RSP STC350 User manual

m0403
Product Manual
Swivel with tool changer STC350
M0605-1
Tool changers | Swivels | Swivel tool changers | Grippers | Hose packages | Valve units | Tool systems

2 M0605-1 ver 2.5

M0605-1 ver 2.5 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 M0605-1 ver 2.5
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 STC350-6. Article no: P0605....................................................11
2.1.3 Tool attachment, TA350-8 Round. Article no: P0606.......................................................12
2.1.4 Tool attachment, TA350-8 square. Article no: P0602......................................................13
2.1.5 Swivel with tool changer STC350-6E. Article no: P0607 .................................................14
2.1.6 Swivel with tool changer STC350-6E Sealed. Article no: P0695A...................................16
2.1.7 Tool attachment round, TA350-8E. Article no: P0608 .....................................................18
2.1.8 Tool attachment square, TA350-8E. Article no: P0604....................................................19
2.1.9 Pneumatic diagram ..........................................................................................................20
2.1.10 Circuit diagram E0167-006 for P0607 and P0695A.......................................................21
2.1.11 Circuit diagram E0166-003 for P0608............................................................................22
2.1.12 Circuit diagram E0166-005 for P0604............................................................................23
2.2 Options for swivel with tool changer .........................................................................24
2.2.1 Robot adaptation kit/rotation stop ....................................................................................24
2.2.2 Adaptation plates..............................................................................................................24
2.2.3 Tool stand kit. Article no: P0639.......................................................................................25
2.2.4 Limitation of Robot movements........................................................................................25
2.2.5 Connection kits and cables ..............................................................................................25
3 INSTALLATION.....................................................................................................26
3.1 Tightening torques....................................................................................................26
3.2 Recommended tools for installation..........................................................................26
3.3 Installation of swivel with tool changer on robot........................................................27
3.4 Installation of tool attachment on tool ......................................................................29
3.5 Manual unlocking of swivel with tool changer...........................................................30
3.6 Hints.........................................................................................................................31
3.5.1 Programming....................................................................................................................31
3.5.2 Electrical installation.........................................................................................................31
3.5.3 Tool stand.........................................................................................................................31
3.5.4 Tool Identification .............................................................................................................31
3.5.5 Arm load parameters........................................................................................................31

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4 MAINTENANCE AND SERVICE...........................................................................32
4.1 Maintenance chart.................................................................................................... 32
4.1.1 Required products............................................................................................................32
4.1.2 Recommended tools for maintenance .............................................................................33
4.1.3 Wear parts........................................................................................................................33
4.1.4 Activities and intervals......................................................................................................33
4.1.5 Activities and intervals on tool attachment.......................................................................34
4.2 Visual inspection...................................................................................................... 34
4.2.1 Inspection of the swivel with tool changer........................................................................34
4.2.2 Inspection of the tool attachment .....................................................................................34
4.3 Cleaning................................................................................................................... 35
4.3.1 Cleaning and lubrication of swivel with tool changer .......................................................35
4.3.2 Cleaning of tool attachment..............................................................................................36
4.4 Replacement of swivel with tool changer.................................................................. 37
4.5 Replacement of wear parts....................................................................................... 39
4.5.1 Replacement of air sealings.............................................................................................39
4.5.2 Replacement of signal pins (STC350-6E only)................................................................40
4.6 Complete service of tool changer............................................................................. 40
5 SPARE PARTS .....................................................................................................41
5.1 Part list for swivel with tool changer, P0605, P0607 and P0695A............................. 41
5.2 Part list for tool attachment P0606 amd P0608......................................................... 43
5.3 Part list for tool attachment P0602 amd P0604......................................................... 44
6 DISPOSAL AND RECYCLING.............................................................................. 45

6 M0605-1 ver 2.5
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 tool changer into the system must follow the safety demands stated
in standards and provisions applicable in the country where the tool changer system is to be
installed. The products are all prepared for CE-certification.
The user of the Robot System Products 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 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 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 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
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 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 STC350-6 and STC350-6E swivel with tool
changers 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 with tool changer STC350-6 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 versions are designated ’E’. The swivel with tool changer STC350-6 and STC350-6E
cannot transport fluids.
The spring loaded signal pins of STC350-6E are placed and protected along a circle close to the
centre of the 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 tool changer and the turning disc on the
robot may be needed. Such adaptation plates are available from RSP.
STC350-6E

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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 STC350-6. Article no: P0605
Swivel with tool changer STC350-6 transfers 6 pneumatic channels to the tool attachment. To be
used together with swivel with tool changer P0606 and P0602.
Technical data
Working temperature
+10°C - +60°C
Bolt pattern
ISO 9409-1-160-11-M12
Maximum tool load
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
± 3500 N
± 3500 Nm
± 3500 Nm
Weight and centre of gravity
22.8 kg
0.2 / 2.5 / 93.6 mm
28.0 kg
0.4 / 1.8 / 110.6 mm
28.4 kg
0.2 / 2.0 / 111.9 mm
P0605
P0605 and P0606
P0605 and P0602
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
Connections, robot side
See section 2.1.9
8
Open TC marked 8 (6-10 bar)
Close TC marked 7 (6-10 bar)
10 bar
800 l/min
Oil-clean and waterless filtered air, with max
25µm particle content
G 1/4"

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2.1.3 Tool attachment, TA350-8 Round. Article no: P0606
Tool attachment TA350-8 transfers 8 pneumatic channels to the tool. To be used together with
tool changer P0605.
Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO9409-1-160-11-M12
Weight
5.2 kg
Maximum tool load
(M12-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±3 500 N
±3 500 Nm
±3 500 Nm
Maximum tool load
(M10-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±3 500 N
±3 500 Nm
±2 500 Nm
Air ducts
Number of ducts
Connection, tool side
8
G 1/4”
Note! Tools can be mounted to the tool attachment using 11 M12-screws, alternatively
the tool attachment can be mounted to the tool using 11 M10-screws.

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2.1.4 Tool attachment, TA350-8 square. Article no: P0602
Tool attachment TA350-8 transfers 8 pneumatic channels to the tool. To be used together with
tool changer P0605.
Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO9409-1-160-11-M12
Weight
5.7 kg
Maximum tool load
(M12-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±3 500 N
±3 500 Nm
±3 500 Nm
Maximum tool load
(M10-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±3 500 N
±3 500 Nm
±2 500 Nm
Air ducts
Number of ducts
Connection, tool side
8
G 1/4”
Note! Tools can be mounted to the tool attachment using 11 M12-screws, alternatively
the tool attachment can be mounted to the tool using 11 M10-screws.

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2.1.5 Swivel with tool changer STC350-6E. Article no: P0607
Swivel with tool changer STC350-6E transfers 6 pneumatic channels and 12 electrical signals to
the tool attachment. To be used together with tool attachments P0608 and P0604.

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Technical data
Working temperature
+10°C - +60°C
Bolt pattern
ISO 9409-1-160-11-M12
Maximum tool load
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
± 3500 N
± 3500 Nm
± 3500 Nm
Weight and centre of gravity
23.0 kg
0.1 / 2.5 / 92.7 mm
28.5 kg
0.3 / 1.8 / 110.4 mm
29.2 kg
0.2 / 2.3 / 112.6 mm
P0607
P0607 and P0608
P0607 and P0604
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
Connections, robot side
See section 2.1.9
8
Open TC marked 8 (6-10 bar)
Close TC marked 7 (6-10 bar)
10 bar
800 l/min
Oil-clean and waterless filtered air, with max
25µm particle content
G 1/4"
Electrical signals
Circuit diagram
Total number of signals
Dedicated signals
Max current
Max voltage
Connection, robot side
E0167-006E (see section 2.1.10)
13
+24 V DC
0 V DC
TC Coupled
TC Uncoupled
1 A
60 V
23P Souriau

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2.1.6 Swivel with tool changer STC350-6E Sealed. Article no: P0695A
Swivel with tool changer STC350-6E transfers 6 pneumatic channels and 12 electrical signals to
the tool attachment. To be used together with tool attachments P0608 and P0604.

M0605-1 ver 2.5 17
Technical data
Working temperature
+10°C - +60°C
Bolt pattern
ISO 9409-1-160-11-M12
Maximum tool load
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
± 3500 N
± 3500 Nm
± 3500 Nm
Weight and centre of gravity
24.6 kg
0.1 / 2.4 / 104.0 mm
29.8 kg
0.3 / 1.8 / 121.4 mm
30.7 kg
0.2 / 2.1 / 124,2 mm
P0695A
P0695 and P0608
P0695A and P0604
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
Connections, robot side
See section 2.1.9
8
Open TC marked 8 (6-10 bar)
Close TC marked 7 (6-10 bar)
10 bar
800 l/min
Oil-clean and waterless filtered air, with max
25µm particle content
G 1/4"
Electrical signals
Circuit diagram
Total number of signals
Dedicated signals
Max current
Max voltage
Connection, robot side
E0167-006E (see section 2.1.10)
13
+24 V DC
0 V DC
TC Coupled
TC Uncoupled
1 A
60 V
23P Souriau

18 M0605-1 ver 2.5
2.1.7 Tool attachment round, TA350-8E. Article no: P0608
Tool attachment TA350-8E round transfers 8 pneumatic channels and 18 electrical signals to the
tool. To be used together with tool changers P0607 and P0695A.
Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO9409-1-160-11-M12
Weight
5.5 kg
Maximum tool load
(M12-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±3 500 N
±3 500 Nm
±3 500 Nm
Maximum tool load
(M10-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±3 500 N
±3 500 Nm
±2 500 Nm
Air ducts
Number of ducts
Connection, tool side
8
G 1/4”
Electrical signals
Circuit diagram
Total number of signals
Connection, tool side
E0166-001B (see section 2.1.9)
18
19S Souriau
Note! Tools can be mounted to the tool attachment using 11 M12-screws, alternatively
the tool attachment can be mounted to the tool using 11 M10-screws.

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2.1.8 Tool attachment square, TA350-8E. Article no: P0604
Tool attachment TA350-8E square transfers 8 pneumatic channels and 18 electrical signals to
the tool. To be used together with tool changers P0607 and P0695A.
Technical data
Working temperature
+10°C−+60°C
Bolt pattern
ISO9409-1-160-11-M12
Weight
6.1 kg
Maximum tool load
(M12-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±3 500 N
±3 500 Nm
±3 500 Nm
Maximum tool load
(M10-screws)
Fz (static)
Mx/My (dynamic)
Mz (dynamic)
±3 500 N
±3 500 Nm
±2 500 Nm
Air ducts
Number of ducts
Connection, tool side
8
G 1/4”
Electrical signals
Circuit diagram
Total number of signals
Connection, tool side
E0166-005D (see section 2.1.10)
18
1m 20 x 0.5 mm2cable open end
Note! Tools can be mounted to the tool attachment using 11 M12-screws, alternatively
the tool attachment can be mounted to the tool using 11 M10-screws.

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2.1.9 Pneumatic diagram