RSP CiRo S Instruction Manual

Installation and Maintenance
Manual
CiRo S / M / MHD / L /XL
Tool changers | Swivels | Swivels with Tool changers | Grippers | Hose packages | Valve Units | Tool systems
M0410-1

2 M0410-1 version 3.3

M0410-1 version 3.3 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

4 M0410-1 version 3.3
CONTENTS
1 INTRODUCTION......................................................................................................5
1.1 Installation and Maintenance manual .........................................................................5
1.2 Safety.........................................................................................................................6
1.2.1 General...............................................................................................................................6
1.2.2 Explanation of warnings.....................................................................................................6
1.3 Tightening torques......................................................................................................7
1.4 Recommended equipment .........................................................................................7
1.5 Required products......................................................................................................7
2 INSTALLATION.......................................................................................................8
2.1 Installation of CiRo S, MHD, L and XL on robot..........................................................8
2.2 Installation of CiRo M1 and M2 on robot...................................................................13
3 MAINTENANCE AND SERVICE............................................................................16
3.1 Wear parts................................................................................................................16
3.2 Activities and intervals..............................................................................................16
3.2.1 Visual inspection of the CiRo ...........................................................................................16
3.2.2 Cleaning and lubrication of CiRo......................................................................................17
3.3 Replacements..........................................................................................................19
3.3.1 Replacement of wear parts ..............................................................................................19
3.3.2 Replacement of CiRo .......................................................................................................21
4 DISPOSAL AND RECYCLING ..............................................................................24

M0410-1 version 3.3 5
1 INTRODUCTION
Robot System Products is a front-rank provider of peripheral products for high performance
robot applications. We provide complete tool systems 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
•CiRo
•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 compressed air, water,
electrical and data signals as well as weld and servo power are transferred to your tools with
robot motion capabilities fully maintained. Our Swivel tool changers unite the TrueConnect™
mechanism with our swivel technology, combining the best out of the two technologies. With
RSPs unique CiRo, cables and hoses can be freely selected with high robot flexibility
maintained, and the space requirements reduced. Our integrated Tool systems are delivered as
complete plug-and-play solutions designed for quick and simple installation.
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
1.1 Installation and Maintenance manual
This document describes how the Robot System Products’ CiRo S, M, MHD and L, including
cables, hoses and tool adaptation kits, are installed and replaced. In addition, the document
describes required maintenance activities, including inspection, cleaning, lubrication,
replacement of wear parts, required tools and products and disposal and recycling.
The document, Product Description (M0409-1/M0112-1) contains product information, drawings,
technical data, electrical and pneumatic diagrams, safety software function and lists of spare
parts.

6 M0410-1 version 3.3
1.2 Safety
1.2.1 General
The integrator installing a CiRo must follow the safety demands stated in standards and
provisions applicable in the country where the CiRo is to be installed. The products are all
prepared for CE-certification.
The user of the Robot System Products’ CiRo 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 or tool changers attached to the CiRo if the air pressure
is safely switched off.
WARNING!
Be aware that the CiRo is heavy and may cause personal injury and equipment
damage if dropped.
1.2.2 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.

M0410-1 version 3.3 7
1.3 Tightening torques
Tightening torques for mounting with screw class 8.8
Dimension
Torque
M4
3 Nm
M5
6 Nm
M6
10 Nm
M8
24 Nm
M10
47 Nm
M12
82 Nm
M16
200 Nm
1.4 Recommended equipment
Equipment recommended for installation and maintenance work
Tools
Applications
Complete set of Allen keys
For dismounting and mounting.
Torx key (T25)
For dismounting and mounting
Torque wrench
For all socket head cap screws
Cable ties (200 mm x 4–5 mm)
For fastening of cables and hoses
Nipper
For cutting of cable ties
1.5 Required products
Products required for installation and maintenance work
Product
Specification
Note
Cleaning agent
Industrial alcohol or similar
For CiRo
Grease I0876
Molykote BR2Plus
For hose/cable guide
Cable grease
Castrol Optitemp RB 1
For cables and hoses
Threadlocker
Loctite 2400 (or similar)
For locking of screw when mounting
hose/cable guide.
Cloth
Lint free cloth
For cleaning.
NOTE! Chemical resistance protective gloves and safety goggles are recommended
when using cleaning agents such as industrial alcohol. Adequate ventilation should
be provided when chemical substances are used.

8 M0410-1 version 3.3
2 INSTALLATION
2.1 Installation of CiRo S, MHD, L and XL on robot
Action
Note
1
Safety
Read the safety section
(1.2).
2
Service position
Place the robot in service
position.
3
Power off
Switch the power off and
lock the circuit breaker.
NOTE! Read the safety
chapter for the robot.
4
Mount guide pin
Press the enclosed guide
pin into its position on the
robot flange.
5
Mount hose holder
Mount hose holder on the
backside of the CiRo
housing through the
mounting ring with the
enclosed screws (for CiRo S
the maximum tightening
torque is 2 Nm, for MHD and
L1 see tightening torques
above).
NOTE! The hose holder
shall be positioned at the
opening in the housing.
6
Mount rotation stops
Mount rotation stop on the
backside of the CiRo
housing with the enclosed
screws (for CiRo S the
maximum tightening torque
is 2 Nm, for MHD and L1
see tightening torques
above).
NOTE! Rotation stops and
hose holders are both part of
adaptation kits and
dependent on robot models.

M0410-1 version 3.3 9
7
Join CiRo parts
Fit and join the CiRo-shaft
and the housing, with hose
holder and rotation stops
mounted, before fitting and
mounting to the robot flange.
8
Fit CiRo
Lift the CiRo to the robot
flange. Make sure that the
guide pin fits to the guide
hole in the CiRo.
NOTE! The CiRo is heavy
and may cause damage if
dropped.
9
Mount CiRo
Mount the CiRo with the
screws and bushings (when
applicable) enclosed in the
adaptation kit. Use an Allen
key for tightening (see
tightening torques above).
NOTE! Rotate the CiRo,
around the Z-axis, to reach
all screws during tightening.
NOTE! On
some robots
rotation stops
shall be
fastened with
screws and
washers

10 M0410-1 version 3.3
10A
Fit hose/cable guide (CiRo S, MHD and L1)
Fit the hose/cable guide,
bushing and enclosed screw
to the CiRo.
NOTE! Apply a small
amount of threadlocker
(Loctite 2400) on the screw
before mounting.
NOTE! One guide for radial
mounting and one for axial
mounting are enclosed.
11A
Mount hose/cable guide (CiRo S, MHD and L1)
Fasten the hose/cable guide
and bushing with the
enclosed screw. Use an
Allen key for tightening (see
tightening torques above).
NOTE! Apply a small
amount of grease (Molykote
BR2Plus) on the surfaces
between the hose/cable
guide and the housing and
bushing, before tightening.
10B
Fit and mount guide base (CiRo XL only)
Fit and mount the
hose/cable guide base and
bushing with the enclosed
M8-screw to the CiRo.
NOTE! Apply a small
amount of threadlocker
(Loctite 2400) on the screw
before mounting.
NOTE! The
guide for
radial
mounting is
mounted
directly on
the CiRo.
11B
Fit and mount hose/cable guide (CiRo XL
only)
Fasten the hose/cable guide
and bushing with the
enclosed screw. Use an
Allen key for tightening (see
tightening torques above).
NOTE! Apply a small
amount of grease (Molykote
BR2Plus) on the surfaces
between the hose/cable
guide, bushing and guide
base, before tightening.

M0410-1 version 3.3 11
12 A
Mount hose clamp (CiRo MHD, L1 and XL)
Mount a hose clamp with
two screws on the hose
holder. Use an Allen key for
tightening (see tightening
torques above).
NOTE! The hose clamp and
screws are delivered as
parts of an RSP hose
package.
13 A
Mount protective hose (CiRo MHD, L1 and XL)
Mount the protective hose,
including cable and hoses,
on the robot arm and hose
clamp. Enter cable and
hoses through the CiRo.
NOTE! The protective hose
should protrude from the
hose clamp.
NOTE! Apply a small
amount of cable grease
(Castrol Optitemp RB 1) on
cables and hoses before
entering the protective hose.
12 B
Mount elbow gland (CiRo S only)
Mount the elbow gland with
the enclosed nut.
NOTE! The elbow gland and
nut are delivered as parts of
an RSP hose package.
13 B
Mount protective hose (CiRo S only)
Mount the protective hose
by pushing it distinctly into
the elbow gland until locking.
Enter
cables and
hoses
through the
protective
hose and
CiRo.
NOTE! Apply a small
amount of cable grease
(Castro Optitemp RB 1 on
cables and hoses before
entering the protective hose.

12 M0410-1 version 3.3
14
Attach rubber strip
Attach the enclosed rubber
strip around the cable and
hoses to be mounted on the
CiRo.
NOTE! The rubber strip
protects the cable and hoses
from wear!
15A
Fasten cables (CiRo S, MHD and L)
Fasten the cables and hoses
to the hose/cable guide by
two cable ties.
NOTE! The cable ties
should be mounted around
the rubber strip via the slots
in the hose/cable guide. Cut
off loose ends of cable ties.
15B
Fasten cables (CiRo XL only)
Fasten the cables and hoses
to the hose/cable guide by
the hose clamp and the two
enclosed M5-screws.
NOTE! If required, the
cables and hoses may be
fastened to the hose clamp
by a cable tie via the slots on
the hose clamp. Cut off
loose end of cable tie.
16
Mount tool
Mount tool or tool changer
and connect cables and
hoses.

M0410-1 version 3.3 13
2.2 Installation of CiRo M1 and M2 on robot
Action
Note
1
Safety
Read the safety section
(1.2).
2
Service position
Place the robot in service
position.
3
Power off
Switch the power off and
lock the circuit breaker.
NOTE! Read the safety
chapter for the robot.
4
Mount guide pin
Press the enclosed guide
pin into its position on the
robot flange.
5
Mount hose holder
Mount hose holder (part of
adaptation kit) on the
backside of the CiRo with
four enclosed M6 screws.
Use a torque wrench for
tightening (see tightening
torques above).
NOTE! The hose holder
shall be positioned at the
opening in the mounting
ring (P183-002).
6
Mount rotation stops
Mount rotation stops on the
backside of CiRo with
enclosed M6 screws. Use a
torque wrench for tightening
(see tightening torques
above).
NOTE! Rotation stops are
part of adaptation kits and
dependent on robot models.

14 M0410-1 version 3.3
7
Fit CiRo
Lift the CiRo to the robot
flange. Make sure that the
guide pin fits to the guide
hole in the CiRo.
NOTE! The CiRo is heavy
and may cause damage if
dropped.
8
Mount CiRo
Mount the CiRo with the
screws and bushings (when
applicable) enclosed in the
adaptation kit. Use an Allen
key for tightening (see
tightening torques above).
NOTE! Rotate the CiRo,
around the Z-axis, to reach
all screws during tightening.
9
Fit hose/cable guide
Fit the hose/cable guide,
the bushing, and enclosed
screw to the CiRo.
NOTE! Apply a small
amount of threadlocker
(Loctite 2400) on the screw
before mounting.
NOTE! One guide for radial
mounting and one for axial
mounting are enclosed.
10
Mount hose/cable guide
Fasten the hose/cable
guide and washers with the
enclosed screws. Use an
Allen key for tightening (see
tightening torques above).
NOTE! Apply a small
amount of grease (Molykote
BR2Plus) on the surfaces
between the hose/cable
guide and housing and the
hose/cable guide and
bushing, before tightening.

M0410-1 version 3.3 15
11
Mount hose clamp
Mount a hose clamp with
two screws on the hose
holder. Use an Allen key for
tightening (see tightening
torques above).
NOTE! The hose clamp
and screws are delivered as
parts of an RSP hose
package.
12
Mount protective hose
Mount the protective hose,
including cable and hoses,
on the robot arm and hose
clamp. Enter cable and
hoses through the CiRo.
NOTE! Apply a small
amount of grease (Castrol
Optitemp RB 1) on cables
and hoses before entering
the protective hose.
NOTE! For safe action the
protective hose should
protrude from the hose
clamp.
13
Attach rubber strip
Attach the enclosed rubber
strip around the cable and
hoses to be mounted on the
CiRo.
NOTE! The rubber strip
protects the cable and
hoses from wear!
14
Fasten cables
Fasten the cables and
hoses to the hose/cable
guide by two cable ties.
NOTE! The cable ties
should be mounted around
the rubber strip via the slots
in the hose/cable guide. Cut
off loose ends of cable ties.
15
Mount tool
Mount tool or tool changer
and connect cables and
hoses.

16 M0410-1 version 3.3
3 MAINTENANCE AND SERVICE
The CiRo must be maintained regularly to ensure proper function. The specified intervals are
approximate and valid under normal conditions. Under extreme conditions, such as dirty
environments or extreme robot movements, the intervals should be shortened. Consider the
table as a guide and update as the production experience of each system increases.
NOTE!
Only perform work on grippers, tools or tool changers attached to the CiRo if the air
pressure is safely switched off.
NOTE!
During the warranty period the CiRo shall only be dismantled and repaired by Robot
System Products. Otherwise the warranty will not be valid.
3.1 Wear parts
Wear parts should be replaced before considerable damage occurs. The interval depends on the
intensity of use and the working environment. Generally, the more contaminated environment,
the closer maintenance intervals.
The following parts are considered as wear parts:
oHose/cable guides
oScrews and bushings holding hose/cable guides
oRubber strips
3.2 Activities and intervals
Maintenance activity
Interval
Description
Inspection
1 month
Visual inspection of CiRo.
Cleaning
6 months
Cleaning and lubrication of CiRo, interval depending
on intensity of use and environment.
3.2.1 Visual inspection of the CiRo
Visually check the following:
Check
Note
Adaptation kit/rotation stop
Not damaged
Cable and hoses
Not damaged or squeezed
Gliding surfaces of mounting ring
No wear, not damaged or dirty
Surface of hose/cable guide and bushing
No wear, not damaged or dirty
All parts
No wear, not damaged or dirty

M0410-1 version 3.3 17
3.2.2 Cleaning and lubrication of CiRo
Action
Note
1
Clean and lubrication of gliding surfaces
NOTE! For CiRo S,
MHD, L and XL
lubrication of the surface
between housing and
CiRo-shaft is done
through a groove at the
backside of the housing.
Clean and apply a small
amount of grease
(Molykote BR2Plus) on
the surfaces between
the mounting ring and
the CiRo-shaft.
NOTE! Rotate the
mounting ring
successively to clean
and grease gliding
surfaces all around.
2
Cleaning hose/cable guide
Clean the surfaces
between the hose/cable
guide and the CiRo-
shaft and the hose/cable
guide and the bushing,
respectively.

18 M0410-1 version 3.3
3
Lubricate hose/cable guide
Apply a small amount of
grease (Molykote
BR2Plus) on the
surfaces between the
hose/cable guide and
the CiRo-shaft and the
hose/cable guide and
the bushing,
respectively.
4
Clean CiRo in general
Wipe clean the CiRo in
general, use cleaning
agent (industrial alcohol)
when required.

M0410-1 version 3.3 19
3.3 Replacements
3.3.1 Replacement of wear parts
The hose/cable guide and rubber strip are considered as wear parts and shall be replaced when
showing a lot of wear.
Action
Note
1
Safety
Read the safety section
(1.2).
2
Air and power off
Switch off pneumatic air
and electric power (when
applicable).
3A
Release cables and hoses (CiRo S, M, MHD,
and L1)
Cut the two cable ties
holding the cables and
hoses to the hose/cable
guide with a nipper.
Remove the rubber strip.
Remove
cables
and
hoses
from the
CiRo.
3B
Release cables and hoses (CiRo XL only)
Release the two screws
holding the hose clamp
and release cables and
hoses. If applicable cut any
cable tie holding cables
and hoses with a nipper,
Remove the rubber strip.
Remove
cables
and
hoses
from the
CiRo.
4
Dismount hose/cable guide
Unscrew the screw
holding the hose/cable
guide and remove the
guide and bushing from
the CiRo.
NOTE! For CiRo XL with
axial mounting also the
guide base shall be
dismounted.

20 M0410-1 version 3.3
5
Clean CiRo surface
Clean the surface where
the hose/cable guide was
mounted.
6
Fit and mount hose/cable guide
Fit and mount new
hose/cable guide
according to section 2.1
(CiRo M MHD, L and XL)
or section 2.2 (CiRo S).
7
Attach rubber strip
Attach a new rubber strip
around the cable and
hoses.
8
Fasten cables
Fasten cables and hoses
according to section 2.1
(CiRo M MHD, L and XL)
or section 2.2 (CiRo S).
9
Remount tool
Mount tool or tool changer
and connect cables and
hoses.