NITTA CHANGE SYSTEM - ニッタ株式会社 · PDF file · 2016-11-02Hydraulic Coolant Interface Specification List（Rc3/8Specification ） ... The Nitta Change System (adapter and

USERS GUIDE

INSTRUCTION MANUAL

NITTA CHANGE SYSTEM

ＸＣＸＣＸＣＸＣ-４００４００４００４００

ＮＩＴＴＡＣＯＲＰＯＲＡＴＩＯＮ

Head office 4-4-26, Sakuragawa, Naniwa-ku,Osaka 556-0022 Japan ＴＥＬ +81-6-6563-1273 ＦＡＸ +81-6-6563-1274

Tokyo Branch 8-2-1, Ginza, Cyuo-ku, Tokyo, 104-0061 Japan ＴＥＬ +81-3-6744-2708 ＦＡＸ +81-3-6744-2709

Nagoya Branch 1-17-23, Meieki-minami, Nakamura-ku, Nagoya, 450-0003 Japan

ＴＥＬ +81-52-589-1310 ＦＡＸ +81-52-586-5707

Nabari Plant 1300-45, Yabata, Nabata, Nabari, Mie, 518-0494 Japan ＴＥＬ +81-595-64-2916 ＦＡＸ +81-595-64-9527

complete reform：2015-07

Rev.：1 Printed in Japan XC400-ENOUG-01

Usage for the instruction manual

Please make sure to deliver this manual to the end user of this product.

Please download it from the below home page if the additional manual is

required.

Thank you for your cooperation

http://www.nitta.co.jp/en/

- i -

ＣＯＮＴＥＮＴＳ

ＰＲＥＣＡＵＴＩＯＮＡＲＹＮＯＴＥＳ .......................................................................................................... I

Preface .......................................................................................................................................................................................... I

Please notice the followings below ........................................................................................................................................... I Checking The inside of packages ............................................................................................................................................. I

Safety Precautions ...................................................................................................................................................... II

1. The Nitta Change system ...................................................................................................................................... 1

1-1. Robot Side ............................................................................................................................................................................ 1 1-1-1. Robot Adaptor ................................................................................................................................................................. 1 1-1-2. Selection of Input Devices ............................................................................................................................................ 2 1-1-3. Robot Adapter Plate (Option) ....................................................................................................................................... 2

1-2. Tool Side .............................................................................................................................................................................. 3 1-2-1. Tooling Adaptor .............................................................................................................................................................. 3 1-2-2. Tooling Adaptor Plate (Option) .................................................................................................................................... 3

1-3. Option .................................................................................................................................................................................... 3

2. COMPONENTS ...................................................................................................................................................... 3

3. Standard Detail ........................................................................................................................................................ 4

3-1. Common Specification ......................................................................................................................................................... 4

3-2. XC400 Body Specification list ........................................................................................................................................... 5 3-2-1. XC400 Body Specification............................................................................................................................................. 5 3-2-2. Cables Used Inside the Body ....................................................................................................................................... 6 3-2-3. Face Sensor ..................................................................................................................................................................... 6 3-2-4. Chuck･Unchuck Sensor .................................................................................................................................................. 7 3-2-5. LED ASSY Specifications ............................................................................................................................................. 7

3-3. Spot Welding Interface Module Specifications List (Connector Specifications) ........................................................... 8 3-3-1 Spot Welding Interface Module body Specifications ................................................................................................... 8 3-3-2. Spot Welding Interface Module wire used for internal（Motive Power） .............................................................. 9 3-3-3. Spot Welding Interface Module Wire Used for Internal (Grounding) ..................................................................... 9

3-4. Spot Welding Interface Module Specifications list (Seal connector specification） .................................................. 10 3-4-1. Spot Welding Interface Module Body Specifications ............................................................................................... 10

3-5. Spot Welding Electorical Module Specifications list ..................................................................................................... 11 3-5-1. Spot Welding Electrical Module Specifications ......................................................................................................... 11 3-5-2. Spot Welding Electrical Interface Module Cables Used for internal ..................................................................... 12

3-6. Hydraulic Coolant Interface Specification List（Rc3/8Specification） ......................................................................... 13

3-7. Hydraulic Coolant Interface Specification List (Rc1/2specification) ............................................................................. 14

3-8. Pneumatic Module Specification List (Rc1/4specification) ............................................................................................ 15

3-9. Pneumatic Module Specification List (Rc1/2specification) ............................................................................................ 16

3-10. Signal Interface Specification list ................................................................................................................................... 17 3-10-1. Signal Interface Specifications ................................................................................................................................... 17 3-10-2. Signal Interface Cables used for internal................................................................................................................. 18

3-11. Load Allowance and Installation Notes ......................................................................................................................... 19

3-12. Power Load Allowance ................................................................................................................................................... 19

4. IDENTIFYING THE XC400 ............................................................................................................................... 20

5. INSTALLATION .................................................................................................................................................. 21

- ii -

5-1. Robot Adaptor .................................................................................................................................................................... 21

5-2. Tooling Adaptor ................................................................................................................................................................. 21

5-3. CHUCK/UNCHUCK Port Connections ............................................................................................................................ 21

5-4. Electric wiring .................................................................................................................................................................... 22

5-5. Cable Settlement ................................................................................................................................................................. 22

5-6. Tool Changer Installing Considerations ........................................................................................................................... 23 5-6-1. Tool Changer Installing ................................................................................................................................................ 23 5-6-2. Greasing on Main Unit ................................................................................................................................................ 23 5-6-3.Proximity of Tool Changer ........................................................................................................................................... 24 5-6-4. Precautions for Using a Servo Motor for a Tool .................................................................................................... 24

5-7. Procedure for installing each Module on the Main Unit .............................................................................................. 25 5-7-1. Wiring for seal Connector Specifications .................................................................................................................. 25 5-7-2. When air/water feeding module is used .................................................................................................................... 28 5-7-3. When feeder/signal module is used ............................................................................................................................ 28

6. Operations and programming operation ............................................................................................................... 29

6-1 Basic Flow of The NITTA CHANGE SYSTEM ........................................................................................................... 29

6-2. Nitta change the basic flow of system ........................................................................................................................... 29

6-3. NITTA CHANGE SYSTEM Interlocks ........................................................................................................................... 30

6-4. Notes on operation ............................................................................................................................................................. 30

6-5. Emergency ........................................................................................................................................................................... 32 6-5-1. Manual Separation of XC400 ...................................................................................................................................... 32 6-5-2. Collision or Interference Managements ...................................................................................................................... 32 6-5-3. Water splashing treatment .......................................................................................................................................... 33

- I -

ＰＲＥＣＡＵＴＩＯＮＡＲＹＰＲＥＣＡＵＴＩＯＮＡＲＹＰＲＥＣＡＵＴＩＯＮＡＲＹＰＲＥＣＡＵＴＩＯＮＡＲＹＮＯＴＥＳＮＯＴＥＳＮＯＴＥＳＮＯＴＥＳ Preface This document provides precautions for handling, detailed descriptions of the specifications and mandate inspection and maintenance items for appropriate applications and appropriate maintenance and inspection of the system, focusing on mechanical sections of XC400. Therefore, those in charge of introduction line planning, maintenance and inspection, unpacking or actual operations of the product must read this document and fully understand the Nitta Change System before use.

We carefully pack our shipments. But, unfortunately you find any missing parts, please contact with our offices on

the cover of this manual.

・ All rights reserved. ・ External appearance and specifications described in this document are subject to change for improvement. ・ Be sure to read this document carefully before working on the product. ・ Be sure to confirm whether workers are required to be sufficiently trained for applicable expertise. ・ Take note that we assume no responsibility regarding any damage or accident that occurs in works performed by customers.

Please notice the followings below The use of this document is reserved exclusively for the user of Nitta Corporation (hereinafter “the Corporation”)

customers and personnel. The information and drawings contained herein are the sole property of the Corporation,

and shall not be divulged to any third party without the prior written consent of the Corporation.

The Corporation makes no warranty of any kind with regard to this user's guide, including, but not limited to,

implied warranties or fitness for a particular purpose. The Corporation shall not be liable for any errors contained

herein or for incidental or consequential damages in connection with the performance or use of this user's guide.

Checking The inside of packages Please, check the inside of packages, and make sure about next 2 items are inside of the shipment.

1. Installing bolts and washers

2. Preliminary parts (depending on special arrangement)

Thank you for choosing our NITTA CHANGE SYSTEM.

- II -

Safety Precautions

For Safe Use of the Product

a) Hazard, warning and cautions indications in this document In this instruction manual, various symbols are used to indicate safety-related information for prevention of damage to people and properties by promoting safe and proper use of our product. Indications and meanings of the symbols are described below. Be sure to read carefully and understand the contents of this document before use.

Indications in this document

Improper use disregarding this indication may result in imminent risk of death or serious injury of the user(s).

Improper use disregarding this indication may result in risk of death or serious injury of the user(s).

Improper use disregarding this indication may result in risk of injury of the user(s) leading to disabilities, or property damages.

This indicates use examples, etc.

This indicates special instructions less important than cautions.

b) Introduction

The Nitta Change System (adapter and module) does not work alone and is only usable when being equipped on

robot and compatible unit. As for safety, it is necessary to consider not only the single Nitta Change System but also the robot system and compatible unit system as a whole.

For use of the Nitta Change System, be sure to observe safety instructions related to core

robots and compatible units. For any work within the robot safety fence, consider

preparing a safety system design to shut down power over 50V once any person gets

into the fenced area.

- III -

c) General Precautions

Those engaged in installation, programming and maintenance works inside the robot

safety fence for the Nitta Change System are required to acquire robot expertise (expert

training). Additionally, those engaged in disassembly and assembly works of the Nitta

Change System either in or out of the safety fence are required to read this document

and the other maintenance and inspection procedures carefully.

In addition, for works in the safety fence area, be sure to wear appropriate clothing for

the work with personal protective equipment such as a hard hat, safety boots, etc. For

inside disassembly works of the Nitta Change System, use protective glasses for

protection against pop-out parts.

Do not use this product in any of the environments listed below.

Otherwise, operators may be injured.

- Flammable environment

- Explosive environment

- Environment exposed to water/water drops or highly humid environment

- Environment with high degree of radiation

When the product is used under any of the above environment, we assume no re

sponsibility for any failure or damage.

d) Precautions for Installation

For installation of the Nitta Change System, remove the pertinent product and place it out of the robot safety fence as long as possible so that installation can be performed securely.

If installation work is performed inside the safety fence, securely shut off the power over

50V from the Nitta Change System and ensure that the robot is securely stopped before

entering into the fence area.

Be sure to check the following items before starting the installation procedure:

（a） Welding power source, control power source and driving power source are all

shut off before work.

（b） All hydraulic and pneumatic pressure sources are off before work.

（c） All residual hydraulic and pneumatic pressure is released before work.

（d） Note that some connectors and cables may be hot depending on their

specifications.

Turning the power supply or hydraulic/pneumatic pressure source on during installation

without notifying the operator(s) may cause extremely dangerous situation. Establish a

system to prevent such an event at any time to ensure safe work.

- IV -

Be sure to install specified parts. In addition, when you replace parts, install parts to

their original positions and be sure to perform inspections in accordance with certain

procedures.

Ensure that the installation load (moment torque) does not exceed product's rated value. Otherwise, not only the product functionality and life may be adversely affected but also unexpected accident may occur.

Ensure that the electric load applied to the signal pins and welding electrode does not exceed the rated voltage and allowable current. Otherwise, not only the product functionality and life may be adversely affected but also unexpected accident may occur.

Supply water and air to feed-water, feed-air and body fitting/removal ports so as to maintain pressure within the rated range. Otherwise, not only the product functionality and life may be adversely affected but also unexpected accident may occur.

- To install a robot adapter, set the robot mounting surface facing up, rather than horizontal. Then robot adapter installation becomes relatively safer.

- When installing a tool adapter, set tools on the tool stand. Then tool adapter installation becomes relatively safer.

Please make sure to switch the air supply port detachable at the separation state. Operating without doing this may cause tool falling, product damage, or unexpected accident.

When manually switching air supply of the fitting/removal port, set tools on the tool

stand. Otherwise, improper motions or piping may cause tool falling, product damage,

or unexpected accident.

Arrange cables and hoses without causing catching during robot motions.

Otherwise, the main unit or modules may be damaged.

e) Precautions for Teaching

With the tools separated, check that the interlock signals output from the main unit are correct. Operating without doing this may cause tool falling, product damage, or unexpected accident.

For jointing/separation, switch air supply to jointing/separating with the connecting surfaces of robot-side and tool-side adapters are horizontally coherent on the stand. Otherwise, unexpected accident may occur due to tool falling, in addition to damage of each interface and main unit damage due to prying.

When the welding power is on, there is a risk of electricity leakage. Do not touch any component connected with the Nitta Change System.

- 1 -

1. The Nitta Change system The Nitta Change System is a pneumatic-driven automatic tool changing device. Basically, the system consists of a

robot adapter and a tool adapter and it may be mounted to all robot tools with an adapter plate. In addition, the main unit and modules are equipped with transmission mechanisms such as signal pins to transmit signals and power source to tools, and air feeding port.

[[[[Transmission Mechanism]]]]

XC400 have electric signal pins to transmit /receive signals between robot and tools. For the number of pins, refer to the drawing

1-1. Robot Side 1-1-1. Robot Adaptor

The robot adapter is a basic constitution moiety of the Nitta Industries change system. This adaptor equips

the sensor, which indicates the state of chucking mechanisms. This sensor outputs “CHUCK”, “UNCHUCK”

and “FACE” signals.

[[[[Detachable mechanism]]]]

The Robot Adaptor and the Tool Adaptor are connected each other by cams. These cams have special mechanism, which automatically continues to adjust for any dimensional error that may occur during chucking for a long time. These cams are driven by air cylinders, and designed so that they will not release even if the units is subjected to more than its rated load capacity. If an extreme load is applied, the chucking surfaces of both the robot and tooling adaptors separate slightly but never release. And the inside spring works as fail-safe mechanism which avoids falling the tooling adaptor off even if the units looses its air pressure accidentally.

The failsafe mechanism serves to prevent falling. Do not continue using the product when the air pressure is decreased. Otherwise, the gap between contact surfaces of robot and tool adapter is increased and unexpected accident may occur.

[[[[Detachable sensor signal]]]]

・Chuck edge signal (Connection edge) Signal that indicates the cam is not fully engaged. When this signal and a joint check signal are both active, the robot can pick the tool adapter from the tool stand. ・Un chuck edge signal (Separation edge) This signal indicates that the locking cam is retracted in the Robot Adaptor. That is, it indicates that the cams are at the proper position to allow the Robot Adaptor to approach or unchuck the Tooling Adaptor.

・Consolidated confirmation signal (Face edge) This signal indicates that the faces of both adaptors are in contact each other. That is, it indicates that the chucking surfaces of both adaptors are properly contacted, so that the cams can be brought into engagement.

- 2 -

1-1-2. Selection of Input Devices

Check specifications of the input device. Signals representing robot adapter status may

not be confirmed.

The fitting/removal sensor signal output circuit of the unit consists of a photo coupler operated by turning the proximity sensor ON/OFF, and serial resistor for photo coupler protection. Therefore, the residual voltage of the signal output circuit varies depending on the input current of the selected input device. For input device selection, check the input current of the device and ON determination voltage and select an input device with which ON determination is possible.

Ex: When input current value is 6 (mA)

- When chuck or uncheck is ON Residual voltage V1 = 680 (Ω) X 6 (mA) + 0.9 + 0.8 = 5.78 (V)

- When face is ON Residual voltage V2 = 680 (Ω) X 6 (mA) + 2.7 + 0.8 = 7.58 (V)

Therefore, select an input device with which ON determination is possible with 8 (V) or higher voltage relative to 0V common. 1-1-3. Robot Adapter Plate (Option) A robot adapter plate is used to install a robot adapter unit to a robot used. No processing of holes and screws for installation to a robot is performed on standard products. (We may perform such processing upon your request. You may also prepare a robot adapter place on your own. For precautions for installation of an adapter plate onto the robot adapter unit, refer to the reference drawing at the end of this document.)

Photo coupler Diode

ＤＣ電源

（２４Ｖ）

フォトカプラ内部回路

＋－ＧＮＤ

ＩＮ

ダイオード

０．８Ｖ

０．９Ｖ

６８０Ω

６ｍＡ

入力回路オメガ４内部回路

４．０８Ｖ

DC Power Supply

(24V)

Internal circuit

Input circuit XC400 Input circuit

Diode

Photo coupler

0.8V

4.08V

680ΩΩΩΩ

0.9ⅤⅤⅤⅤ 0.9ⅤⅤⅤⅤ

＋＋＋＋－ＧＮＤ

ＩＮ

６ｍＡ Photo coupler Photo coupler

0.9ⅤⅤⅤⅤ

Photo coupler

DC Power Supply

(24V)

Internal circuit

Input circuit XC400 Input circuit

- 3 -

1-2. Tool Side 1-2-1. Tooling Adaptor The Tooling Adaptor is basic parts that make up the NITTA CHANGE SYSTEM and allows tools to be attached. The tool adapter locking pin engages the locking cam of robot adapter. 1-2-2. Tooling Adaptor Plate (Option) Tool adapter plate is used to attach the tool to your company tool adapter body. To standard products, tool mounting holes and screw machining is not done. (Of course is also possible to provide own adapter plate to your Company.) 1-3. Option

Please ask us about the details of non-standard options such as signal-pin module, electric module and pneumatic

module.

2. COMPONENTS

Fig.1 system figure

Robot

Adaptor plate

Robot adaptor

Bolt

Bolt (M12X70)

Bolt (M12X80)

Bolt

Tool

Adaptor plate

- 4 -

3. Standard Detail 3-1. Common Specification

Service condition

Ambient Temperature 0～60(But do not condense dew)

Ambient humidity 95%RH or less (But do not condense dew)

The ambient atmosphere

Thing without the corrosive gas

Altimeter 1000m or less

Shakeproof 10～500(Hz) Acceleration50(m/s2) 110(minute) (IEC60068-2-6 confomity)

Transportation condition

Ambient Temperature -25～60(Instantaneous Maximum 70）

Ambient humidity 95%RH or less(But do not condense dew）

- 5 -

3-2. XC400 Body Specification list 3-2-1. XC400 Body Specification

Model Type Robot adapter Drawing reference

Tooling adapter Drawing reference

Load Weight

Weight capacity 400 kg

Permissible moment 2942 Nm

Permissible torque 2942 Nm

Working pressure 0.39～0.85 MPa

Repeatability positioning precision 0.050 mm

Interface Electricity

A number electric contact

Drawing reference

Rated voltage DC50V or less

Maximum allowed current 3A

Rated frequency 50 or 60 HZ

Overvoltage category Overvoltage categoryⅢ

Permissible degree of contamination Pollution degree 3

Mechanical weight Robot adapter 12.0 kg

Tooling adapter 8.0 kg

Mechanical measure Robot adapter

See below For details, refer to approved drawing.

Tooling adapter See below

For details, refer to approved drawing.

R side adapter (For details, refer to approved drawing.)

T side adapter (For details, refer to approved drawing.)

- 6 -

3-2-2. Cables Used Inside the Body

Title Polyester flexibility electric wire

Manufacturer -type DKSX

Rated cross sectional area 0.5mm2

Conductor

Material Electrical annealed copper wire

Composition Number of element wire

Element wire diameter 6/18/0.08/mm

Outer diameter 1.1 mm

Insulator Material Incombustibility polyester

Withstand voltage Underwater 1000V/1minute

Spark 5000V/0.15second

Title Polyester Insulator Wrapping wire

Manufacturer -type DKXV

Conductor

Material Bare annealed copper wire

Composition Number of element wire

Element wire diameter 30/0.08/mm


Insulator Material Thermoplasticity elastomer

Withstand voltage 500V/1Minute

3-2-3. Face Sensor

Title Spatter proximity switch

Type DC 2-wire shield type

Detecting scheme High frequency oscillation type

Rated supply voltage DC12/24V (Common)

Range of working voltage DC10～30V

Leakage current 0.55mA or less

Operation mode Normally Open ※1

Output form DC 2-wire type Transistor output

Control output Switching current:3～100mA Residual voltage:3.0V or less Withstand voltage output:DC30V

Response frequency 1500Hz more than

※１：Detection when approaching body, "work" load

- 7 -

3-2-4. Chuck････Unchuck Sensor

Title Proximity switch

Type DC 2-wire type

Detecting scheme High frequency oscillation type

Rated supply voltage DC12/24V (Common)

Range of working voltage DC10～30V

Leakage current 0.55mA or less

Operation mode Normally Open ※1

Output form DC2-wire type Transistor output

Control output Switching current:3～100mA Residual voltage:3.0V or less Withstand voltage output:DC30V

Response frequency 2000Hz more than

※１：Detection when approaching body, "work" load

3-2-5. LED ASSY Specifications Shows the specifications of the photo-coupler being used to LED ASSY adapter that is equipped with a robot.. For details, please refer to the specification.

Title TLP523（Manufactured by Toshiba）

Type light-emitting diode＋Phototransistor

Dielectric voltage 2500Vrms (Minimum)

Collector-emitter breakdown voltage 55V (Minimum)

Conversion Efficiency 500％ (Minimum) (IF=1mA)

Collector-emitter saturation voltage 1.0V (Maximum) (IC=50mA)

High-temperature dark current 10µA (Maximum) (Ta=85)

UL Certified product UL1577、File NO.E67349

- 8 -

3-3. Spot Welding Interface Module Specifications List (Connector Specifications) 3-3-1 Spot Welding Interface Module body Specifications

Model Type Robot Side Drawing reference

Tool Side Drawing reference

Load Weight Robot Side 1.0 kg

Tool Side 1.0 kg

Material Withstand resin

Overvoltage Category Overvoltage CategoryⅢ

Rated voltage Single‐phase current 600V

Maximum allowed current 100A Rated frequency 1000 HZ


R side spotwelding interface module （For more information see approved drawing.）

T side spotwelding interface module （For more information see approved drawing.）

Electrode

Center of adapter housing

159 54

Electrode

Seal connector

159 54


Seal connector

- 9 -

3-3-2. Spot Welding Interface Module wire used for internal（（（（Motive Power））））

Title Natural rubber insulation for the holder

Natural rubber sheath cable Nominal cross-sectional area 22 mm2

Conductor (AC)

Material Annealed copper wire Composition

Number of element wire Element wire diameter

7/7/22/0.16/mm


Insulator Material Mixture of natural rubber

Withstand voltage (Underwater） 2000 V／5minutes

Allowable Current (30)

Utilization（％）

100 121 A

80 135 A

50 171 A

3-3-3. Spot Welding Interface Module Wire Used for Internal (Grounding)

Wiring in the module use (Grounding) Vinyl-insulated wiring for electrical equipment Nominal cross-sectional area 14 mm2

Conductor

Material Annealed copper wire Composition


88/0.45/mm

- 10 -

3-4. Spot Welding Interface Module Specifications list (Seal connector specification）））） 3-4-1. Spot Welding Interface Module Body Specifications



Load Weight Robot Side １．０ kg

Tool Side １．０ kg



Rated voltage Single‐phase current 600V

Maximum allowed current 100A

Rated frequency 1000 HZ


R side spot welding interface module (For more information see approved drawing.）

Electrode

Electrode


Seal connector


Seal connector

54

54 159

159

T side spot welding interface module (For more information

see approved drawing.)

- 11 -

3-5. Spot Welding Electorical Module Specifications list

3-5-1. Spot Welding Electrical Module Specifications



Spec Spot welding Electrode×6

Signal Electrode×15

Load Weight Robot Side 0.8 kg

Tool Side 0.8 kg



Rated voltage Spot welding AC200V

Signal DC50V以下

Maximum allowed current Spot welding 20A

Signal 3A

Rated frequency 50or60 HZ


（ 53 ） 145

145 （ 52 ）

Signal connector



Spotwelding connector

Signal connector

Welding pin

Signal pins

Signal pins

Welding pin

Spotwelding connector

R side spot welding interface module (For more information


T side spot welding interface module (For more information


- 12 -

3-5-2. Spot Welding Electrical Interface Module Cables Used for internal

FOR SPOTWELDING ELECTORICAL

Title For brake For power

Manufacturer -type CE-531XXSB

0.75×２ MVVS 1.25×4

Rated cross sectional area 0.75 ２ 1.25 ２

Conductor

Material Annealed copper wire Annealed copper wire Composition


67/0.12/

50/0.18/mm

Insulator Material Heat-resistant vinyl Mixture Heat-resistant vinyl Mixture

For THE Signal Title Robot cable for durability

Manufacturer -type KDF－SB

Rated cross sectional area 0.52

Conductor

Material Annealed copper complex Stranded wire Composition


3×（33／0.08）/

Insulator Material Mixture of natural rubber

Finishing outer diameter Approximately 13mm

Withstand voltage AC1500V／1minute

- 13 -

3-6. Hydraulic Coolant Interface Specification List（（（（Rc3/8Specification））））



The ports number of pneumatic ４

Fluid of use Water、Air

Fluid temperature of use 0～80（But do not condense dew）

Ambient temperature of use 0～60

Ambient humidity of use ９５％RH below

Working pressure ０．８６MPa

Effective sectional area ２１．７(mm２)／PORT

Ｃv value １．３３／PORT

Screw connection size Ｒｃ３／８

Machine weight Robot Side １．０(kg)

Tool side ０．８(kg)

（１３）

（６３）

（１３）

（４５）（１４）

Ｒ１１４

Ｒ１１

４

アダプタ中心

アダプタ中心

４－Ｒｃ３／８”

４－Ｒｃ３／８”

（１１４）

（１１４）

１６°

８°

８°

１６°

１６°

８°

８°

１６°

R side water supply module (For more information


T side water supply module (For more information




- 14 -

3-7. Hydraulic Coolant Interface Specification List (Rc1/2specification)

Model Type Robot side Drawing reference

Tool side Drawing reference


Fluid of use Water、Air

Fluid temperature of use ０～８０（But do not condense dew）

Ambient temperature of use ０～６０

Ambient humidity of use ９５％ＲＨ below


Effective sectional area ６０．０(mm２)／PORT

Ｃv value ３．４／PORT

Screw connection size Ｒｃ１／２

Machine weight Robot side １．２(kg)

Tool side １．２(kg)

（６３）

（１７）Ｒ１１４

Ｒ１１４

（１２）（４４）

（１７）

アダプタ中心

アダプタ中心

Ｏリング　Ｐ－１５

４－Ｒｃ１／２”

４－Ｒｃ１／２”

１１４

１１４

１５°

７

．

５

°

７

．

５

°

１５°

１５°

７

．

５

°

７

．

５

°

１５°

R side water supply module (For more information


T side water supply module (For more information




O-Ring P-15

- 15 -

3-8. Pneumatic Module Specification List ((((Rc1/4specification)

Model Type Robot side Drawing reference Tool side Drawing reference


Fluid of use Air



Ambient humidity of use ９５％ＲＨ below


Effective sectional area １９．０(mm２)／PORT

Ｃv value ０．７２／PORT

Screw connection size Ｒｃ１／４

Machine weight Robot side １．０(kg)


７゜

１４

゜

７゜

１４

゜

２１

（５３）

（１５）

１２

（５４）

１４゜

７゜

１４

゜７

゜

Ｒ１１４

Ｒ１１４

４－Ｒｃ１／４”

４－Ｒｃ１／４”

アダプタ中心

アダプタ中心

（１１４）

（１１４）

R side air supply module (For more information


T side air supply module (For more information




- 16 -

3-9. Pneumatic Module Specification List (Rc1/2specification)




Fluid of use Air



Ambient humidity of use ９５％ＲＨ below（But do not condense dew）


Effective sectional area ６１．０(mm２)／PORT

Ｃv value ３．４／PORT

Screw connection size Ｒｃ１／２

Machine weight Robot side １．０(kg)


１８．３

５３．３（１４）

Ｒ１１４

１５°

７．

５°

７．５

°１５°

Ｏリング　Ｐ－１６

Ｏ－ＲＩＮＧ　Ｐ－１６

Ｒ１１４

１５°

７．

５°

７．５°

１５°

１８．３

（２）５３．３

４－Ｒｃ１／２”

４－Ｒｃ１／２”

アダプタ中心

アダプタ中心

（１１４）

（１１４）

R side air supply module (For more information


T side air supply module (For more information




- 17 -

3-10. Signal Interface Specification list 3-10-1. Signal Interface Specifications



Spec Electrode×35

Load Weight Robot side ０．５ｋｇ

Tool side ０．５ｋｇ


Rated voltage ＤＣ５０V below

Maximum allowed current ５Ａ

Rated frequency ５０or６０ＨＺ



R side signal module (For more information


R side signal module (For more information see approved drawing)

５４

（５４）

（６３）

Connector

１２７

Signal pin

Center of adapter

housing

１２７

Center of adapter

housing

Connector

Signal pin

- 18 -

3-10-2. Signal Interface Cables used for internal

Internal wire Title Polyester flexibility electric wire

Manufacturer -type DKSX Nominal cross-sectional area 0.5mm2

Conductor

Material Electrical annealed copper wire Composition


6／18／0.08／mm

Outer diameter 1.1 mm Insulator Material Incombustibility polyester

Withstand voltage

Underwater

1000V／1minute

Spark

5000V／0.15 second

- 19 -

3-11. Load Allowance and Installation Notes

The specified rating load, moment and torque of XC400 expresses the active state after

the system is installed on a robot. The system should be set with consideration of inertia

and acceleration generated by movements of the robot, so that the maximum load of

normal operation will never be over those ratings. The rating load, moment and torque

are explained on figure 2.

carrying load W = 3920N(400kg)

eccentricity L = √(lm２+lt２)

allowable bending moment M = L×W×GＲ

(※)= 0.5×3920×1.5≦2942N･m (30000kgf･cm)

allowable twisting torque T = 1t×W×GＲ

(※)= 0.5×3920×1.5≦2942N･m (30000kgf･cm)

【Note】 GR represents the acceleration of the Robot at normal motion in automation operations.

GR value of a robot will be different on each other. Please refer to the manufacture of your robots about the precise GR value.(Generally, GR is set between 1.5 to 2.0G)

Fig. 2 Definition of load rating 3-12. Power Load Allowance

The standard signal pin assembly (20 pins specification) of XC400 can carry 13A in max in all. Each pin can carry 3A, 110V. However, please do not let each adjacent pin have 3A in case of the plural pins usage because it causes a short circuit by insulation failure.

１０２０３０４０５０６０７０

１０

２０

３０

４０

５０

６０

ｌｍ寸法（ｃｍ）

ｌｔ

寸法

（ｃ

ｍ）

Ｗ＝３００ｋｇ

Ｗ＝４００ｋｇ

　ｌｍ（ｃｍ）

ｌｔ（ｃｍ）

Ｌ（ｃｍ）

連結面中心

ツールアダプタロボットアダプタ

重心　Ｗ（ｋｇ）

７０

The center of chucking face

Tooling adaptor Robot adaptor

Gravity W(kg)

3920N(400kg)

W=2940N(300kg)

- 20 -

4. IDENTIFYING THE XC400

Fig.3 nomenclature

LED ASSY

Tapered pin

Cam

Electric block assy

Pivot pin

Robot adaptor housing

Solenoid valve (Option)

Lock pin

Electric block assy

Tooling adaptor housing

Bush

- 21 -

5. INSTALLATION 5-1. Robot Adaptor

Robot Adaptor is composed of Robot Adaptor Body and Adaptor Plate. To install Robot Adaptor to your robot,

Remove Robot Adaptor Plate from Robot Adaptor Body ,first. Next, machine mating holes in Robot Adaptor

Plate and then, attach the plate to your robot. Last, attach Robot Adaptor Body to Adaptor Plate by 6 bolts.

(Refer to fig.1)

Mounting bolts：6－M12× 80 【Torque value：128Nm】

（※ Combined with spring washer for M12） 5-2. Tooling Adaptor

Tooling Adaptor is also composed of Tooling Adaptor Body and Tooling Adaptor Plate. To install Tooling

Adaptor, remove Tooling Adaptor Plate from Tooling Adaptor Body. And machine mating holes in Tooling

Adaptor Plate. Then, attach the plate to Tooling Adaptor.

(Refer to fig.1)

Mounting bolts：6－M12×70 【Torque value：128Nm】

(※ Combined with spring washer for M12）

At the time of shipment, robot adapter, the tool adapter is plate screw attached

is not fully tightened. In installation work, even if there is no need to remove

from the body of the adapter plate, loosen the screws on the adapter plate once,

please tighten the body after applying the Loctite.

When processing the hole required for mounting the adapter plate at your company

Counterbore processing, please processing deep enough not to protrude from the

mounting surface of the head of the screw mounting adapter plate.

If you are installing a tool to tool adapter using the male screws from the tool side,

The adapter plate from the tip of the male screw, Please do not protrude.

5-3. CHUCK/UNCHUCK Port Connections

Use a solenoid valve for the chucking mechanism ports“CHUCK”and“UNCHUCK.”Be sure to take the

normally pressurized line (solenoid de-energized) to the port “CHUCK”so that the chucking mechanism

will remain in the chucked state in the event of a power failure.

If do not want a detachable, you open the "UNCHUCK" port, please do not use plug for stopping air supply.(Use in the consolidated state) UNCHUK port, please be sure to use in a pressurized state. There is a possibility of falling.

Air piping for driving tool changer Tool changer are even when air pressure was reduced by unforeseen. Although the tool side does not fall for has become a fail-safe mechanism. Tool changer drive air piping have even though the emergency valve is electrically OFF. Air does not flow to "Unchuck" side, please the selection of the solenoid valve and piping circuit. ・・・・Please do not use solenoid valve which has 3 positions closed center style. The robot side may not be able to hold chucking status when it is power OFF and may drop the tool side ・・・・Please do not share the exhaust port with the other equipment. The robot side

may not able to hold chucking status if the air is pressured from back side and may drop the tool side.

・・・・Please do not branch off from the air "CHUCK" port to the other equipment. The robot side may not able to hold chucking status if the air pressure dropped and may drop the tool side.

- 22 -

Perform installation carefully not to bend the hose connected with the Fitting/removal port during robot motions. Otherwise, it may fall off.

Do not cap the exhaust port of the solenoid valve used for switching pressure on the fitting/removal port. Otherwise, it may fall off.

As a solenoid valve used for switching pressure on the fitting/removal port select a double-solenoid type valve. Then effects of any noise malfunction are mitigated..

5-4. Electric wiring Please wire Input/Output line to the terminal (connector) in robot adaptor by referring to the wiring diagram in the end of the book. Please use built-in sensor signals into the control system like robot (line). These sensors signals can be used through the above terminal. Please tighten the connector firmly in case of connector. 5-5. Cable Settlement

Damage of connectors or connector assy, or breakage of wires may occur wh

en a extreme force of stress is

applied. Fix the cables of robot side at a place around the connector of the

Robot Adaptor by using Spiral

tubes or bands, etc.

Make sure that a excessive force is not applied on the cables or hoses during

your robot is rotating its hand.

An example of fixing cable with brackets is showing on figure 4.

Fig.4 An example of how cable fixation

ケーブル

固定用ブラケット

ロボットプレート

Cable

Robot plate

Braket for fixed Cable tie

- 23 -

5-6. Tool Changer Installing Considerations

5-6-1. Tool Changer Installing

Tool Changer Mounting direction minimize the GAP for mating surfaces,

Recommend that the maximum install so that the directions shown in the figure belo

wthe center of gravity of load that may occur.

Fig. 5 Tool Changer Installing Direction

5-6-2. Greasing on Main Unit Apply thin coating of SUMIPLEX BN No.1 (Sumico Lubricant co.,ltd.) or equivalent evenly to the external sliding faces. Application points are indicated in Fig.6 6.(Do not use molybdenum grease.)

Without greasing, prying and early wear will be generated on each part.

Fig.6 Greasing points

負荷

連結面から見る

ロボットアダプタ

モーメント

ロボットアダプタRobot adaptor

Load

Robot adaptor

Moment

Cam

3-points

2-points Lock-pin

3-points

Positioning bush

2-points

- 24 -

5-6-3.Proximity of Tool Changer

The tool changer may be separated manually in case of emergency by following the proced

ure described later. However, if the lock pin holes, etc. on the tool adapter are capped wit

h a material-handling terminal box, etc., jigs may not be inserted and compulsory separation

is prevented. Ensure that there is not interference.

5-6-4. Precautions for Using a Servo Motor for a Tool

When any tool equipped with a servo motor (servo gun and servo material handling, etc.) is used, the encoder is cleared after fitting/removal, so be sure to install a battery for memory on the tool side. In addition, functionality to electrically disconnect/connect the servo motor is necessary on the robot.

- 25 -

5-7. Procedure for installing each Module on the Main Unit

Table 1. List of module assembly bolt

Feeder Servo Signal

R side T side

Screw shape

M5X40 SUS Spring water + Flat washer with mec (low intensity 222)

Screw shape

M5X40 SUS Spring water + Flat washer with mec (low intensity 222)

Nitta model No.

GWAP05040M Nitta model No.

GWAP05040M

Torque 5Nm Torque 5Nm Remarks Embedded screw Remarks Embedded screw

Feeder Signal

R side T side

Screw shape M5X45 SUS Spring water not included Without mec

Screw shape M5X45 SUS

Spring water not included Without mec

Nitta model No.

GSSH05045S+GWSP05S Nitta model No.

GSSH05045S+GWSP05S

Torque 5Nm Torque 5Nm Remarks Remarks

Water feeding Water/air

feeding

R side T side

Screw shape

M5×55 SUS With mec (low intensity 222) Screw shape

M5 shoulder bolt SUS With mec (low intensity 222)

Nitta model No.

GSSH05055SM Nitta model No.

GSHL5254S

Torque 10Nm Torque 2Nm Remarks Embedded screw Remarks Do not overtighten

Air feeding

R side T side

Screw shape

M5X40 SUS Spring washer with mec (low intensity 222)

Screw shape

M5X40 SUS Spring washer with mec (low intensity 222)

Nitta model No.

GSSH05040S Nitta model No.

GSSH05040S

Torque 10Nm Torque 10Nm Remarks Embedded screw Remarks Embedded screw

5-7-1. Wiring for seal Connector Specifications Use cables of compatible cable profiles indicated in each module drawing. Ex:) ・ "HBR-023-00" : For 30-38 mm2(SQ)

22mm2 (SQ)may be compatible when a sleeve "HBR-031-00" is used. ・ "GLUGR8-6" : For 8 mm2(SQ) ・ "GLUGR14-6" : For 14mm2 (SQ) ・ "GLUGR22SQ6" : For 22mm2 (SQ) ・ "CBR-01C-01" : For 14-22mm2(SQ)

Wrong positioning of the earth may cause electric shock or device damage.

For wiring arrangement, follow the module drawing.

- 26 -

ａａ＋２

＊ Cable coating cut regardless of whether L-type

Cable Solderless terminal

For wiring, follow the procedure below. 1) Cable preparation

① Remove the cable coating so as to make it L-lag (a) + 2mm. (Refer to Fig.7)

② Cut each core, with care not to make any twisting or crossing.

At this point, let the cable through the module and check that its length is appropriate without any tension, looseness and interference.

2) Fit the shrinkable tube to the cable and put an L-lag at its end. Then temporarily tighten M8X8 lock screw not to let it

off. In case of solderless terminal specifications, tighten the screw further by a crimper according to the appropriate sectional area of the terminal used. (Refer to Photo.1, Photo.2,Photo.3)

3) Tighten M8X8 set screws to 3N.mm using an M5 torque wrench and put a mark on each. Then tighten M5X10 brass

screws to 3.5N.mm using a cross-tip torque wrench and check the electrode motion using a press jig. If the motion is good at 3 points, the work is completed. If the motion is not good, loosen the pertinent M8 set screw and M5 screw and make an adjustment. Then apply appropriate torque (Refer to Photo.4, Photo.5, Photo.6, Photo.7)

4) After motion confirmation, pull out the shrinkable tube by using longnose pliers and shrink it with a heat gun.

(Refer to Photo.8, Photo.9)

Note that overheating or any scratch by the priers may be a cause of shrinkable tube breakage. If it is broken, restart the procedure again.

Photo.2 Photo.3 Photo.1

Photo.4 Photo.7 Photo.6 Photo.5

Photo.9 Photo.8

Fig.7. Cable coating

- 27 -

5) Cut the signal line (6-core only) into No.4 pin 80mm, No.5 pin 70mm and No.6 pin 110mm from the housing Opening peel the coating off by about 7mm, cut the 5φ shrinkable tube into 3 20mm pieces and fit them to each cable.

(Refer to Photo.10, Photo.11, Photo.12, Photo.13)

6) Impregnate the copper line with flux by using cotton buds or the like. (Refer to Photo.14, Photo.15) 7) Cast solder into 3 signal pin holes in order of No.4, No.5 and then No.6 ((Refer to Photo.16, Photo.17, Photo.18) 8) Fit shrinkable tubes to signal pins and cables. (Refer to Photo.19)

Photo.15

Photo.18

Photo.19

Photo.14

Photo.16 Photo.17

Photo.11 Photo.13 Photo.12 Photo.10

- 28 -

After fitting the feeder module to the adapter, fix cables at appropriate position for robot motions to prevent cables from being pulled by robot motions. Tension on the cables may cause connector breakage and electrode failure, resulting in sparking.

5-7-2. When air/water feeding module is used

Ensure no chips of sealing tape on the relay, etc. get into the module. Otherwise, it gets into the O-ring sealing section inside and causes leakage.

Use Sumico Lubricant's Sumiplex BN No.1 or equivalent grease on the module port surface. Without lubrication, early breakage and leakage may occur.

If you take measures for water quality management, i.e. using a filter for coolant, change of corrosion within the module is reduced.

5-7-3. When feeder/signal module is used

For wiring, follow the approved drawing. Improper wiring may cause failure or electric leakage, etc.

Securely apply Type III grounding for earth and shield lines. Otherwise, malfunctions due to electric shock and noise may occur.

１

Axis-5

Fixed-Cable

Axis-6

Axis4

- 29 -

6. Operations and programming operation 6-1 Basic Flow of The NITTA CHANGE SYSTEM

Please adjust the interlocks of your robot with referring to this flow chart. Nitta exchange system, you must have

a confirmation signal synchronized with the operation of the robot and the robot and peripheral devices in order to

ensure reliability and safety. 6-2. Nitta change the basic flow of system

XC400 has a built-in three sensors for the detection of its own operation.

Table 2.Basic flow of the NITTA CHANGE SYSTEM

Indicates processing condition.

During Robot is working, condition the signal as “Face ON.”

The signal to the solenoid valve for Chuck/Unchuck should be continuous. Please do not use 1 shot signal. It may not be able to hold chucking status by mis-operation with noise and may drop the tool side.

External

input

Fixture Limit

Face Chuck Unchuk Chuk Unchuck Tool side Face Chuck Unchuk

Waiting position ＯＦＦＯＦＦＯＮＯＦＦＯＮＯＮＯＦＦＯＦＦＯＮ

↓

Moving ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓

↓

Near by chucking position ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓

↓

Approaching ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓

↓

Chucking position ＯＮ ↓ ↓ ↓ ↓ ↓ ＯＮ ↓ ↓

↓

Chuck ↓ ＯＮＯＦＦＯＮＯＦＦ ↓ ↓ ＯＮＯＦＦ

↓

Chucking completion ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓

↓

Moving ↓ ↓ ↓ ↓ ↓ ＯＦＦ ↓ ↓ ↓

↓

Working ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓

Working ＯＮＯＮＯＦＦＯＮＯＦＦＯＦＦＯＮＯＮＯＦＦ

↓

Moving ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓

↓

Unchuck position ↓ ↓ ↓ ↓ ↓ ＯＮ ↓ ↓ ↓

↓

Unchuck ↓ ＯＦＦＯＮＯＦＦＯＮ ↓ ↓ ＯＦＦＯＮ

↓

Leaving ＯＦＦ ↓ ↓ ↓ ↓ ↓ ＯＦＦ ↓ ↓

↓

Near by unchucking ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓

position

↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓

Moving

↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓

Waiting

UN

CH

UC

KIN

GC

HU

CK

ING

Input Robot Output LED Output

Chucking Sensor Controlling LED ASSY

Robot motion

- 30 -

6-3. NITTA CHANGE SYSTEM Interlocks

Setting next four signals are suggested for safe and smooth operation of the Tool Changer.

1) Low Pneumatic Detection Signal

This is a signal, which warns lost of the Tool Changer pneumatics. It stops a manner of the robot when the

signal is off.

2) Tool existence detection signal

This is a signal, which detects existence of the tools on the Tool Storage Fixture.

This Interlock signal allows the Unchuck valve open only when all the tools are on the Fixture.

So, it prevents falling off of the tools for the event of unexpected situation.

3) Tool Number Identification Signal

This is a signal, which check the matching between the equipped tool and its programmed number.

So, the signal is useful when several robots chuck with the Material Handling apparatus from the same Tool

Storage Fixture.

4) Tool changer Manner Indication Lamp

Setting lamps, which indicate the ON/OFF state of signal such as the Chuck, Unchuck, Face, or User signal

are suggested for understanding condition of the system for trouble detection.

6-4. Notes on operation

The Tool Changer requires that the chucking surfaces of both the Robot and the tooling

Adaptors are in parallel during chucking action.

If the interface parallelism is not obtained, chucking or separation difficulties may occur.

A compliant Tool Support Fixture is recommended when the parallelism of the Robot or

the Fixture can not be obtained.

When the fixture has compliance, teaching the chucking can be done by that the robot

presses the Robot Adaptor against the Tooling Adaptor as if both faces of the adaptors

cohere each other (design a compliance with considerations about such thing as thrust of

the robot, weight of the tool, flatness, and discrepancy of the center).

A partial load of the tool or reaction forces on electric connections and ports for pneuma

tic or cooling water cause to leaning of the Tooling Adaptor followed by twisting of a

part of the chucking mechanism at their separation, so that the Adaptors will not separate

completely. in this case, it is necessary for the robot to press the Robot Adaptor against

the tooling adaptor, as same as the application of chucking, in order to keep a fixed po

sition of the Tooling Adaptor just after the separation. (Preventing lean, shift, etc.)

At this time of the separation movement, the tool should be certainly on the fixture.

Teach the separation movement to the robot by smooth retreating of the Robot Adaptor

without being trapped. For avoid these troubles, it is recommended that the Fixture of th

e Tool Changer is set in horizontal. But, if a vertical setting is the only plan to be allo

wed because of available space, be sure with next considerations.

- 31 -

For the above. Base of the tool changer, recommend the horizontal place. By the convenience of the location, If you are installing the vertical location, please take into the consideration the following points.

1) No jolting of the Tool Storage Fixture (without compliance).

2) No shifting of the Tool (Material Handling Apparatus, etc.) during chucking/separation movement.

(A structure should be supported at a point as close as possible to the Tooling Adaptor)

3) Satisfying the rigidity of the fixture not to be bent and the anchor bolts of the Fixture should not be pulled

out or loosen by pressure application of the Tooling Adaptor during chucking.

4) Wear resistance of the Fixture support parts at the Tooling Side.

Using exchangeable parts are suggested.

When there is no tool adapter in place, please do not inadvertently disconnected the robot adapter. When you detaching the XC400 in the absence of a tool adapter in place, There is a risk of injury to workers not only peripheral.

If the Nitta Change System is applied for debarring or other machining, position the stand so that no cutting chips

and cutting oil are adhered to the tool adapter. If the stand position is exposed to adverse environment with spatters,

water drops and dust particles, install an automatic cover (Nitta Change Cover) or the like to protect the tool

adapter. Further, in oily atmosphere, ensure good conduction by, for example, air blow on the signal pin section. We offer standardized peripheral devices for the Nitta Change System such as fall prevention system. For details, please feel free to contact us.

- 32 -

6-5. Emergency 6-5-1. Manual Separation of XC400

XC400 has holes on the Tooling Adaptor.

So that the cams will be manually turned off for separation.

① The falling preventions should be strong enough so that the Tooling will not fall.

(Example, suspending Tools by Rope)

The fall prevention should be enough strong so that tool will not fall. (For example, hang the gun by rope.)

② Confirm the air application on "UNCHUCK" port

② Turn back the cams carefully (without any scratching on the cam's surface) with a screwdriver, etc.

When a cam is turned back, the gap between chucking surfaces of the XC400 is produced and distortion

may occur. So, minimize the gap not to produce distortion during the separation.

Fig. 8 Manual separation 6-5-2. Collision or Interference Managements

When a robot or the jigs (gun, transformer, etc.) on the robot collides or interfere

with the Work, do the checks and the treatments as the following chart.

A collision applies excessive force which cause to deterioration of the durable years

on the NITTA CHANGE SYSTEM. Therefore, making an earlier periodic inspectio

n is suggested even though the any disorder is not found on the system.

3

1 2 3

FACE

UNCHUCK

CHUCK

Ｒｏｂｏｔ　ａｄａｐｔｏｒ

Ｔｏｏｌｉｎｇ　ａｄａｐｔｏｒＴｕｒｎ　ｂａｃｋ　ｔｈｅ　ｃａｍｓ　ｗｉｔｈ

ａ　ｓｃｒｅｗｄｒｉｖｅｒ，　ｅｔｃ．

- 33 -

Interference, collision treatment

Inspection points Method Disorder management

1 Crack Visually check Body replacement

2 Housing distortion Visually check Body replacement

3 Bolt looseness Check the part Tighten up

4 Cam chuck/unchuck movement

and signals

Manually turn ON/OFF the valve

with checking the signal and the

movement

Body replacement

5 Gap between chucking surfaces

Visually check the damages on

cam surface, lock pin, pivot pin,

and interface.

Replacing damaged parts

6 Jolt for rotating

Visually check the damage of

taper pin, bushing, the looseness

of bolt

Replacing damaged parts

7 Damage on electric signal pin,

connector and cable

Visually check

check signals on I/O plate

Body replacement or replacing

damaged parts

6-5-3. Water splashing treatment

Stop using tool changers, When pour water over them. The first of all, check the inside of them, any liquid sink in or not. If so, It'll cause an error of output signal. And if grease is washed away by any liquid, joint parts might be worn down faster than supported and then cause an error of coupling, sealing off. Please check and treat as indicated at No.3 chart when pour water over them.

Water splashing treatment

Inspection points Method Treatment

1 Electric points and proximity

switch signals

Check any short on I/O unit side. Visually check standing water Check the functions of "CHUCKING SENSOR" and "LED ASSY" and visual observate any liquid sink in or not.

Wipe off with cloth

2 Cam, lock-pin tapered pin Visually check Apply grease

3 O-Ring fitting part Visually check Apply grease

4 Other points covered with water Visually check with standing

water

Wipe and apply oil on naked

part of metal

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