 0-1.0MPa Ambient temperature 0-60°C (no freezing) and working air temperature Rc1/4... -
Page 28: ４. Part Names
４.Part Names ４. Part Names Fig. 3. Part names... -
Page 29: ５. Procedures Of Installation To Robot/Tool
５.Procedures of Installation to Robot/Tool ５. Procedures of Installation to Robot/Tool For use of ATC, be sure to observe safety instructions concerning core robots DANGER and compatible units. For any work within the robot safety fence, consider preparing a safety system design to shut down power over 50V once any person gets into the fenced area. - Page 30 ５.Procedures of Installation to Robot/Tool If you manufacture (process) a robot/tool adaptor plate on your own, be sure to CAUTION ensure sufficient depth of counterbore so that the head of any mounting screw will not protrude from the mounting surface of each adaptor plate. When using male screws from the tool side to attach a tool to a tool adaptor, adjust the bolt length so that the tip of any male screw will not protrude from the tool adaptor plate surface.
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Page 31: Connecting To Fitting/Removal Port
５.Procedures of Installation to Robot/Tool Connecting to Fitting/Removal Port Connect piping from the solenoid valve to the "CHUCK" port and "UNCHUCK" port of the fitting/removal mechanism. The constant pressure line (with the valve not energized) must always be connected with the "CHUCK" port to maintain coupling of the chuck/unchuck port in the event of power failure. - Page 32 ５.Procedures of Installation to Robot/Tool Do not perform chuck / unchuck operation before installing it to the robot. CAUTION Make sure robot adaptor must be fixed with bolts to the robot when it will be chucked / unchucked. Otherwise, the blank plate on the mounting surface may be damaged and inoperable.
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Page 33: Electric Wiring
５.Procedures of Installation to Robot/Tool Electric Wiring With reference to the internal wiring chart, connect the input and output wires to robot adaptor terminals (connectors). Connect the built-in sensors to a robot (line, etc.) control system. Signals from these sensors will be taken through the aforementioned terminals. In case of the connector spec, be sure to securely insert the connectors. -
Page 34: Atc Grease Up
For new products, please check that grease has been already applied in plant. (Recommended grease: SUMIPLEX BN NO. 1 (manufactured by Sumico Lubricant)) Do not use molybdenum grease. As Nitta uses mineral lithium composite grease, CAUTION be sure to use the same type of grease. Recommended NLGI No. -
Page 35: Precautions For Installing Atc To A Tool
５.Procedures of Installation to Robot/Tool Precautions for Installing ATC to a Tool ATC Orientation In order to minimize the gap between mating surfaces, it is recommended to install ATC so that the maximum possible load is oriented as illustrated in the figure below. -
Page 36: Procedure For Installing Module To Atc
Chart 1. Module assembly bolts and torque level R side T side Screw shape M5×30 SUS + Spring water + Flat washer Spot Welding Nitta model No. GSSH05030S + GWSP05S + GWFH0510 Torque R side T side Screw shape M5×30 SUS Servo Motor Nitta model No. -
Page 37: Wiring For Spot Welding Module Of Direct Cabling Specifications
Crimp terminal selection Use cables of compatible cable O.D. specified in your facility specifications or relevant module drawings. Chart 2. Possible crimp terminals and compatible cable diameters Compatible cable dia. Crimp terminal model (Nitta part no.) ) (SQ) GLUGR38-6S 26.66-42.42 GLUGR22-6S 16.78-26.66... - Page 38 ５.Procedures of Installation to Robot/Tool (2) Peel the cable coating for 10mm length from the tip. Peeling length: 10mm Spot welding cable Fig. 9. Cable coating peeling (3) Fit a crimp terminal suited for the cable diameter and use a hydraulic crimping tool to tighten the crimp terminal further.
- Page 39 ５.Procedures of Installation to Robot/Tool (2) Fix the cable with the clamp. (Cross-slot screws) [Torque level: 1.5Nm] Fig. 12. Cable fixing by cable clamp (3) Let the signal cable through the cable gland and adjust the length with reference to the power supply cable.
- Page 40 ５.Procedures of Installation to Robot/Tool (5) Connect the crimp terminal of the signal cable and put into the housing. Fix the cable ground. [Torque level: 0.4Nm] Signal cable crimp terminal (plug) Cable ground Fig. 15. Signal cable crimp terminal connection and housing After fitting the spot welding module to the adaptor, fix cables at appropriate CAUTION position for robot motions to prevent cables from being pulled by robot...
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Page 41: When A Servo Motor Module Is Used
５.Procedures of Installation to Robot/Tool Robot side cables must be securely tied together with other cables and tubes CAUTION and fixed around the robot adaptor's connector part by using a spiral tube or banding band, etc. Also ensure that cables and tubes are free of any excessive force while the robot's wrist axis is rotating. -
Page 42: When A Hydraulic Module Is Used
Equivalent items are silicone oil-based grease of NLGI No. (JIS consistency number) 1 and 2. Hydraulic/coolant ASSY greasing Use Nitta’s recommended grease or an equivalent item for hydraulic/coolant ASSY greasing, which should be thinly and evenly applied onto the robot side O-ring. Application points are indicated in Fig. 17. -
Page 43: When A Pneumatic Module Is Used
５.Procedures of Installation to Robot/Tool When a pneumatic module is used: Ensure no chips of sealing tape, etc. get into the module. Otherwise, it gets CAUTION into the O-ring sealing section inside and causes leakage. Mineral oil grease (Sumiplex BN No.1 Sumiko Lubricant Co., Ltd.) is applied CAUTION to the O-ring of the module. -
Page 44: ６. Operations And Programming
６.Operations and Programming ６. Operations and Programming Checking before Teaching (Robot Operations) Ensure that cables and tubes (hereinafter cables, etc.) are routed and fixed CAUTION to the bracket without breaking. Also, ensure that the cables, etc. are fixed so that they do not interfere with peripheral components and work pieces during robot operations. -
Page 45: Operations And Programming
６.Operations and Programming Operations and Programming This section describes a simple example of external interlock signals of the ATC. The ATC requires synchronization with a robot and peripheral devices and exchange of operation check signals to ensure reliability and safety. The ATC has three built-in sensors for detection of its own motions. -
Page 46: Basic Flow Of Atc
６.Operations and Programming Basic Flow of ATC Please check the flow outlined in Chart 5 below and ensure the robot interlocking. Chart 5. Basic flow of ATC External Input Robot Output LED Output input Chucking Sensor Controlling LED ASSY Fixture Limit Robot motion Face Chuck... -
Page 47: Interlocking Around Atc
６.Operations and Programming Interlocking around ATC For safe and smooth operations of ATC, it is recommended to configure the following signals. 1) Signal of detection of decreased air pressure for ATC driving This signal notifies a robot of reduction of ATC driving air pressure for any reason, and robot operations will be halted when this signal is turned OFF. -
Page 48: Precautions For Operations
Then, perform teaching so that the built-in sensors can detect unchuck and ensure smooth evacuation without prying. We have teaching jigs, so please feel free to contact us if you are interested. NITTA Teaching JIG Keep... - Page 49 ６.Operations and Programming 4) Tool side supports and tool side supported positioning sections of the tool stand must be abrasion resistant. It is desirable that parts can be replaced. If the ATC is applied for demurring or other machining, position the tool stand so that no cutting chips and cutting oil are adhered to the tool adaptor.
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Page 50: Points To Check During Line Downtime (Or Line Uptime)
６.Operations and Programming Points to Check during Line Downtime (or Line Uptime) ●Recommended usage WARNING During the robot downtime, e.g. nighttime or holidays, keep the tool side module detached. During uptime, check that the cam is closed at the time of approaching for coupling of the tool side unit. -
Page 51: Emergency Response Actions
６.Operations and Programming Emergency Response Actions Response Actions to Interference or Crash In the event of interference or crash with a robot or a jig attached to the CAUTION robot (e.g. gun and transformer, etc.), be sure to take the inspection and response actions described in Chart 6. -
Page 52: Precautions For Transportation
６.Operations and Programming Precautions for Transportation To move the system with the modules coupled together without air supply, use WARNING rope or the like to bind them and prevent tool side module from falling. Fix by rope, etc. Fig. 22. Precautions for transportation...