kosmek SWL Series User manual

RoboticHandChanger
New
▶http://www.kosmek.com/
CAT.NO. SBR-SWL001-02-G1B
PrintedinJapan
1-5,2-chome,Murotani,Nishi-ku,Kobe-city,Hyogo,Japan651-2241
TEL.[phone] FAX.[phone]
■ForFurtherInformationonUnlistedSpecificationsandSizes,Pleasecallus.
■SpecificationsinthisLeafletareSubjecttoChangewithoutNotice.
2022/6 First 0Ry
2022/7 2nd 0Ry
HEADOFFICE
KOSMEKLTD.
KOSMEK(USA)LTD.
650SpringerDrive,Lombard,IL60148USA
TEL.[phone] FAX.[phone]
FAX.[phone]
UnitedStatesofAmerica
SUBSIDIARY
KOSMEKUSAMexicoOffice
TEL.[phone]
MEXICO
REPRESENTATIVEOFFICE
KOSMEKThailandRepresentationOffice
67Soi58,RAMA9Rd.,Phatthanakan,Suanluang,Bangkok10250,Thailand
THAILAND
REPRESENTATIVEOFFICE
KOSMEKEUROPEGmbH
Schleppeplatz29020KlagenfurtamWörtherseeAustria
TEL.[phone]
EUROPE
SUBSIDIARY
TEL.[phone]
KOSMEKLTD.-INDIAINDIA
BRANCHOFFICE
FAX.[phone]TEL.[phone]
Av.SantaFe103,Int.59,col.SantaFeJuriquilla,Queretaro,
QRO,76230,Mexico
CHINA
SUBSIDIARY
TEL.[phone]
KOSMEK(CHINA)LTD.
Room601,RIVERSIDEPYRAMIDNo.55,Lane21,PusanRd,Pudong
Shanghai200125,China
4A/OldNo:649,GroundFloor,4thDcross,MMLayout,Kavalbyrasandra,
RTNagar,Bangalore-560032India
ModelSWL
AirPortJointOption:WithCheckValve
hasbeennewlyadded.
New July2022

1 2
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
ApplicabletoISOMountingPattern.
PayloadLine-up:80kg/120kg/180kg/300kg
ModelSWL
RoboticHandChanger
Registered Utility Model
Super-Thin
DirectMountingonRobots
FallPrevention
Clampedstatedimension
SWL0800：53mmSWL1200：62mm SWL1800：70mm SWL3000：83mm
ApplicabletoISOMountingPattern.
Mechanicallyholdsconnectionevenwhenairpressureisat0MPa.
Max.ApplicablePayload:300kg.
Payload|High|
DirectlymountedonarobotwhosemountingdimensionsoftheflangebasedonISOmountingPattern.
※Boltandpinarenotincluded.
ApplicabletoISOMountingPattern
Comparingtotheconventionalrobotichandchanger,thethicknesswhenconnectedhasbeenreducedby
morethan15%.Evenwithanadaptor,ithasbeenreducedbymorethan30%.Itminimizesthemomentappliedtoarobot.
LowProfilewhenConnected
ThedualsurfacecontactbyKosmekexclusive
movabletapersleeveenablesmetalsurfaces
tocontactwithnoclearance.Itmakeslocating
withhighrigilityandaccuracy.
NoBacklash
Two-stepmechanicallockmechanismbythebuilt-inspringandsteelballs.
Itenablespowerfulholdingevenwhenairpressureisat0MPa.
Itsecurelypreventsatoolfallevenwithlargeequipment.
FallPrevention|Safety|
SWL
SWR
Model
Model
NEW
NEW
ConventionalModel
0 50 100 150 200 250 300
ApplicablePayload(kg)
Largethinnestmodel
Compacthighaccuracymodel
15
(AdaptorPlate)
74
62
SWR1200 SWL1200
Morethan30％Reduction
comparingtotheconventionalmodel！
TaperSleeve
(2Parts)
ElasticRing
ConnectedDisconnected
DetailsofLocatingPart
CloseContact
SteelBall
(ForMechanicalLock)
MasterCylinder
SteelBall
InternalSpring(built-in)
ToolAdapter
ApplicationExamples
AirPortJointOption:WithCheckValvehasbeennewlyadded.

1 2
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
ApplicabletoISOMountingPattern.
PayloadLine-up:80kg/120kg/180kg/300kg
ModelSWL
RoboticHandChanger
Registered Utility Model
Super-Thin
DirectMountingonRobots
FallPrevention
Clampedstatedimension
SWL0800：53mmSWL1200：62mm SWL1800：70mm SWL3000：83mm
ApplicabletoISOMountingPattern.
Mechanicallyholdsconnectionevenwhenairpressureisat0MPa.
Max.ApplicablePayload:300kg.
Payload|High|
DirectlymountedonarobotwhosemountingdimensionsoftheflangebasedonISOmountingPattern.
※Boltandpinarenotincluded.
ApplicabletoISOMountingPattern
Comparingtotheconventionalrobotichandchanger,thethicknesswhenconnectedhasbeenreducedby
morethan15%.Evenwithanadaptor,ithasbeenreducedbymorethan30%.Itminimizesthemomentappliedtoarobot.
LowProfilewhenConnected
ThedualsurfacecontactbyKosmekexclusive
movabletapersleeveenablesmetalsurfaces
tocontactwithnoclearance.Itmakeslocating
withhighrigilityandaccuracy.
NoBacklash
Two-stepmechanicallockmechanismbythebuilt-inspringandsteelballs.
Itenablespowerfulholdingevenwhenairpressureisat0MPa.
Itsecurelypreventsatoolfallevenwithlargeequipment.
FallPrevention|Safety|
SWL
SWR
Model
Model
NEW
NEW
ConventionalModel
0 50 100 150 200 250 300
ApplicablePayload(kg)
Largethinnestmodel
Compacthighaccuracymodel
15
(AdaptorPlate)
74
62
SWR1200 SWL1200
Morethan30％Reduction
comparingtotheconventionalmodel！
TaperSleeve
(2Parts)
ElasticRing
ConnectedDisconnected
DetailsofLocatingPart
CloseContact
SteelBall
(ForMechanicalLock)
MasterCylinder
SteelBall
InternalSpring(built-in)
ToolAdapter
ApplicationExamples
AirPortJointOption:WithCheckValvehasbeennewlyadded.

3 4
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
CrossSection
MasterCylinder(SWL □ 0-M)
ToolAdapter(SWL
□ 0-T)
DisconectedState(ReleasedState)ConnectedState(LockedState)
ActionDescription
AirBlowPort
RoughGuide
SeatingConfirmationPort
LockAirPort
Locatingpart(2parts)
TaperSleeve(2parts)
ElasticRing
ReleaseAirPort RobotSide
Release
Air
SteelBall
InternalSpring
SteelBall
Nomoveback
StraightSurface
PistonRod
Lock
Air
HandSide
Supplyairtothelockport.Thepistonrodwillbepulleddownwith
pistonthrustandaninternalspring,andthetooladapterwillbe
pulledtotheseatingsurfacebythesteelballs.Whenthetool
adapterispulled,thelocatingpartcontactsthetaperedsurface,
andlocatingiscompleted.
APart
Material：StainlessSteel
（HighHardnessbyHeatTreatment）
Material：Duralumin
AirBlow-outHoleforSeatingConfirmation
Whenlockairpressureislost,mechanicallockmechanismis
activatedandpreventsatoolfall.
Mechanicallockmechanismenablesholdingforcetobe
5timesoftheallowableweightevenwhenairpressureisat0MPa.
APart:MechanicalLockMechanism
Tool
Adapter
Piston
Rod
MechanicalLockMechanism
SafetyPushValvetopreventatoolfallduringrobotteaching
AirPort(4ports)
AirPort(4ports)
Seating
Surface
AbletomountdirectlyonaRoboticHandChanger,andpreventatoolfallcausedbyvalveoperating
errorduringrobotteaching.
EnablestolimittheSWLtoreleaseonlyatadesignatedposition(toolstocker).
※Pleasecontactusforfurtherinformation.
modelSWRA0M0modelSWRA0R0 modelSWRA0A0
Locating
TaperedSurface
Supplyairtothereleaseairport.Thepistonrodispushedup
withthrustforcecausedbyreleaseair.Atthistime,thesteel
ballsarefreetomove(setinside).
AccessoriesSoldSeparately
Material：StainlessSteel
（HighHardnessbyHeatTreatment）

3 4
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
CrossSection
MasterCylinder(SWL □ 0-M)
ToolAdapter(SWL
□ 0-T)
DisconectedState(ReleasedState)ConnectedState(LockedState)
ActionDescription
AirBlowPort
RoughGuide
SeatingConfirmationPort
LockAirPort
Locatingpart(2parts)
TaperSleeve(2parts)
ElasticRing
ReleaseAirPort RobotSide
Release
Air
SteelBall
InternalSpring
SteelBall
Nomoveback
StraightSurface
PistonRod
Lock
Air
HandSide
Supplyairtothelockport.Thepistonrodwillbepulleddownwith
pistonthrustandaninternalspring,andthetooladapterwillbe
pulledtotheseatingsurfacebythesteelballs.Whenthetool
adapterispulled,thelocatingpartcontactsthetaperedsurface,
andlocatingiscompleted.
APart
Material：StainlessSteel
（HighHardnessbyHeatTreatment）
Material：Duralumin
AirBlow-outHoleforSeatingConfirmation
Whenlockairpressureislost,mechanicallockmechanismis
activatedandpreventsatoolfall.
Mechanicallockmechanismenablesholdingforcetobe
5timesoftheallowableweightevenwhenairpressureisat0MPa.
APart:MechanicalLockMechanism
Tool
Adapter
Piston
Rod
MechanicalLockMechanism
SafetyPushValvetopreventatoolfallduringrobotteaching
AirPort(4ports)
AirPort(4ports)
Seating
Surface
AbletomountdirectlyonaRoboticHandChanger,andpreventatoolfallcausedbyvalveoperating
errorduringrobotteaching.
EnablestolimittheSWLtoreleaseonlyatadesignatedposition(toolstocker).
※Pleasecontactusforfurtherinformation.
modelSWRA0M0modelSWRA0R0 modelSWRA0A0
Locating
TaperedSurface
Supplyairtothereleaseairport.Thepistonrodispushedup
withthrustforcecausedbyreleaseair.Atthistime,thesteel
ballsarefreetomove(setinside).
AccessoriesSoldSeparately
Material：StainlessSteel
（HighHardnessbyHeatTreatment）

5 6
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
AirBlowPort
MasterCylinder
SeatingConfirmationPort
ToolAdapter
MasterCylinder
BeforeConnection：AirSensorOFF WhenConnected：AirSensorON
Anti-Contamination：AirBlowFunction
Preventscontaminationbysupplyingairtotheairblowport.
CloseContactCheck：SeatCheckFunction
Whentheairsensorisconnectedtotheseatingconfirmationport,connectionofthemastercylinder
andthetooladapterisconfirmed.Iftheyarenotincontactandthereisagapontheseatingsurface
(connectionfailure),airwillleak.Itdetectstheconnectedconditionpreciselysincetheairsensor
turnsonwhentheyareconnectedproperly.
※Airsensormustbeinstalledseparately.
●CrossSection
AirforToolActuator
Air
Release
Lock
AirSensor
AirforSeatCheck
AirforToolActuator
Air
Release
※1
Lock
AirBlow
●CircuitReference
●CrossSection
●CircuitReference
※1. ForSafety:
Incaseofusinga2-positionsolenoidvalve,makesuretoselectthesolenoidvalveforoperatingSWLthatsupplies
airpressuretothelockportsidewhenitisnotmagnetized.
※1
SWL SWL
SeatingSurface
CloseContact
OFF ONON
AirSupply
（ForAirBlow）
Filter
5
μ morless Filter
5 μ morless
※1. ForSafety:
Incaseofusinga2-positionsolenoidvalve,makesuretoselectthesolenoidvalveforoperatingSWLthatsupplies
airpressuretothelockportsidewhenitisnotmagnetized.

5 6
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
AirBlowPort
MasterCylinder
SeatingConfirmationPort
ToolAdapter
MasterCylinder
BeforeConnection：AirSensorOFF WhenConnected：AirSensorON
Anti-Contamination：AirBlowFunction
Preventscontaminationbysupplyingairtotheairblowport.
CloseContactCheck：SeatCheckFunction
Whentheairsensorisconnectedtotheseatingconfirmationport,connectionofthemastercylinder
andthetooladapterisconfirmed.Iftheyarenotincontactandthereisagapontheseatingsurface
(connectionfailure),airwillleak.Itdetectstheconnectedconditionpreciselysincetheairsensor
turnsonwhentheyareconnectedproperly.
※Airsensormustbeinstalledseparately.
●CrossSection
AirforToolActuator
Air
Release
Lock
AirSensor
AirforSeatCheck
AirforToolActuator
Air
Release
※1
Lock
AirBlow
●CircuitReference
●CrossSection
●CircuitReference
※1. ForSafety:
Incaseofusinga2-positionsolenoidvalve,makesuretoselectthesolenoidvalveforoperatingSWLthatsupplies
airpressuretothelockportsidewhenitisnotmagnetized.
※1
SWL SWL
SeatingSurface
CloseContact
OFF ONON
AirSupply
（ForAirBlow）
Filter
5
μ morless Filter
5 μ morless
※1. ForSafety:
Incaseofusinga2-positionsolenoidvalve,makesuretoselectthesolenoidvalveforoperatingSWLthatsupplies
airpressuretothelockportsidewhenitisnotmagnetized.

7 8
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
AirJointFunction
Whenamastercylinderandatooladapterareconnected,aircanbesuppliedfromtherobotside
tothehandsidethroughtheairport.Airportcanbeusedfortheoperationoftheactuator
(positivepressure)andthesuctionpad(negativepressure).
Release
AirPort
Lock
AirPort
RobotSide
Disconnected Connected
Handside
Tool
AirPort
(AirforTool)
Tool
Notes:
  1.Ifthepassageareaisnotlargeenough,itcanbeexpandedbyconnectingmultipleairports.Itenables
   higheroperationspeed.
  2. Externaloptionsareavailableforextraairports.PleaserefertoP.25andafterforfurtherinformation.

Air
Tool
Notes:
  ※1.ForWithoutCheckValve(Standard),3-positionclosedcentersolenoidvalveisrecommendedsincethe
   airportsarealwaysopen.
 
 
SWL
MasterCylinderModelNo.
Payload
3
JointOption
AirJointPart
0
- M - Blank
S
Selectablefromtwoairportjointoptions.
ToolAdapter
MasterCylinder MasterCylinder
AirPort
AirPort
Thecheckvalve
(metalseal)is
sealedoff.
Disconnected
O-ring
JointOption
3
3
JointOption
Blank
WithoutCheckValve(Standard)※1
S
WithCheckValve
ToolAdapter Thevalveisopened
andairissuppliedto
thetooladapter.
Connected
WithoutCheckValve
※1
CheckValve O-ring
 Blank :WithoutCheckValve(Standard)
 S :WithCheckValve
JointOption(AirPortPart)
AirPort
AirPort

7 8
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
AirJointFunction
Whenamastercylinderandatooladapterareconnected,aircanbesuppliedfromtherobotside
tothehandsidethroughtheairport.Airportcanbeusedfortheoperationoftheactuator
(positivepressure)andthesuctionpad(negativepressure).
Release
AirPort
Lock
AirPort
RobotSide
Disconnected Connected
Handside
Tool
AirPort
(AirforTool)
Tool
Notes:
  1.Ifthepassageareaisnotlargeenough,itcanbeexpandedbyconnectingmultipleairports.Itenables
   higheroperationspeed.
  2. Externaloptionsareavailableforextraairports.PleaserefertoP.25andafterforfurtherinformation.

Air
Tool
Notes:
  ※1.ForWithoutCheckValve(Standard),3-positionclosedcentersolenoidvalveisrecommendedsincethe
   airportsarealwaysopen.
 
 
SWL
MasterCylinderModelNo.
Payload
3
JointOption
AirJointPart
0
- M - Blank
S
Selectablefromtwoairportjointoptions.
ToolAdapter
MasterCylinder MasterCylinder
AirPort
AirPort
Thecheckvalve
(metalseal)is
sealedoff.
Disconnected
O-ring
JointOption
3
3
JointOption
Blank
WithoutCheckValve(Standard)※1
S
WithCheckValve
ToolAdapter Thevalveisopened
andairissuppliedto
thetooladapter.
Connected
WithoutCheckValve
※1
CheckValve O-ring
 Blank :WithoutCheckValve(Standard)
 S :WithCheckValve
JointOption(AirPortPart)
AirPort
AirPort

ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
9 10
Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
RoboticHandChanger modelSWL
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
ModelNo.Indication
MasterCylinder（RobotSide）
ToolAdapter（ToolSide）
1 2
SWL 0 - T
080
120
180
300
2
DesignNo.
 0 : RevisionNumber
1
Payload
 080 : 50〜 80kg
 120 : 80〜120kg 
 180 : 120〜180kg
 300 : 180〜300kg
ExternalOption
 Blank : WithoutCheckValve(Standard)
 S : WithCheckValve
3
JointOption(AirPortPart) ※RefertoP.8fordetailofthejointoption.
AirPortAirPort
MasterCylinderMasterCylinder
ToolAdapterToolAdapter
 Blank
WithoutCheckValve
(Standard)
S
WithCheckValve
※ Sincetooladapterhasnocheckvalve,thereisnojointoption
 symbolforSWL
□ -T.
 TooladaptercanbeconnectedtobothjointoptionBlank
 andSofmastercylinderside.
1 32
SWL 0 - M -
080
120
180
300
Awidevarietyofelectrodescanconnectvarious
signalssuchascontrolsignalsandpowersignals.
Additionalairjointsarealsoavailableforextraairports.
AccessoriesSoldSeparately
※RefertoP.25andafterforfurtherinformation.
External
Option
(Electrode)
External
Option
(AirJoint)

ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
9 10
Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
RoboticHandChanger modelSWL
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
ModelNo.Indication
MasterCylinder（RobotSide）
ToolAdapter（ToolSide）
1 2
SWL 0 - T
080
120
180
300
2
DesignNo.
 0 : RevisionNumber
1
Payload
 080 : 50〜 80kg
 120 : 80〜120kg 
 180 : 120〜180kg
 300 : 180〜300kg
ExternalOption
 Blank : WithoutCheckValve(Standard)
 S : WithCheckValve
3
JointOption(AirPortPart) ※RefertoP.8fordetailofthejointoption.
AirPortAirPort
MasterCylinderMasterCylinder
ToolAdapterToolAdapter
 Blank
WithoutCheckValve
(Standard)
S
WithCheckValve
※ Sincetooladapterhasnocheckvalve,thereisnojointoption
 symbolforSWL
□ -T.
 TooladaptercanbeconnectedtobothjointoptionBlank
 andSofmastercylinderside.
1 32
SWL 0 - M -
080
120
180
300
Awidevarietyofelectrodescanconnectvarious
signalssuchascontrolsignalsandpowersignals.
Additionalairjointsarealsoavailableforextraairports.
AccessoriesSoldSeparately
※RefertoP.25andafterforfurtherinformation.
External
Option
(Electrode)
External
Option
(AirJoint)

11 12
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
modelSWL
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
HoldingForceCurve
Note:
※6.Itindicatesholdingforcewhenairpressureisat0MPaafterconnectingandmaynotfillthespecification.
 At0MPa※6 kN
 At0.3MPa kN
 At0.4MPa kN
 At0.5MPa kN
 At0.6MPa kN
 At0.7MPa kN
SWL0800
4.0
5.6
7.2
8.8
10.4
12.0
SWL1200
6.0
8.6
11.2
13.8
16.4
18.9
SWL1800
9.0
14.5
18.9
23.4
27.8
32.2
SWL3000
15.0
25.5
33.4
41.2
49.1
56.9
Specifications
Notes:
 ※1.Pleaseconsiderboththepayloadandallowablestaticmomentwhenselectingtheproduct.
 ※2. TheproductmustbeusedwithinAllowableStaticMoment(※1).UsingwithinMax.LoadMomentwillnotfillthespecifications.
 ※3. Weightofthebodywithoutexternaloptions.
 ※4. RefertoP.7forairportuse.
 ※5. ISOInterfaceNumberindicatestherobotmountingsurfacethatisallowedtomountedondirectly.
  RefertoP.20forStandardISOMountingPattern.

60
55
50
45
40
35
30
25
20
15
10
5
0
60
55
50
45
40
35
30
25
20
15
10
5
00  0.3  0.4  0.5  0.6  0.7
 ModelNo.

 HoldingForce
SWL3000
SWL1800
SWL1200
SWL0800
Twist
Displacement
Seating
Surface
L
Bend
FF
TwistingMoment(N・m)
Kosmek GeneralToolChanger
Point
Displacement
BendingMoment(N・m)
Kosmek GeneralToolChanger
Thewholesurfaceisaseatingsurface
HighRigidityPossible!!
Point
ZeroBacklash!!StrongtoTwist
KosmekExclusiveMechanism
DifferenceduetoRigidity
AllowableBendingMoment＝L×F
EstimatedCalculationFormula
Displacement
DisplacementduetoBacklash
HoldingForce(kN)
SupplyAirPressure(MPa)
Note:
 １.Thisgraphshowstherelationshipbetweensupplyairpressure(MPa)andholdingforce(kN).
RoboticHandChanger
SWL0800
50 〜 80
21.8
14.7
450
(600)
500
900
(1200)
1000
1.8
0.9
Rc1/8×4Ports
28.3
(Equaltoφ6)
5.4
(Equaltoφ2.6)
2
6
SWL1200
80 〜 120
37.7
25.8
800
(1000)
850
1600
(2000)
1700
3.4
1.7
Rc1/4×4Ports
63.6
(Equaltoφ9)
13.4
(Equaltoφ4.1)
2
7
SWL1800
120 〜 180
69.3
50.3
1500
(2000)
1400
3000
(4000)
2800
5.3
2.6
Rc1/4×4Ports
63.6
(Equaltoφ9)
13.4
(Equaltoφ4.1)
3
8
SWL3000
180 〜 300
146.2
109.7
2900
(4000)
2200
5800
(8000)
4400
8.4
4.1
Rc3/8×4Ports
95.0
(Equaltoφ11)
21.9
(Equaltoφ5.3)
3
9
0.01
0.7
0.3
1.0
RefertoP.12
0〜70
DryAir
RefertoP.22
3
3
 Lock
 Release
 Max.Pressure
 Min.Pressure

WithstandingPressure


Bending
（at0.5MPa）
 Bending
（at0.7MPa）
 Twisting

Bending
（at0.5MPa）
 Bending
（at0.7MPa）
Twisting
 MasterCylinder
 ToolAdapter

ThreadSizexNumberofPorts


JointOption
 Blank

JointOption
 S


 ModelNo.
 Payload※1
 Repeatability
Operating
AirPressure
 HoldingForce

 Allowable※1
 StaticMoment

 Max.Load※2
 Moment
 OperatingTemperature
 UsableFluid

Weight※3


NumberofAirPorts※4
 AirPort
 Minimum
 PassageArea

 NumberofElectrodeMountingSurfaces
 ApplicableISOInterfaceNumber※5
 AllowableOffsetwhileTeaching
kg
mm
cm3
cm3
MPa
MPa
MPa
N･m
N･m
N･m
N･m
N･m
N･m
℃
kg
kg
mm2
mm2
Cylinder
 Capacity

11 12
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
modelSWL
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
HoldingForceCurve
Note:
※6.Itindicatesholdingforcewhenairpressureisat0MPaafterconnectingandmaynotfillthespecification.
 At0MPa※6 kN
 At0.3MPa kN
 At0.4MPa kN
 At0.5MPa kN
 At0.6MPa kN
 At0.7MPa kN
SWL0800
4.0
5.6
7.2
8.8
10.4
12.0
SWL1200
6.0
8.6
11.2
13.8
16.4
18.9
SWL1800
9.0
14.5
18.9
23.4
27.8
32.2
SWL3000
15.0
25.5
33.4
41.2
49.1
56.9
Specifications
Notes:
 ※1.Pleaseconsiderboththepayloadandallowablestaticmomentwhenselectingtheproduct.
 ※2. TheproductmustbeusedwithinAllowableStaticMoment(※1).UsingwithinMax.LoadMomentwillnotfillthespecifications.
 ※3. Weightofthebodywithoutexternaloptions.
 ※4. RefertoP.7forairportuse.
 ※5. ISOInterfaceNumberindicatestherobotmountingsurfacethatisallowedtomountedondirectly.
  RefertoP.20forStandardISOMountingPattern.

60
55
50
45
40
35
30
25
20
15
10
5
0
60
55
50
45
40
35
30
25
20
15
10
5
00  0.3  0.4  0.5  0.6  0.7
 ModelNo.

 HoldingForce
SWL3000
SWL1800
SWL1200
SWL0800
Twist
Displacement
Seating
Surface
L
Bend
FF
TwistingMoment(N・m)
Kosmek GeneralToolChanger
Point
Displacement
BendingMoment(N・m)
Kosmek GeneralToolChanger
Thewholesurfaceisaseatingsurface
HighRigidityPossible!!
Point
ZeroBacklash!!StrongtoTwist
KosmekExclusiveMechanism
DifferenceduetoRigidity
AllowableBendingMoment＝L×F
EstimatedCalculationFormula
Displacement
DisplacementduetoBacklash
HoldingForce(kN)
SupplyAirPressure(MPa)
Note:
 １.Thisgraphshowstherelationshipbetweensupplyairpressure(MPa)andholdingforce(kN).
RoboticHandChanger
SWL0800
50 〜 80
21.8
14.7
450
(600)
500
900
(1200)
1000
1.8
0.9
Rc1/8×4Ports
28.3
(Equaltoφ6)
5.4
(Equaltoφ2.6)
2
6
SWL1200
80 〜 120
37.7
25.8
800
(1000)
850
1600
(2000)
1700
3.4
1.7
Rc1/4×4Ports
63.6
(Equaltoφ9)
13.4
(Equaltoφ4.1)
2
7
SWL1800
120 〜 180
69.3
50.3
1500
(2000)
1400
3000
(4000)
2800
5.3
2.6
Rc1/4×4Ports
63.6
(Equaltoφ9)
13.4
(Equaltoφ4.1)
3
8
SWL3000
180 〜 300
146.2
109.7
2900
(4000)
2200
5800
(8000)
4400
8.4
4.1
Rc3/8×4Ports
95.0
(Equaltoφ11)
21.9
(Equaltoφ5.3)
3
9
0.01
0.7
0.3
1.0
RefertoP.12
0〜70
DryAir
RefertoP.22
3
3
 Lock
 Release
 Max.Pressure
 Min.Pressure

WithstandingPressure


Bending
（at0.5MPa）
 Bending
（at0.7MPa）
 Twisting

Bending
（at0.5MPa）
 Bending
（at0.7MPa）
Twisting
 MasterCylinder
 ToolAdapter

ThreadSizexNumberofPorts


JointOption
 Blank

JointOption
 S


 ModelNo.
 Payload※1
 Repeatability
Operating
AirPressure
 HoldingForce

 Allowable※1
 StaticMoment

 Max.Load※2
 Moment
 OperatingTemperature
 UsableFluid

Weight※3


NumberofAirPorts※4
 AirPort
 Minimum
 PassageArea

 NumberofElectrodeMountingSurfaces
 ApplicableISOInterfaceNumber※5
 AllowableOffsetwhileTeaching
kg
mm
cm3
cm3
MPa
MPa
MPa
N･m
N･m
N･m
N･m
N･m
N･m
℃
kg
kg
mm2
mm2
Cylinder
 Capacity

13 14
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
modelSWLRoboticHandChanger Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
ExternalDimensions(SWL0800) ExternalDimensions(SWL1200)
※ThisdrawingshowsthereleasedstateofSWL0800. ※ThisdrawingshowsthereleasedstateofSWL1200.
ToolAdapterSWL0800-T ToolAdapterSWL1200-T
44°
31°
15°
15°
31°
15°
44°
60°
15°
5252
40±0.03
40±0.03
AirBlowPort
Rc1/8
SeatCheckPort
Rc1/8
6-φ8.5Hole
Counterbore
φ14
(Fromtheback)
LockAirPort
Rc1/8
2-φ8Depth6
p.c.d.80
★★
★ ★
52
52
40±0.03
40±0.03
p.c.d.
80
44°
44°
60°
46°
46°
30°
6-φ8.5Hole
Counterbore
φ14
(Fromtheback)
53
4-AirPort
Rc1/8
ToolAdapter
MasterCylinder
ToolAdapter
MasterCylinder
ReleaseAirPort
Rc1/8
+0.03
0
2-φ8Depth6
+0.03
0
(φ8)
(6)
33°
15°
15°
33°
42°
60°
42°
15°
15°
6464
50 ±0.03
50±0.03
p.c.d.100
6-φ9Hole
Counterbore
φ14
(Fromtheback)
★Part
4󱒒AirPort
Rc1/4
★Part
4-AirPort
Rc1/8
2-φ8 Depth6
φ63
8.5
44020
64
22
★★
★ ★
14
10
17
11
8.5
φ148
φ148
42°
60°
42°
48°
48°
30°
64
64
50±0.03
50 ±0.03
4󱒒AirPort
Rc1/4
2-φ8Depth6
LockAirPort
Rc1/8 ReleaseAirPort
Rc1/8
AirBlowPort
Rc1/8
SeatCheckPort
Rc1/8
p.c.d.100
(6)
(φ8)
+0.03
0
+0.03
0
0
-0.05
ConnectedState ConnectedState
62
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirst
MountingSurface
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirstMountingSurface
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirst
MountingSurface
6-φ9Hole
Counterbore
φ14
(Fromtheback)
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirstMountingSurface
CheckValve
（0.7）
SWL0800-M-S(WithCheckValve)
JointStructure
SWL0800-M-S
MasterCylinder
SWL0800-T
ToolAdapter
AirPort
(4portsRc1/8)
AirPort
(4portsRc1/8)
MasterCylinder(Standard/WithCheckValve)
SWL0800-M/SWL0800-M-S
※Thedifferencebetweenstandardandcheckvalveoptionisthejointstructureonly.
CheckValve
(1)
SWL1200-M-S(WithCheckValve)
JointStructure
SWL1200-M-S
MasterCylinder
SWL1200-T
ToolAdapter
AirPort
(4portsRc1/4)
AirPort
(4portsRc1/4)
MasterCylinder(Standard/WithCheckValve)
SWL1200-M/SWL1200-M-S
※Thedifferencebetweenstandardandcheckvalveoptionisthejointstructureonly.
(6)
13
10
15
8.5
9
8.5
φ50
43517.5
56.5
18
φ118
φ118
(φ8)
(6)
(φ8)
0
-0.05

13 14
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
modelSWLRoboticHandChanger Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
ExternalDimensions(SWL0800) ExternalDimensions(SWL1200)
※ThisdrawingshowsthereleasedstateofSWL0800. ※ThisdrawingshowsthereleasedstateofSWL1200.
ToolAdapterSWL0800-T ToolAdapterSWL1200-T
44°
31°
15°
15°
31°
15°
44°
60°
15°
5252
40±0.03
40±0.03
AirBlowPort
Rc1/8
SeatCheckPort
Rc1/8
6-φ8.5Hole
Counterbore
φ14
(Fromtheback)
LockAirPort
Rc1/8
2-φ8Depth6
p.c.d.80
★★
★ ★
52
52
40±0.03
40±0.03
p.c.d.
80
44°
44°
60°
46°
46°
30°
6-φ8.5Hole
Counterbore
φ14
(Fromtheback)
53
4-AirPort
Rc1/8
ToolAdapter
MasterCylinder
ToolAdapter
MasterCylinder
ReleaseAirPort
Rc1/8
+0.03
0
2-φ8Depth6
+0.03
0
(φ8)
(6)
33°
15°
15°
33°
42°
60°
42°
15°
15°
6464
50 ±0.03
50±0.03
p.c.d.100
6-φ9Hole
Counterbore
φ14
(Fromtheback)
★Part
4󱒒AirPort
Rc1/4
★Part
4-AirPort
Rc1/8
2-φ8 Depth6
φ63
8.5
44020
64
22
★★
★ ★
14
10
17
11
8.5
φ148
φ148
42°
60°
42°
48°
48°
30°
64
64
50±0.03
50 ±0.03
4󱒒AirPort
Rc1/4
2-φ8Depth6
LockAirPort
Rc1/8 ReleaseAirPort
Rc1/8
AirBlowPort
Rc1/8
SeatCheckPort
Rc1/8
p.c.d.100
(6)
(φ8)
+0.03
0
+0.03
0
0
-0.05
ConnectedState ConnectedState
62
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirst
MountingSurface
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirstMountingSurface
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirst
MountingSurface
6-φ9Hole
Counterbore
φ14
(Fromtheback)
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirstMountingSurface
CheckValve
（0.7）
SWL0800-M-S(WithCheckValve)
JointStructure
SWL0800-M-S
MasterCylinder
SWL0800-T
ToolAdapter
AirPort
(4portsRc1/8)
AirPort
(4portsRc1/8)
MasterCylinder(Standard/WithCheckValve)
SWL0800-M/SWL0800-M-S
※Thedifferencebetweenstandardandcheckvalveoptionisthejointstructureonly.
CheckValve
(1)
SWL1200-M-S(WithCheckValve)
JointStructure
SWL1200-M-S
MasterCylinder
SWL1200-T
ToolAdapter
AirPort
(4portsRc1/4)
AirPort
(4portsRc1/4)
MasterCylinder(Standard/WithCheckValve)
SWL1200-M/SWL1200-M-S
※Thedifferencebetweenstandardandcheckvalveoptionisthejointstructureonly.
(6)
13
10
15
8.5
9
8.5
φ50
43517.5
56.5
18
φ118
φ118
(φ8)
(6)
(φ8)
0
-0.05

15 16
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
ExternalDimensions(SWL1800) ExternalDimensions(SWL3000)
※ThisdrawingshowsthereleasedstateofSWL1800. ※ThisdrawingshowsthereleasedstateofSWL3000.
ToolAdapterSWL1800-T ToolAdapterSWL3000-T
★
★
★
★
★
★
★
★
(φ10)
(8)
62.5 ±0.03
62.5±0.03
17°
30°
30°
43°
17°
17°
43°
30°
30°
17°
p.c.d.125
78
78
78
2-φ10Depth8
6-φ11Hole
Counterbore
φ17
(Fromtheback)
62.5 ±0.03
62.5 ±0.03
17°
43°
30°
15°
15°
17°
17°
15°
15°
30°
60°
p.c.d.125
78
78
78
6-φ11Hole
Counterbore
φ17
(Fromtheback)
2-φ10Depth8
φ80
(φ10)
(8)
10.5
44623.5
73.5
18
★Part
4-AirPort
Rc1/4
24
13
4-AirPort
Rc1/4
10.5
2017.5
10.527
φ177
φ177
SeatCheckPort
Rc1/8
LockAirPort
Rc1/8
ReleaseAirPort
Rc1/8
AirBlowPort
Rc1/8
+0.03
0
+0.03
0 +0.03
0
+0.03
0
0
-0.05 0
-0.05
(φ10)
(φ10)
(8)
15°
15°
15°
30°
45°
15°
60°
15°
15°
30°
15°
94
94
94
★Part
4-AirPort
Rc3/8
6-φ11Hole
Counterbore
φ17
(Fromtheback)
2-φ10Depth8
80 ±0.03 80 ±0.03
p.c.d.160
φ100
5
55
27
87
28
10.5 2015
10.5
15°
30°
45°
15°
15°
30°
15°
45°
30°
30°
94
94
94
4-AirPort
Rc3/8
6-φ11Hole
Counterbore
φ17
(Fromtheback)
2-φ10Depth8
80±0.03 80 ±0.03
p.c.d.160
φ207
1134
2520
φ207
AirBlowPort
Rc1/8
SeatCheckPort
Rc1/8
ReleaseAirPort
Rc1/8
LockAirPort
Rc1/8
(8)
ExternalOption
TheSecond
MountingSurface ExternalOption
TheFirst
MountingSurface
ExternalOption
TheThird
MountingSurface
ExternalOption
TheThird
MountingSurface
ExternalOption
TheFirst
MountingSurface
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirst
MountingSurface
ExternalOption
TheThird
MountingSurface
ExternalOption
TheThird
MountingSurface
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirst
MountingSurface
CheckValve
(1)
SWL1800-M-S(WithCheckValve)
JointStructure
SWL1800-M-S
MasterCylinder
SWL1800-T
ToolAdapter
AirPort
(4portsRc1/4)
AirPort
(4portsRc1/4)
MasterCylinder(Standard/WithCheckValve)
SWL1800-M/SWL1800-M-S
MasterCylinder(Standard/WithCheckValve)
SWL3000-M/SWL3000-M-S
CheckValve
(1.2)
SWL3000-M-S(WithCheckValve)
JointStructure
SWL3000-M-S
MasterCylinder
SWL3000-T
ToolAdapter
AirPort
(4portsRc3/8)
AirPort
(4portsRc3/8)
※Thedifferencebetweenstandardandcheckvalveoptionisthejointstructureonly. ※Thedifferencebetweenstandardandcheckvalveoptionisthejointstructureonly.
ConnectedState
70
MasterCylinder
ToolAdapter
ConnectedState
83
ToolAdapter
MasterCylinder

15 16
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
ExternalDimensions(SWL1800) ExternalDimensions(SWL3000)
※ThisdrawingshowsthereleasedstateofSWL1800. ※ThisdrawingshowsthereleasedstateofSWL3000.
ToolAdapterSWL1800-T ToolAdapterSWL3000-T
★
★
★
★
★
★
★
★
(φ10)
(8)
62.5 ±0.03
62.5±0.03
17°
30°
30°
43°
17°
17°
43°
30°
30°
17°
p.c.d.125
78
78
78
2-φ10Depth8
6-φ11Hole
Counterbore
φ17
(Fromtheback)
62.5 ±0.03
62.5 ±0.03
17°
43°
30°
15°
15°
17°
17°
15°
15°
30°
60°
p.c.d.125
78
78
78
6-φ11Hole
Counterbore
φ17
(Fromtheback)
2-φ10Depth8
φ80
(φ10)
(8)
10.5
44623.5
73.5
18
★Part
4-AirPort
Rc1/4
24
13
4-AirPort
Rc1/4
10.5
2017.5
10.527
φ177
φ177
SeatCheckPort
Rc1/8
LockAirPort
Rc1/8
ReleaseAirPort
Rc1/8
AirBlowPort
Rc1/8
+0.03
0
+0.03
0 +0.03
0
+0.03
0
0
-0.05 0
-0.05
(φ10)
(φ10)
(8)
15°
15°
15°
30°
45°
15°
60°
15°
15°
30°
15°
94
94
94
★Part
4-AirPort
Rc3/8
6-φ11Hole
Counterbore
φ17
(Fromtheback)
2-φ10Depth8
80 ±0.03 80 ±0.03
p.c.d.160
φ100
5
55
27
87
28
10.5 2015
10.5
15°
30°
45°
15°
15°
30°
15°
45°
30°
30°
94
94
94
4-AirPort
Rc3/8
6-φ11Hole
Counterbore
φ17
(Fromtheback)
2-φ10Depth8
80±0.03 80 ±0.03
p.c.d.160
φ207
1134
2520
φ207
AirBlowPort
Rc1/8
SeatCheckPort
Rc1/8
ReleaseAirPort
Rc1/8
LockAirPort
Rc1/8
(8)
ExternalOption
TheSecond
MountingSurface ExternalOption
TheFirst
MountingSurface
ExternalOption
TheThird
MountingSurface
ExternalOption
TheThird
MountingSurface
ExternalOption
TheFirst
MountingSurface
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirst
MountingSurface
ExternalOption
TheThird
MountingSurface
ExternalOption
TheThird
MountingSurface
ExternalOption
TheSecond
MountingSurface
ExternalOption
TheFirst
MountingSurface
CheckValve
(1)
SWL1800-M-S(WithCheckValve)
JointStructure
SWL1800-M-S
MasterCylinder
SWL1800-T
ToolAdapter
AirPort
(4portsRc1/4)
AirPort
(4portsRc1/4)
MasterCylinder(Standard/WithCheckValve)
SWL1800-M/SWL1800-M-S
MasterCylinder(Standard/WithCheckValve)
SWL3000-M/SWL3000-M-S
CheckValve
(1.2)
SWL3000-M-S(WithCheckValve)
JointStructure
SWL3000-M-S
MasterCylinder
SWL3000-T
ToolAdapter
AirPort
(4portsRc3/8)
AirPort
(4portsRc3/8)
※Thedifferencebetweenstandardandcheckvalveoptionisthejointstructureonly. ※Thedifferencebetweenstandardandcheckvalveoptionisthejointstructureonly.
ConnectedState
70
MasterCylinder
ToolAdapter
ConnectedState
83
ToolAdapter
MasterCylinder

17 18
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
OptionMountingDimensions
ElectrodesandfixturesprovidedbyotherthanKosmek,canbemountedwithoptionmountingbolts.
Thisdrawingshowstheconnectedstateofthemastersideandtoolside.
SWL0800-M/SWL0800-T
SWL1200-M/SWL1200-T
MasterCylinder
ToolAdapter
SWL1800-M/SWL1800-T
SWL3000-M/SWL3000-T
4 4
20.4
30
24.8
44
6.4 6.9
9 9
5
5.5
12.6
7.1
SWL0800-M:35 SWL1200-M:40
SWL0800-T:18 SWL1200-T:22
SWL1800-M:46 SWL3000-M:55
SWL1800-T:24 SWL3000-T:28
MasterCylinder
ToolAdapter
44
20.4
30
24.8
44
6.4 6.9
9 9
5
5.5
6.6
7.1
8-φ3Depth3.5
+0.03
0
4-φ1.5Depth2.2
+0.02
0
8-M3×0.5 ThreadDepth 7
8-M4×0.7
ThreadDepth 6.5
8-φ3Depth3.5
+0.03
0
8-M4×0.7 ThreadDepth 6.5
4-φ1.5Depth2.2
+0.02
0
8-M3×0.5 ThreadDepth 7
MEMO

17 18
ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
OptionMountingDimensions
ElectrodesandfixturesprovidedbyotherthanKosmek,canbemountedwithoptionmountingbolts.
Thisdrawingshowstheconnectedstateofthemastersideandtoolside.
SWL0800-M/SWL0800-T
SWL1200-M/SWL1200-T
MasterCylinder
ToolAdapter
SWL1800-M/SWL1800-T
SWL3000-M/SWL3000-T
4 4
20.4
30
24.8
44
6.4 6.9
9 9
5
5.5
12.6
7.1
SWL0800-M:35 SWL1200-M:40
SWL0800-T:18 SWL1200-T:22
SWL1800-M:46 SWL3000-M:55
SWL1800-T:24 SWL3000-T:28
MasterCylinder
ToolAdapter
44
20.4
30
24.8
44
6.4 6.9
9 9
5
5.5
6.6
7.1
8-φ3Depth3.5
+0.03
0
4-φ1.5Depth2.2
+0.02
0
8-M3×0.5 ThreadDepth 7
8-M4×0.7
ThreadDepth 6.5
8-φ3Depth3.5
+0.03
0
8-M4×0.7 ThreadDepth 6.5
4-φ1.5Depth2.2
+0.02
0
8-M3×0.5 ThreadDepth 7
MEMO

ExternalOptions
forSWL
SWLZ
Robotic
HandChanger
SWL
RoboticHandChanger modelSWL Features
SelectionConditions
ReferenceDocument
Accessories
ExternalOptions
Cautions
CrossSection
ActionDescription
ModelNo.
Indication
External
Dimensions
Specifications
PerformanceCurve
19 20
Themodelshouldbedeterminedsoasnottoexceedtheallowabletwistingandbendingmoment
whiletherobotisoperatingatthemaximumacceleration.
Also,pleaseselectthesizesufficientforthemoment.
※Accelerationvariesdependingontherobot.Pleaserefertoeachmanufacturer'sspecifications.
SelectionConditions
A
B
C
・TwistingMoment：ToolWeight（kg） × DimensionC（m） × Max.Acceleration（m/s
2
）
・BendingMoment：ToolWeight（kg） × DimensionB（m） × Max.Acceleration（m/s
2
）
・CombinedMoment※1： TwistingMoment
2
× BendingMoment
2
●SelectionExample
●AllowableStaticMoment
CenterofGravity
CenterofConnectingSurface
ToolAdapter
Robot
MasterCylinder
 ModelNo.
 Bending（at0.5MPa）

Twisting
N･m
N･m
SWL0800
450
500
SWL1200
800
850
SWL1800
1500
1400
SWL3000
2900
2200
WeightofToolSide=100kg,DimensionA=0.4m,DimensionB=0.3m,C=0.42+0.32=0.5,
Max.Acceleration＝2G(2×9.8m/s2)
 BendingMoment ＝100× 0.42+0.32×(2×9.8)=980(N・m)
 TwistingMoment ＝100×0.3×(2×9.8)=588(N・m)
CombinedMoment※1 ＝ 9802×5882=1143(N・m)
Refferingtoallowablestaticmoment,selectSWL1800.
Reference：StandardDimensionsofISOMountingPattern
ExtractedfromJISB8436：2005(ISO9409-1：2004)
Notes:
 ※2. Pleasedeterminetheminimumdepthofatappedhole(t4)consideringthematerialoftheendeffectermountingpart.
 ※3. Preparationforwiringandpipingofdimension(d6)：Athroughholecanbemachinedatthecenteroftheflange.
  Diameterofthecenterhole(d6)shouldbelessthand3.
 1. PleaserefertoJISB8436：2005(ISO9409-1：2004)forfurtherinformation.
t6×45°
3×90°
φd3
φd2
φd6
t4
4×Md4
t3
t2
t6×45°
t1φd5
4×
A
B
C
⊥0.02 B
◎ 
φ0.02
A B
 φt5 A B C

φ0.04
A B
S
S
O
φd1
45°
+Xm
+Zm
+Xm
t6×45°
φd3 φd2
φd6
t411×Md4
t3
t2
t6×45°
t1φd5
11×
A
B
C
⊥0.02 B
◎ 
φ0.02
A B
 φt5 A B C

φ0.04
A B
12×30°
+Xm
+Zm
+Xm
t6×45°
φd3
φd2
φd6
t4
6×Md4
t3
t2
t6×45°
t1φd5
6×
A
B
C
⊥0.02 B
◎ 
φ0.02
A B
 φt5 A B C

φ0.04
A B
S
S
O
φd1
5×60°
30°
+Xm
+Zm
+Xm
t6×45°
φd3
φd2
φd6
t4
4×Md4
t3
t2
t6×45°
t1φd5
12×
A
B
C
⊥0.02 B
◎ 
φ0.02
A B
 φt5 A B C

φ0.04
A B
S
S
O
φd1
φd1
11×30°
15°
+Xm
+Zm
+Xm
CrossSectionS-O-S
※3※3 ※3※3
Number：6~9,11Number：1~5
Number：10 Number：12
CrossSectionS-O-S
CrossSectionS-O-S
DimensionsofFlangeMountingPattern
 Number PitchCircle d2 d3 d4 d5 t1 t2 t3 t4 t5 t6 Numberof
 Diam.※2d1 h8 H7  H7 Min. Min. Min.   Min. TappedHoles
 Series1 N
1
2
3
4
5
6
7
8
9
 10
 11
 12
 25
 31.5
 40
 50
 63
 80
 100
 125
 160
 160
 200
 200
 34
 40
 50
 63
 80
 100
 125
 160
 200
 200
 250
 250
 16
 20
 25
 31.5
 40
 50
 63
 80
 100
 100
 125
 125
 M4
 M5
 M6
 M6
 M6
 M8
 M8
 M10
 M10
 M12
 M12
 M16
4
5
6
6
6
8
8
 10
 10
 12
 12
 12
6
6
6
6
6
6
6
8
8
8
8
8
4
5
6
6
6
8
8
 10
 10
 12
 12
 12
4
4
6
6
6
6
6
8
8
8
8
8
 ※2
 ※2
 ※2
 ※2
 ※2
 ※2
 ※2
 ※2
 ※2
 ※2
 ※2
 22
 0.2
 0.2
 0.2
 0.2
 0.2
 0.4
 0.4
 0.4
 0.4
 0.4
 0.4
 0.4
 0.5
 0.5
1
1
1
1
1
1
1
1
1
1
4
4
4
4
4
6
6
6
6
 11
6
 11
Unit：mm
Referenceincaseofthefollowingconditions ;

CalculationFormula
Note:
 ※1. Ifbothbendingandtwistingmomentsareimplied,considerboththemomentstogether.