Robot System Products STC250 User manual

m0403
Product Manual
Swivel tool changer STC250
M0620-1
Tool changers | Swivels | Swivel tool changers | Grippers | Hose packages | Valve units | Tool systems

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M0620-1 ver 2.8 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.
The document, or parts of it, may not be reproduced or copied without prior permission from
Robot System Products AB. It may neither be imparted to a third party, nor otherwise be used
without authorization. Infringement hereof will be subject to action in accordance with the
applicable laws.
Further copies of this document can be obtained from Robot System Products AB at
current prices.
© Robot System Products AB
Robot Systems Products AB
Isolatorvägen 4
SE-721 37 Västerås
Sweden

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CONTENTS
1 INTRODUCTION......................................................................................................6
1.1 Safety.........................................................................................................................7
1.1.1 General...............................................................................................................................7
1.1.2 Explanation of warnings .....................................................................................................7
1.2 Description of RSP swivel tool changer......................................................................8
1.3 Complementary Equipment........................................................................................8
2 TECHNICAL SPECIFICATIONS..............................................................................9
2.1 Description of swivel with tool changers and tool attachments....................................9
2.1.1 Coordinate System Definition...........................................................................................10
2.1.2 Swivel tool changer STC250-6. Article no: P6413...........................................................11
2.1.3 Tool attachment TA250-8. Article no: P6417 ...................................................................12
2.1.4 Square Tool Attachment TA250-8. Article no: P6474......................................................13
2.1.5 Swivel tool changer STC250-6E. Article no: P6414.........................................................14
2.1.6 Tool attachment TA250-8E. Article no: P6418.................................................................15
2.1.7 Tool attachment TA250-8E. Article no: P6431.................................................................16
2.1.8 Square Tool Attachment, TA250-8E. Article no: P6473...................................................17
2.1.9 Pneumatic diagram ..........................................................................................................18
2.1.10 Circuit diagram E0196-004 for P6414............................................................................19
2.1.11 Circuit diagram E0196-002 for P6418............................................................................20
2.1.12 Circuit diagram E0196-009 for P6431 and P6473 .........................................................21
2.2 Options for swivel tool changer and tool attachment.................................................22
2.2.1 Robot adaptation kit .........................................................................................................22
2.2.2 Tool stand kit. Article no: P6472.......................................................................................23
2.2.3 Limitation of Robot movements........................................................................................23
2.2.4 Connection kits and cables ..............................................................................................23
3 INSTALLATION.....................................................................................................24
3.1 Tightening torques....................................................................................................24
3.2 Recommended tools for installation..........................................................................24
3.3 Installation of swivel tool changer on robot...............................................................25
3.4 Installation of tool attachment on tool ......................................................................26
3.5 Manual unlocking of swivel tool changer ..................................................................27
3.6 Hints.........................................................................................................................28
3.6.1 Programming....................................................................................................................28
3.6.2 Electrical installation.........................................................................................................28
3.6.3 Tool stand.........................................................................................................................28
3.6.4 Tool Identification .............................................................................................................28
3.6.5 Arm load parameters........................................................................................................28

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4 MAINTENANCE AND SERVICE...........................................................................29
4.1 Maintenance chart.................................................................................................... 29
4.1.1 Required products............................................................................................................29
4.1.2 Recommended tools for maintenance .............................................................................30
4.1.3 Wear parts........................................................................................................................30
4.1.4 Activities and intervals......................................................................................................30
4.1.5 Activities and intervals on tool attachment.......................................................................31
4.2 Visual inspection...................................................................................................... 31
4.2.1 Inspection of the swivel tool changer ...............................................................................31
4.2.2 Inspection of the tool attachment .....................................................................................31
4.3 Cleaning................................................................................................................... 32
4.3.1 Cleaning and lubrication of swivel tool changer...............................................................32
4.3.2 Cleaning of tool attachment..............................................................................................33
4.4 Replacement of swivel tool changer......................................................................... 34
4.5 Replacement of wear parts....................................................................................... 36
4.5.1 Replacement of air sealings.............................................................................................36
4.5.2 Replacement of signal pins (STC-2508E only)................................................................37
4.6 Complete service of swivel tool changer................................................................... 37
5 SPARE PARTS .....................................................................................................38
5.1 Part list for swivel tool changer P6413 and P6414.................................................... 38
5.2 Part list for tool attachment P6417 and P6418.......................................................... 39
5.3 Part list for tool attachment P6431............................................................................ 39
5.4 Part list for square tool attachment P6473 and P6474.............................................. 40
6 DISPOSAL AND RECYCLING.............................................................................. 41

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1 INTRODUCTION
Robot System Products is a front-rank provider of peripheral products for high performance
robot applications. We provide complete system solutions for your robot installations, aiming to
improve your productivity with the most reliable and cost-effective tooling on the market.
Continuously we explore emerging technologies, working with leading edge design.
Robot System Products has a wide range of standard robot peripheral products:
•Tool changers
•Swivels
•Swivel tool changers
•Grippers
•Hose Packages
•Valve units
•Tool systems
•Tool stands
Robot System Products’ swivel tool changers are constructed to maximize the flexibility and
reliability of your robot fleet. Through our patented locking device TrueConnect™ robustness
and high safety are combined with low weight and compactness. With our swivels you can
provide compressed air, water, electrical and data signals as well as weld and servo power to
your tools with robot motion capabilities fully maintained. Our swivel tool changers unite the
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.

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1.1 Safety
1.1.1 General
The integrator installing the swivel tool changer into the system must follow the safety demands
stated in standards and provisions applicable in the country where the swivel tool changer
system is to be installed. The products are all prepared for CE-certification.
The user of the Robot System Products swivel tool changer is responsible that law and
directives applicable in respective countries, with regards to safety, are followed. The user is
also responsible to guarantee that all safety devices are installed correctly.
WARNING!
Never carry out service work on a robot that has not been taken out of operation.
See safety information for the robot.
WARNING!
Only perform work on tools attached to the swivel tool changer if the air pressure
is safely switched off.
WARNING!
Be aware that swivel tool changers and tool attachments are heavy and may
cause personal injury and equipment damage if dropped.
NOTE!
The swivel tool changer shall always be in locked position, also when empty, to
avoid unexpected locking if air pressure is lost.
WARNING!
Electric signals and power must be disconnected/switched off when docking the
tool attachment. This is to prevent sparking between signal pins and tool
attachment.
1.1.2 Explanation of warnings
The warnings in this document are specific to the products in this manual. It is expected that the
user also pay attention to certain notifications from the robot manufacturer and/or the
manufacturers of other components used in the installation.
WARNING!
The warning sign will make you aware that a situation could result in potential
serious injury or damage to equipment.
NOTE!
The note sign will alert you about something important to consider.

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1.2 Description of RSP swivel tool changer
The Robot System Products’ swivel tool changer integrates the advantages of swivels and tool
changers into one single product maximizing the flexibility and productivity of the robot.
Our tool changer technology enables robots to handle and switch between multiple tools. The
principle behind the patented looking device TrueConnect™ is that load is distributed uniformly
through pressing locking balls into spherical grooves in the tool attachment. With TrueConnect™
the play is a minimum and the position repeatability is practically absolute through the lifespan.
In consequence substantially larger positional deviations are accepted when docking.
A built-in spring ensures that the tool remains in place in the swivel tool changer even if the air
pressure drops.
When using a swivel tool changer compressed air and electric signals will be directly available at
the tool without loose, hanging cables and hoses which has to be considered during
programming. The combination of RSP’s hose packages with the swivel tool changer does in
addition significantly reduce the design and installation times for the system integrator.
1.3 Complementary Equipment
Complementary equipment is described in separate documents.
Article
Note
Cable and Hose Packages
Complete packages for most robots on the market ready to be
mounted without any modifications.
Tool stand
Tool stands will, combined with tool attachments and
adaptation kits, give a rigid installation for easy tool changing.
Connection kits
In order to make electrical installation easier, connection kits
are available for the swivel tool changer.
3D-models
Available in Solid Works® and STEP-format.

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2 TECHNICAL SPECIFICATIONS
2.1 Description of swivel tool changers and tool attachments
This document presents the Robot System Products STC250-6 and STC250-6E swivel tool
changer including tool attachments dedicated for material handling. Likewise presented are
adaptation kits, connection kits to facilitate electrical installation and a tool stand kit.
The swivel tool changer STC250-6 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’. The swivel tool changer STC250-6 and STC250-6E cannot transport
fluids.
The spring loaded signal pins of STC250-6E are placed and protected along a circle close to the
centre of the swivel 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. This guarantees a
minimum of wear of pins and contact surfaces.
The electrical unit can be used for identification and checking the presence of tools by using
signal jumpers and binary coding of signals on the tool attachment.
For other bolt circles adaptation plates between the swivel tool changer and the turning disc on
the robot may be needed. Such adaptation plates are available from RSP.
STC250-6E

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2.1.1 Coordinate System Definition
A swivel 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 tool changers.
NOTE!
For the swivel tool changer origo is situated on the surface in the centre of the
robot mounting flange.

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2.1.2 Swivel tool changer STC250-6. Article no: P6413
Swivel tool changer STC250-6 transfers 6 pneumatic channels to the tool attachment. To be
used together with P6417 or P6474.
Technical data
Working temperature
+10°C - +60°C
Bolt pattern
ISO 9409-1 125-6-M10
Maximum tool load
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±1 250 Nm
Weight and centre of gravity (Z)
14.3 kg / 90 mm
16.8 kg / 103 mm
17.8 kg / 108 mm
P6413
P6413 with P6417
P6413 with P6474
Air channels
Pneumatic diagram
User channels, robot side
Dedicated channels, G 1/4"
Air quality
See section 2.1.9
6 x G 1/4" (1600 l/min, max 10 bar)
Open TC marked Open, Close TC marked
Close (6-10 bar)
Oil-clean and waterless filtered air, with max
25µm particle content

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2.1.3 Tool attachment TA250-8. Article no: P6417
Tool attachment TA 250-8 transfers 8 pneumatic channels to the tool. To be used together with
P6413.
Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO9409-1-125-6-M10
Weight
2.7 kg
Maximum tool load
(M10-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±1 250 Nm
Maximum tool load
(M8-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±750 Nm
Air channels
Connection, tool side
8 x G 1/4”
Note! Tools can be mounted to the tool attachment using six M10-screws, alternatively
the tool attachment can be mounted to the tool using six M8-screws.

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2.1.4 Square Tool Attachment TA250-8. Article no: P6474
Square Tool Attachment TA 250-8 transfers 8 pneumatic channels to the tool and gives together
with option P6472 a stable tool stand for easy tool changing. To be used together with P6413.
Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO9409-1-125-6-M10
Weight
3.6 kg
Maximum tool load
(M10-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±1 250 Nm
Maximum tool load
(M8-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±750 Nm
Air channels
Connection, tool side
8 x G 1/4”
Note! Tools can be mounted to the tool attachment using six M10-screws, alternatively
the tool attachment can be mounted to the tool using six M8-screws.

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2.1.5 Swivel tool changer STC250-6E. Article no: P6414
Swivel tool changer STC250-6E transfers 6 pneumatic channels and 16 electrical signals to the
tool attachment. To be used together with P6418, P6431 or P6473.
Technical data
Working temperature
+10°C - +60°C
Bolt pattern
ISO 9409-1 125-6-M10
Maximum tool load
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±1 250 Nm
Weight and centre of gravity (Z)
14.6 kg / 88 mm
17.3 kg / 101 mm
17.3 kg / 102mm
18.2 kg / 107 mm
P6414
P6414 with P6418
P6414 with P6431
P6414 with P6473
Air channels
Pneumatic diagram
User channels, robot side
Dedicated channels, G 1/4"
Air quality
See section 2.1.9
6 x G 1/4" (1600 l/min, max 10 bar)
Open TC marked Open, Close TC marked
Close (6-10 bar)
Oil-clean and waterless filtered air, with max
25µm particle content
Electrical signals
Circuit diagram
Souriau 23P (UT001823PH)
Total signals
Dedicated signals
E0196-004 (see section 2.1.10)
16 x (2A, 60V) + PE
24V, 0V, TC Coupled, TC Uncoupled

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2.1.6 Tool attachment TA250-8E. Article no: P6418
Tool attachment TA 250-8E transfers 8 pneumatic channels and 18 electrical signals to the tool.
To be used together with P6414.
Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO9409-1-125-6-M10
Weight
2.7 kg
Maximum tool load
(M10-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±1 250 Nm
Maximum tool load
(M8-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±750 Nm
Air channels
Connection, tool side
8 x G 1/4”
Electrical signals
Circuit diagram
Total number of signals
Dedicated signals
Connection, tool side
E0196-002 (see section 2.1.11)
18 + PE
24 V, 0V, TC Coupled
Compact Souriau 19S (UT0W01419SH)
Note! Tools can be mounted to the tool attachment using six M10-screws, alternatively
the tool attachment can be mounted to the tool using six M8-screws.

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2.1.7 Tool attachment TA250-8E. Article no: P6431
Tool attachment TA 250-8E transfers 8 pneumatic channels and 18 electrical signals to the tool.
To be used together with P6414.
Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO9409-1-125-6-M10
Weight
2.8 kg
Maximum tool load
(M10-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±1 250 Nm
Maximum tool load
(M8-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±750 Nm
Air channels
Connection, tool side
8 x G 1/4”
Electrical signals
Circuit diagram
Total number of signals
Dedicated signals
Connection, tool side
E0196-009 (see section 2.1.12)
18 + PE
24 V, 0V, TC Coupled
1.0 m cable (20x0.5mm²) with free end
Note! Tools can be mounted to the tool attachment using six M10-screws, alternatively
the tool attachment can be mounted to the tool using six M8-screws.

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2.1.8 Square Tool Attachment, TA250-8E. Article no: P6473
Square Tool Attachment TA 250-8E transfers 8 pneumatic channels and 18 electrical signals to
the tool and gives together with option P6472 a stable tool stand for easy tool changing. To be
used together with P6414.
Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO9409-1-125-6-M10
Weight
3.7 kg
Maximum tool load
(M10-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±1 250 Nm
Maximum tool load
(M8-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±2 000 N
±2 000 Nm
±750 Nm
Air channels
Connection, tool side
8 x G 1/4”
Electrical signals
Circuit diagram
Total number of signals
Dedicated signals
Connection, tool side
E0196-009 (see section 2.1.12)
18 + PE
24 V, 0V, TC Coupled
1.0 m cable (20x0.5mm²) with free end
Note! Tools can be mounted to the tool attachment using six M10-screws, alternatively
the tool attachment can be mounted to the tool using six M8-screws.

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2.1.9 Pneumatic diagram

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2.1.10 Circuit diagram E0196-004 for P6414

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2.1.11 Circuit diagram E0196-002 for P6418