RSP STC20 User manual

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

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M0107-1 ver 2.7 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 with 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 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. Article no: P0108A.................................................14
2.1.6 Tool attachment TA20-4E, Article no: P0109...................................................................16
2.1.7 Tool attachment TA20-4E steel, Article no: P0125..........................................................17
2.1.8 Pneumatic diagram ..........................................................................................................18
2.1.9 Circuit diagram E0208-001 for P0108A with P0109/P0125.............................................19
2.2 Options for swivel with tool changer and tool attachment .........................................20
2.2.1 Tool stand kit 20. Article no: P0142 .................................................................................20
2.2.2 Robot adaptation kit .........................................................................................................21
2.2.3 Limitation of Robot movements........................................................................................21
2.3 Connection kits and cables.......................................................................................21
3 INSTALLATION.....................................................................................................22
3.1 Tightening torques....................................................................................................22
3.2 Recommended tools for installation..........................................................................22
3.3 Installation of swivel with tool changer on robot........................................................23
3.4 Installation of tool attachment to gripper/tool ............................................................25
3.5 Manual unlocking of swivel with tool changer...........................................................26
3.6 Hints.........................................................................................................................27
4 MAINTENANCE AND SERVICE............................................................................28
4.1 Maintenance chart....................................................................................................28
4.1.1 Required products............................................................................................................28
4.1.2 Recommended tools for maintenance .............................................................................29
4.1.3 Wear parts........................................................................................................................29
4.1.4 Activities and intervals......................................................................................................29
4.2 Visual inspection ......................................................................................................30
4.2.1 Inspection of the swivel with tool changer........................................................................30
4.2.2 Inspection of the tool attachment .....................................................................................30

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4.3 Cleaning................................................................................................................... 31
4.3.1 Cleaning and lubrication of swivel with tool changer .......................................................31
4.3.2 Cleaning of tool attachment..............................................................................................32
4.4 Replacement of swivel with tool changer.................................................................. 33
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............................................................ 38
5.2 Part list for swivel with tool changer P0108A............................................................ 40
5.3 Part list for tool attachment P0102 and P0123.......................................................... 42
5.4 Part list for tool attachment P0109 and P0125.......................................................... 43
6 DISPOSAL AND RECYCLING.............................................................................. 44

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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
•Swivels with integrated tool changers
•Grippers
•Hose Packages
•Valve units
•Tool systems
•Tool stands
Robot System Products’ 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 swivels with tool changers unites 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 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. 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 with tool changer if the air
pressure is safely switched off.
WARNING!
Be aware that swivel with tool changer and tool attachment are heavy and may
cause personal injury and equipment damage if dropped.
NOTE!
The swivel with 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 with tool changer
The Robot System Products’ swivel with 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 guide pin aligns the tool attachment with the tool changer before the electrical connector is
connected, which significantly extends the lifetime for not spring-mounted signal and power pins.
A built-in spring ensures that the tool remains in place in the tool changer even if the air pressure
drops.
When using a tool changer with integrated swivel 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 with integrated
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
The tool stand together with the tool attachments and
adaptor kits will give a rigid installation for easy tool
changing.
Connection kits
In order to make electrical installation easier, connection kits
are available for the swivel with tool changer.
3D-models
Available in Solid Works® and STEP-format.

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2 TECHNICAL SPECIFICATIONS
2.1 Description of swivel with tool changers and tool attachments
This document presents the Robot System Products STC20-4 and STC20-4E swivel with tool
changer including tool attachments dedicated for material handling. Likewise presented are
adaptation kits, connection kits to facilitate electrical installation and a tool attachment bracket kit
to be a part of a tool stand.
The swivel with tool changer STC20-4 transfers compressed air to the tool. It can be equipped
with transfer of electrical signals, via spring loaded signal pins, to the tool attachment. The
electrical version is designated ’E’. 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. 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.
An adaptation plate between the swivel with tool changer and the turning disc on the robot may
be needed, depending on the robot model. Such adaptation plates are available from RSP.
STC20

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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.
NOTE!
For the swivel with tool changer origo is situated on the surface in the centre of
the robot mounting flange.

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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
Working temperature
+10°C−+60°C
Bolt pattern
ISO 9409-1-40-4-M6
Maximum tool load
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
± 200 N
± 200 Nm
± 100 Nm
Weight and centre of gravity
0.8 kg
0.0 / 0.5 / 39.0 mm
0.9 kg
0.3 / 0.3 / 43.5 mm
1.1 kg
0.3 / 0.3 / 48.7 mm
P0106A
P0106A+P0102
P0106A+ P0123
Weight
Mass centre X / Y / Z
Weight
Mass centre X / Y / Z
Weight
Mass centre X / Y / Z
Air channels
Pneumatic diagram
Total number of ducts
Dedicated air ducts
Max air pressure
Air flow
Air quality
Connection, robot side
See section 2.1.8
6
1 inlet for Open TC marked 6 (6-10 bar)
1 inlet for Close TC marked 5 (6-10 bar)
10 bar
150 l/min
Oil-clean and waterless filtered air, with max
25µm particle content
M5

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2.1.3 Tool attachment TA20-4, Article no: P0102
Tool attachment TA20-4 transfers 4 pneumatic channels to the tool.
Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO 9409-1-50-4-M6
Weight
0.1 kg
Maximum tool load
(M6-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±200 N
±100 Nm
±100 Nm
Maximum tool load
(M5-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±200 N
±100 Nm
±75 Nm
Air channels
Number of air ducts
Connections, tool side
4
M5
Note! Tools can be mounted to the tool attachment using four M6-screws,
alternatively the tool attachment can be mounted to the tool using four M5-screws.

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2.1.4 Tool attachment TA20-4 steel, Article no: P0123
Tool attachment TA20-4 transfers 4 pneumatic channels to the tool.
Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO 9409-1-50-4-M6
Weight
0.3 kg
Maximum tool load
(M6-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±200 N
±200 Nm
±100 Nm
Maximum tool load
(M5-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±200 N
±200 Nm
±75 Nm
Air channels
Number of air ducts
Connections, tool side
4
M5
Note! Tools can be mounted to the tool attachment using four M6-screws,
alternatively the tool attachment can be mounted to the tool using four M5-screws.

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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.

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Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO 9409-1-40-4-M6
Maximum tool load
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
± 200 N
± 200 Nm
± 100 Nm
Weight and centre of gravity
1.1 kg
2.3 / -1.1 / 41.7 mm
1.2 kg
2.0 / -1.0 / 46.3 mm
1.4 kg
1.8 / -0.9 / 51.7 mm
P0108A
P0108A+ P0109
P0108A+ P0125
Weight
Mass centre X / Y / Z
Weight
Mass centre X / Y / Z
Weight
Mass centre X / Y / Z
Air channels
Pneumatic diagram
Total number of ducts
Dedicated air ducts
Max air pressure
Air flow
Connection, robot side
Air quality
See section 2.1.8.
6
Open TC marked 6 (6-10 bar)
Close TC marked 5 (6-10 bar)
10 bar
150 l/min
M5
Oil-clean and waterless filtered air, with max
25µm particle content
Electrical signals
Circuit diagram
Total number of signals
Dedicated signals
Max current
Max voltage
Connection, robot side
E0208-001 (see section 2.1.9)
8
1 x 24 V
1 x 0 V
TC Coupled (+24V)
1 A
60 V
M12 8P

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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
Working temperature
+10°C−+60°C
Bolt pattern
ISO 9409-1-50-4-M6
Weight
0.1 kg
Maximum tool load
(M6-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±200 N
±100 Nm
±100 Nm
Maximum tool load
(M5-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±200 N
±100 Nm
±75 Nm
Air channels
Number of air ducts
Connections, tool side
4
M5
Electrical signals
Total number of signals
Dedicated signals
Connections
12
4 x 24 V
4 x 0 V
4 x M8 3S
Note! Tools can be mounted to the tool attachment using four M6-screws,
alternatively the tool attachment can be mounted to the tool using four M5-screws.

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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
Working temperature
+10°C−+60°C
Bolt pattern
ISO 9409-1-50-4-M6
Weight
0.3 kg
Maximum tool load
(M6-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±200 N
±200 Nm
±100 Nm
Maximum tool load
(M5-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±200 N
±200 Nm
±75 Nm
Air channels
Number of air ducts
Connections, tool side
4
M5
Electrical signals
Total number of signals
Dedicated signals
Connections
12
4 x 24 V
4 x 0 V
4x M8 3S
Note! Tools can be mounted to the tool attachment using four M6-screws,
alternatively the tool attachment can be mounted to the tool using four M5-screws.

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2.1.8 Pneumatic diagram

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2.1.9 Circuit diagram E0208-001 for P0108A with P0109/P0125

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