4 M0107-1 ver 2.7
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
