4 M0620-1 ver 2.8
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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