Robotic End Effectors

Transcription

1 Robotic End Effectors QC Robot Tool Changer Heady duty, spring loaded locking mechanism prevents separation in the event of loss of air pressure Support for optional pneumatic, fluid or electrical interface modules Preferred arket: Global Page6.2 K/CH Series Horizontal Compliance Compensate for misalignment relative to the robot axis or handling arm Pneumatic or hydraulic operation Optional tool re-centering or tool release, sensor probe, adaption interface, and Viton seals for high temperature operation K Preferred arket: N S CH Preferred arket: Global Page6.7, 6.8 RQC odular Tool Changer ISO bolt patterns eliminate need for adapter plates Heady duty, spring loaded locking mechanism prevents separation in the event of loss of air pressure Highly configurable modular design accommodates up to 4 optional modular interfaces Preferred arket: Global Page6.22 ULS/U Series Emergency Stop odule Detects abnormal forces or shocks and aborts operation Provides protection to robot, tooling, and it s surroundings anual re-adjustment is required except for vertical collision ULS Preferred arket: N S U Preferred arket: Global Page6.9, 6.1 RCW Lateral & ngular lignment Series Compensate for inaccuracy or misalignment between parts and machine in both lateral and angular axis Increases assembly speed while reducing wear and parts jamming Improves quality and reduces costs by avoiding damage of parts Page6.58 UR Series Resettable Emergency Stop odule Detects abnormal forces or shocks and aborts operation Provides protection to robot, tooling, and it s surroundings Pneumatically assisted to facilitate repositioning after collision Preferred arket: N S Page6.11 Preferred arket: N S ROBOTIC END EFFECTORS 6.1

2 QC Series Tool Changer- edium Loads Robotic applications: Perfect for those flexible/multiple tooling applications utilizing one Robot. This product was designed with exceptional repeatability, high rigidity & load capacity to make it ideal for any robotic application. utomation applications: End effector tooling and interchangeable fixturing can be changed quickly and easily to accommodate many different styles of parts on the same assembly machine or machining center. ounting Information: Technical Specifications: QC SERIES 6.2 Robot side has counterbored holes for mounting and two dowel pins for hole location (size 3 has pilot boss) G Tool side has counterbored holes for mounting and two dowel pins for hole location (size 3 has pilot boss) Pneumatic Specifications Imperial etric Pressure Operating Range 4-1 psi 3-7 bar Cylinder Type Double cting, Spring ssist Valve Required to Operate 4-way, 2-position (except QC-3) ir Quality Requirements ir Filtration 4 icron or Better ir Lubrication Not Necessary* ir Humidity Low oisture Content (dry) Temperature Operating Range Buna-N Seals (standard) -3 ~18 F -35 ~8 C aintenance Specifications Expected Life Normal pplication 5 million cycles w/ Preventative aintenance 1+ million cycles* Field Repairable Yes Seal Repair Kits vailable Yes aintenance Section. *ddition of lubrication will greatly increase service life pplication Restrictions Dirty or gritty environments achining operations generating chips Environments with loose particulate aintenance Section for: Exploded views and spare parts list Drawing sections and assembly procedures QC Series cross-reference Tool Changer terminology

3 Failsafe Operation Failsafe locking spring keeps units coupled in the event of pressure loss Durable Components Locking components are made from hardened bearing & tool steels Offboard I/O Block with heavy-duty pins offer reliable contact points Switches for Couple/Uncouple/ Ready-to-Couple Switch for latch (size 15 only) Locking Ball Piston Product Features odule ounting Surface Flat for optional pneumatic, fluid or electric module Operating Principle Gross lignment Pin Locked Position Cap Locking echanism Heavy Duty Locking echanism Improved rigidity for heavy-duty and in-process changing Self Lubricating Seals Self lubricating dynamic seals Unlocked Position Robot Half Body Tooling Half Body The tool half is inserted into the robot half. The robot half has a spring assisted double acting piston (QC-3 single acting only). When the piston is actuated the locking balls are driven under the locking mechanism. Thus locking the halves together. The fail-safe spring maintains the piston position in the event of pressure loss and the connected units must receive air pressure to de-couple. Failsafe Spring Style-QC Robot Half Style: Size-3 Style-TP Tool Half Style: Size-3 Style-QC Robot Half Style: Size-6 Style-TP Tool Half Style: Size-6 Style-QC Robot Half Size-6 1-Port Style-TP Tool Half Size-6 1-Port Style-QC Robot Half Style: Size-15 Style-TP Tool Half Style: Size-15 QC-3 ax. Payload: 3 lbs Kg ax. oment: 2 in-lbs Nm Weight:.5 lbs..23 Kg Page 6.4 TP-3 ax. Payload: 3 lbs Kg ax. oment: 2 in-lbs Nm Weight:.25 lbs..11 Kg Page 6.5 QC-6 ax. Payload: 6 lbs. 27 Kg ax. oment: 78 in-lbs Nm Weight: 1.9 lbs..86 Kg Page 6.6 TP-6 ax. Payload: 6 lbs. 27 Kg ax. oment: 78 in-lbs Nm Weight:.9 lbs..41 Kg Page 6.7 Style: QC-6 1-Port ax. Payload: 6 lbs. 27 Kg ax. oment: 78 in-lbs Nm Weight: 1.9 lbs..86 Kg Page 6.8 Style: TP-6 1-Port ax. Payload: 6 lbs. 27 Kg ax. oment: 78 in-lbs Nm Weight:.9 lbs..41 Kg Page 6.9 QC-15 ax. Payload: 15 lbs. 68 Kg ax. oment: 19 in-lbs. 215 Nm Weight: 4.8 lbs. 2.2 Kg Options and ccessories Page 6.1 TP-15 ax. Payload: 15 lbs. 68 Kg ax. oment: 19 in-lbs. 215 Nm Weight: 2.3 lbs. 1. Kg Page 6.11 Page 6.12 QC SERIES 6.3

4 TOOL CHNGER QC-3 ROBOT DPTER ODULE [ 6H8 x 5.5DP] [ 5H7 x 8DP] Unlocking air port #1-32 x.2dp [ 5 x 5DP] (Locking : By spring) holes Ø.22 [Ø5.5] thru, Ø.35 x.75dp [Ø9x19 DP] c'bore equally spaced on a Ø2.87 [Ø53] circle # #1 # [ 3h7] 4 #1-32 x.2dp [5x5DP] # Face sealing hole Ø.1 [Ø2.5] #2 # x [3] E15 user plug not shown E15 I/O Block 15 contact 3-48 VDC with micro D-Sub 2 x E15 I/O Block 15 contact 3-48 VDC with micro D-Sub Wire output direction CBL-21 Block E12 [12] E12 I/O block 12 contact 2-75VDC with industrial connector t Block D15 QC SERIES 6.4 Specifications QC-3 aximum Payload... 3 lbs 13.6 Kg aximum oment Rating... 2 in-lbs 22.6 Nm Weight of QC Unit only....5 lbs.23 Kg Weight of Coupled Units lbs.34 Kg Pressure Range (locked cylinder) psi 3-7 bar Bore Ø in 25.4 mm Displacement in cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm Valve required to actuate... 3-way, 2-position Loading Information T Loading Capacity Imperial etric aximum Tensile T 7 lbs. 311 N aximum Compressive C 1 lbs. 445 N aximum oment x 2 in.-lbs Nm aximum oment y 2 in.-lbs Nm aximum oment z 2 in.-lbs Nm XIU GP FOR QC3 TO COUPLE WITH TP3.6 [1.6] C X, Y X W QC3 T RED Y TO COUPLE POSITION WITH TP [39.7] WHEN COUPLED UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) PORT SIE BLNK Imperial etric I/O BLOCK E15 15 Pin I/O Block with icro D-Sub Connector, w/1.2 Cordset D15 2X 15 Pin I/O Block with icro D-Sub Conn, w/1.2 Cordset E12 12 Pin I/O Block with Turck 12 Connector, w/o Cordset without I/O Block REPLCEENT I/O ODULE CCESSORIES ORDER # QTY/UNIT 15 Pin I/O Block with icro D-Sub Connector, w/1.2 Cordset KE15-QC Pin I/O Block with Turck 12 Connector, w/o Cordset KE12-QC3 1 Straight ale Cordset 1.2 for E15 CBL Female Cordset 4 for E12 CBL-21 1 DPTER PLTES Consult Factory BSIC ODEL PORT QC I/O BLOCK PNEUTIC CCESSORIES Seal Repair Kit SLKT Face Seal Repair Kit SLKT-388 1

5 TOOL CHNGER TP-3 TOOLING DPTER ODULE [ H7 x 8DP] H # mounting holes Ø.22 [Ø5.5] thru, Ø.35 x.28dp [Ø9 x 7DP] c'boreequally spaced on a Ø2.87 [Ø53] circle 45 # user air ports #1-32 x.2dp [5 x 7DP] # #2 2X.125" x E15 user plug not shown. 2 x [3] E15 I/O Block 15 contact 3-48 VDC with micro D-Sub 2 x "E15" I/O Block 15 contact3-48vdc with micro D-Sub Wire output direction CBL-23 Block E12 [12] E12 I/O block 12 contact 2-75VDC with industrial connector Block D15 Specifications TP-3 aximum Payload... 3 lbs 13.6 Kg aximum oment Rating... 2 in-lbs 22.6 Nm Weight of TP Unit only lbs.11 Kg Weight of Coupled Units lbs.34 Kg Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm Loading Information T Loading Capacity Imperial etric aximum Tensile T 7 lbs. 311 N aximum Compressive C 1 lbs. 445 N aximum oment x 2 in.-lbs Nm aximum oment y 2 in.-lbs Nm aximum oment z 2 in.-lbs Nm XIU GP FOR QC3 TO COUPLE WITH TP3.6 [1.6] C X, Y X W QC3 T RED Y TO COUPLE POSITION WITH TP [39.7] WHEN COUPLED UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) PORT BSIC ODEL BLNK Imperial etric TP SIE PORT I/O BLOCK I/O BLOCK E15 15 Pin I/O Block with icro D-Sub Connector, w/1.2 Cordset D15 2X 15 Pin I/O Block with icro D-Sub Conn, w/1.2 Cordset E12 12 Pin I/O Block with Turck 12 Connector, w/o Cordset without I/O Block REPLCEENT I/O ODULE CCESSORIES ORDER # QTY/UNIT 15 Pin I/O Block with icro D-Sub Connector, w/1.2 Cordset KE15-TP Pin I/O Block with Turck 12 Connector, w/o Cordset KE12-TP3 1 Straight ale Cordset 1.2 for E15 CBL ale Cordset 2 for E12 CBL-23 1 QC SERIES 6.5

6 TOOL CHNGER QC-6 ROBOT DPTER ODULE 2 x User air ports 3/8" x.47 [12] DP #2 6 ounting holes Ø.26 [Ø6.6] thru, Ø.43 [Ø11] x 1.22 [31] DP C'bore equally spaced on a Ø2.36 [Ø6] circle 6 # x[ 5EF7 x 9.5 DP] * x[ 5H7 x 8 DP] Lock air port 1/8" x.32 [8] DP x User air ports 1/4" x.47 [12] DP #1 # Face sealing hole Ø.32 [Ø8] E15 I/O Block 15 contact 3-12 VDC with D-Sub E15/G15 user plug not shown x [3] Unlock air port 1/8" x.32 [8] DP F x[ 5H9 x 7.5 DP] Flat for module mounting.26 [6.6] thick 5x[4 x 9 DP] (Dowel pins holes) * : Not prefered for new installation Failsafe operation: 4-way valves with a spring return are recommended to maintain air pressure to the lock port during emergency stop conditions. QC SERIES 6.6 VIEW F odule mounting Specifications QC-6 aximum Payload... 6 lbs 27 Kg aximum oment Rating in-lbs 88.1 Nm Weight of QC Unit only lb.86 Kg Weight of Coupled Units lbs 1.27 Kg Pressure Range (locked cylinder) psi 3-7 bar Bore Ø in mm Displacement in cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm Valve required to actuate... 4-way, 2-position Loading Information T Loading Capacity Imperial etric aximum Tensile T 1 lbs. 445 N aximum Compressive C 12 lbs. 534 N aximum oment x 78 in.-lbs Nm aximum oment y 78 in.-lbs Nm aximum oment z 78 in.-lbs Nm XIU GP FOR QC6 TO COUPLE WITH TP6.13 [3.2] C X, Y X W QC6 T RED Y TO COUPLE POSITION WITH TP [6.2] WHEN COUPLED [12] E12 I/O block 12 contact 2-75VDC with industrial connector Block E12 How to Order: (Order ccessories separately from Basic odel) PORT: Blank NPT port BSPP ports BSPT ports Wire output direction CBL-21 UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] BSIC ODEL PORT ODULE QC SIE I/O BLOCK E15 15 Pin I/O Block with D-Sub Connector and User Plug, without Cable G15* 15 Pin I/O Block Non-Recessed, with D-Sub Connector and User Plug, without Cable E12 12 Pin I/O Block w/turck 12 Conn, w/o Cordset without I/O Block *For previous installations only. New Installations use E15. I/O BLOCK ODULE: E26 26 pin, 5 odule w/ind. User Connector E19 19 pin, 5 odule w/ind. User Connector E1O 1 pin, 13 odule w/ind. User Connector PN18 4X 1/8" NPT Pneumatic Ports, 1 bar PP18 4X 1/8" BSPP Pneumatic Ports, 1 bar PT18 4X 1/8" BSPT Pneumatic Ports, 1 bar PN14 2X 1/4" NPT Pneumatic Ports, 1 bar PP14 2X 1/4" BSPP Pneumatic Ports, 1 bar PT14 2X 1/4" BSPT Pneumatic Ports, 1 bar HN38 2X 3/8" NPT Fluid Ports, 1 bar REPLCEENT I/O ODULE CCESSORIES ORDER # QTY/UNIT 15 Pin I/O Block with D-Sub Connector and User Plug, w/o Cable KE15-QC Pin I/O Block Non-Recessed, with D-Sub Connector and User Plug, w/o Cable KG15-QC Pin I/O Block with Turck 12 Connector, w/o Cordset KE12-QC6 1 Straight Female D-Sub User Plug, w/o Cable, Solder Type for E15/G15 ET Female Cordset 4 for E12 CBL-21 1 DPTER PLTES Consult Factory PNEUTIC CCESSORIES Seal Repair Kit SLKT Face Seal Repair Kit SLKT-39 1 Unlock QC/ RQC Exhaust Pressure Lock Exhaust

7 TOOL CHNGER TP-6 TOOLING DPTER ODULE ounting holes Ø.26 [Ø6.6] thru, Ø.43 [Ø11] x.28 [7] DP C'bore equally spaced on a Ø2.36 [Ø6] circle 2 x User air ports 1/4" x.47 [12] DP 6 2 x User air ports 3/8" x.47 [12] DP 2x[ 5H7 x 8 DP] #3 # [ 3 H7] #4 #1 2x[ 5EF7 x 9.5 DP] * F CL E15 I/O Block 15 contact 3-12 VDC with D-Sub E15/G15 user plug not shown. 5 x [4 x 9 DP] 2x[ 5H9 x 7.5 DP] * : Not prefered for new installation 2 x [3] (Dowel pins holes) Flat for module mounting.26 [6.6] thick VIEW F odule mounting Block E12 [12] CL Wire output direction E12 I/O block 12 contact 2-75VDC with industrial connector CBL-23 Specifications TP-6 aximum Payload... 6 lbs 27 Kg aximum oment Rating in-lbs 88 Nm Weight of TP Unit only....9 lb.41 Kg Weight of Coupled Units lbs 1.27 Kg Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm Loading Information UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) QC SERIES T C X, Y X Loading Capacity Imperial etric aximum Tensile T 1 lbs. 445 N aximum Compressive C 12 lbs. 534 N aximum oment x 78 in.-lbs Nm aximum oment y 78 in.-lbs Nm aximum oment z 78 in.-lbs Nm XIU GP FOR QC6 TO COUPLE WITH TP6.13 [3.2] W QC6 T RED Y TO COUPLE POSITION WITH TP [6.2] WHEN COUPLED PORT: Blank NPT port BSPP ports BSPT ports BSIC ODEL PORT ODULE TP SIE I/O BLOCK E15 15 Pin I/O Block with D-Sub Connector and User Plug, without Cable G15* 15 Pin I/O Block Non-Recessed, with D-Sub Connector and User Plug, without Cable E12 12 Pin I/O Block w/turck 12 Conn, w/o Cordset without I/O Block *For previous installations only. New Installations use E15. I/O BLOCK ODULE: E26 26 pin, 5 odule w/ind. User Connector E19 19 pin, 5 odule w/ind. User Connector E1O 1 pin, 13 odule w/ind. User Connector PN18 4X 1/8" NPT Pneumatic Ports, 1 bar PP18 4X 1/8" BSPP Pneumatic Ports, 1 bar PT18 4X 1/8" BSPT Pneumatic Ports, 1 bar PN14 2X 1/4" NPT Pneumatic Ports, 1 bar PP14 2X 1/4" BSPP Pneumatic Ports, 1 bar PT14 2X 1/4" BSPT Pneumatic Ports, 1 bar HN38 2X 3/8" NPT Fluid Ports, 1 bar REPLCEENT I/O ODULE CCESSORIES ORDER # QTY/UNIT 15 Pin I/O Block with D-Sub Connector and User Plug, w/o Cable KE15-TP Pin I/O Block Non-Recessed, with D-Sub Connector and User Plug, w/o Cable KG15-TP Pin I/O Block with Turck 12 Connector, w/o Cordset KE12-TP6 1 Straight Female D-Sub User Plug, w/o Cable, Solder Type for E15/G15 ET ale Cordset 2 for E12 CBL

8 TOOL CHNGER QC-6 1-PORT ROBOT DPTER ODULE 6 mounting holes.26 [Ø6.6] thru, Ø.43 x 1.2DP [Ø11x31DP] c'bore equally spaced on a Ø2.362 [Ø6] circle Face sealing Hole Ø.2 [Ø5] Lock air port 1/8" x.32 [8]DP x[ 5EF7 x 9.5DP] 6. 2x[ 5H7 x 8DP] User air ports 1/8" x.32 [8] DP x [3] E15 I/O Block - 15 contacts 3-12 VDCwith D-Sub E15/G15 user plug not shown Unlock air port 1/8" x.32 [8] DP Failsafe operation: 4-way valves with a spring return are recommended to maintain air pressure to the lock port during emergency stop conditions. Unlock QC/ RQC Exhaust Pressure Lock Exhaust E12 I/O block 12 contact 3-75VDC with industrial connector QC SERIES 6.8 Specifications QC-6 1-PORT aximum Payload... 6 lbs 27 Kg aximum oment Rating in-lbs 88.1 Nm Weight of QC Unit only lb.86 Kg Weight of Coupled Units lbs 1.27 Kg Pressure Range (locked cylinder) psi 3-7 bar Bore Ø in mm Displacement in cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm Valve required to actuate... 4-way, 2-position Loading Information T C Loading Capacity Imperial etric aximum Tensile T 1 lbs. 445 N aximum Compressive C 12 lbs. 534 N aximum oment x 78 in.-lbs Nm aximum oment y 78 in.-lbs Nm aximum oment z 78 in.-lbs Nm XIU GP FOR QC6 TO COUPLE WITH TP6.13 [3.2] X, Y X W QC6 T RED Y TO COUPLE POSITION WITH TP [6.2] WHEN COUPLED Wire output direction CBL-21 Block E [12] UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) PORT: Blank NPT port BSPP ports BSPT ports BSIC ODEL PORT QC SIE I/O BLOCK 1P I/O BLOCK E15 15 Pin I/O Block with D-Sub Connector and User Plug, w/o Cable G15* 15 Pin I/O Block Non-Recessed,w/D-Sub Connector and User Plug, w/o Cable E12 12 Pin I/O Block w/turk 12 Connector, w/o Cordset without I/O Block *For previous installations only. New Installations use E15. REPLCEENT I/O ODULE CCESSORIES ORDER # QTY/UNIT 15 Pin I/O Block with D-Sub Connector and User Plug, w/o Cable KE15-QC Pin I/O Block Non-Recessed, w/d-sub Connector, User Plug, w/o Cable KG15-QC Pin I/O Block with Turck 12 Connector, w/o Cordset KE12-QC6 1 Straight Female D-Sub User Plug, w/o Cable, Solder Type for E15/G15 ET Female Cordset 4 for E12 CBL-21 DPTER PLTES Consult Factory PNEUTIC CCESSORIES Seal Repair Kit SLKT Face Seal Repair Kit SLKT-392 1

9 TOOL CHNGER TP-6 1-PORT TOOLING DPTER ODULE 2x[ 5H7 x 8DP] User air ports 1/8 BSPP.32DP x [8DP] 6 holes Ø.26 [Ø6.6] thru Ø.43 x.28dp [Ø11 x 7DP] c'boreequally spaced on a Ø2.362 [Ø6] circle H x[ 5 EF7 x 9.5DP] x E15 I/O Block 15 contact 3-12 VDC with D-Sub E15/G15 user plug not shown Wire output direction CBL Block E E12 I/O block 12 contact 3-75VDC with industrial connector Specifications TP-6 1-PORT aximum Payload... 6 lbs 27 Kg aximum oment Rating in-lbs 88 Nm Weight of TP Unit only....9 lb.41 Kg Weight of Coupled Units lbs 1.27 Kg Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] QC SERIES Loading Information How to Order: (Order ccessories separately from Basic odel) 6.9 T C X, Y X Loading Capacity Imperial etric aximum Tensile T 1 lbs. 445 N aximum Compressive C 12 lbs. 534 N aximum oment x 78 in.-lbs Nm aximum oment y 78 in.-lbs Nm aximum oment z 78 in.-lbs Nm XIU GP FOR QC6 TO COUPLE WITH TP6.13 [3.2] W QC6 T RED Y TO COUPLE POSITION WITH TP [6.2] WHEN COUPLED PORT: Blank NPT port BSPP ports BSPT ports BSIC ODEL PORT TP SIE I/O BLOCK 1P I/O BLOCK E15 15 Pin I/O Block with D-Sub Connector and User Plug, w/o Cable G15* 15 Pin I/O Block Non-Recessed,w/D-Sub Connector and User Plug, w/o Cable E12 12 Pin I/O Block w/turk 12 Connector, w/o Cordset without I/O Block *For previous installations only. New Installations use E15. REPLCEENT I/O ODULE CCESSORIES ORDER # QTY/UNIT 15 Pin I/O Block with D-Sub Connector and User Plug, w/o Cable KE15-TP Pin I/O Block Non-Recessed, w/d-sub Connector, User Plug, w/o Cable KG15-TP Pin I/O Block with Turck 12 Connector, w/o Cordset KE12-TP6 1 Straight Female D-Sub User Plug, w/o Cable, Solder Type for E15/G15 ET ale Cordset 2 for E12 CBL-23 1

10 TOOL CHNGER QC-15 ROBOT DPTER ODULE 4 x User air ports 3/8" x.39 [1 ] DP #1 #2 Face sealing hole Ø.32 [Ø8] Lock air port 1/8" x.32 [8] DP Unlock air port 1/8" x.32 [8] DP 2x[ 1H7 x 15 DP] # #4 [ 76h7] F QC SERIES Holes Ø.33 [Ø8.4] thru, Ø.59 [Ø15] x.42 [1.7] DP C'bore equally spaced on a Ø3.62 [Ø92] circle View F odule mounting Flat for module mounting.26 [6.6] thick Loading Information T C X, Y X 2x[ 2 x [3] H9 x 7.5 DP] 5 x [4 x 9 DP] Specifications QC-15 aximum Payload lbs 68 Kg aximum oment Rating in-lbs 215 Nm Weight of QC Unit only lb 2.2 Kg Weight of Coupled Units lbs 3.2 Kg Pressure Range (locked cylinder) psi 3-7 bar Bore Ø in mm Displacement in cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm Valve required to actuate... 4-way, 2-position Loading Capacity Imperial etric aximum Tensile T 2 lbs. 89 N aximum Compressive C 3 lbs N aximum oment x 19 in.-lbs. 214 Nm aximum oment y 19 in.-lbs. 214 Nm aximum oment z 19 in.-lbs. 214 Nm XIU GP FOR QC15 TO COUPLE WITH TP15.16 [4.] W QC15 T RED Y TO COUPLE POSITION WITH TP [73.] WHEN COUPLED [ 12] Block E Block E E12 I/O block 12 contact 3-75VDC with industrial connector * * LP or LN option (latch sensor) requieres 1 (-), 6 (output) and 7 (+) contacts E15 I/O Block 15 contact 3-12 VDC with D-Sub * E15/G15 user plug not shown Block E Wire output direction CBL-21 UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) PORT: Blank NPT port BSPP ports BSPT ports I/O BLOCK E15 15 Pin I/O Block with D-Sub Connector and User Plug, without Cable G15* 15 Pin I/O Block Non-Recessed, with D-Sub Connector and User Plug, without Cable E12 12 Pin I/O Block w/turck 12 Conn, w/o Cordset without I/O Block *For previous installations only. New Installations use E15. SENSING: LP PNP Inductive Latch Sensor LN NPN Inductive Latch Sensor without Sensing BSIC ODEL PORT SENSING QC SIE I/O BLOCK ODULE Failsafe operation: 4-way valves with a spring return are recommended to maintain air pressure to the lock port during emergency stop conditions. QC/ RQC REPLCEENT I/O ODULE CCESSORIES ORDER # QTY/UNIT 15 Pin I/O Block with D-Sub Connector and User Plug, w/o Cable KE15-QC Pin I/O Block Non-Recessed, w/d-sub Connector, User Plug, w/o Cable KG15-QC Pin I/O Block with Turck 12 Connector, w/o Cordset KE12-QC15 1 Straight Female D-Sub User Plug, w/o Cable, Solder Type for E15/G15 ET Female Cordset 4 for E12 CBL-21 1 NPN Inductive Sensor Repair Kit OSRK-9 1 PNP Inductive Sensor Repair Kit OSRK-1 1 DPTER PLTES Consult Factory PNEUTIC CCESSORIES Seal Repair Kit SLKT Face Seal Repair Kit SLKT-39 1 Unlock Exhaust Pressure Lock ODULE: E26 26 pin, 5 odule w/ind. User Connector E19 19 pin, 5 odule w/ind. User Connector E1O 1 pin, 13 odule w/ind. User Connector PN18 4X 1/8" NPT Pneumatic Ports, 1 bar PP18 4X 1/8" BSPP Pneumatic Ports, 1 bar PT18 4X 1/8" BSPT Pneumatic Ports, 1 bar PN14 2X 1/4" NPT Pneumatic Ports, 1 bar PP14 2X 1/4" BSPP Pneumatic Ports, 1 bar PT14 2X 1/4" BSPT Pneumatic Ports, 1 bar HN38 2X 3/8" NPT Fluid Ports, 1 bar Exhaust

11 TOOL CHNGER TP-15 TOOLING DPTER ODULE ounting holes Ø.34 [Ø8.7] thru, Ø.59 [Ø15] x.41 [1.5] DP C'bore equally spaced on a Ø3.62 [Ø92] circle 3 #2 3 #1 4 User air ports 3/8" x.39 [1] DP 2x[ 1H7] Thru #4 15 #3 F [ 76 H7 x 5.2] DP x [1] Thru equally spaced on a Ø3.622 [Ø92] circle x [3] E15 I/O Block 15 contact 3-12 VDC with D-Sub * E15/G15 user plug not shown x [4 x 9 DP] Block E12 View F odule mounting (Dowels pins holes) Flat for module mounting.26 [6.6] thick x[ 5H9 x 7.5 DP] [12] E12 I/O Block 12 contact 3-75VDC with industrial connector * Wire output direction CBL * LP or LN option (latch sensor) requieres 1 (-), 6 (output) and 7 (+) contacts Specifications TP-15 aximum Payload lbs 68 Kg aximum oment Rating in-lbs 215 Nm Weight of TP Unit only lb 1. Kg Weight of Coupled Units lbs 3.2 Kg Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm Loading Information T C X, Y X Loading Capacity Imperial etric aximum Tensile T 2 lbs. 89 N aximum Compressive C 3 lbs N aximum oment x 19 in.-lbs. 214 Nm aximum oment y 19 in.-lbs. 214 Nm aximum oment z 19 in.-lbs. 214 Nm XIU GP FOR QC15 TO COUPLE WITH TP15.16 [4.] W QC15 T RED Y TO COUPLE POSITION WITH TP [73.] WHEN COUPLED Block E Block E12 UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) BSIC ODEL PORT TP ODULE PORT: Blank NPT port SIE I/O BLOCK ODULE: BSPP ports E26 26 pin, 5 odule w/ind. User Connector BSPT ports E19 19 pin, 5 odule w/ind. User Connector I/O BLOCK E1O 1 pin, 13 odule w/ind. User Connector E15 15 Pin I/O Block with D-Sub Connector PN18 4X 1/8" NPT Pneumatic Ports, 1 bar and User Plug, without Cable PP18 4X 1/8" BSPP Pneumatic Ports, 1 bar G15* 15 Pin I/O Block Non-Recessed, with D-Sub PT18 4X 1/8" BSPT Pneumatic Ports, 1 bar Connector and User Plug, without Cable PN14 2X 1/4" NPT Pneumatic Ports, 1 bar E12 12 Pin I/O Block w/turck 12 Conn, w/o Cordset PP14 2X 1/4" BSPP Pneumatic Ports, 1 bar without I/O Block PT14 2X 1/4" BSPT Pneumatic Ports, 1 bar *For previous installations only. New Installations use E15. HN38 2X 3/8" NPT Fluid Ports, 1 bar REPLCEENT I/O ODULE CCESSORIES ORDER # QTY/UNIT 15 Pin I/O Block with D-Sub Connector and User Plug, w/o Cable KE15-TP Pin I/O Block Non-Recessed, w/d-sub Connector, User Plug, w/o Cable KG15-TP Pin I/O Block with Turck 12 Connector, w/o Cordset KE12-TP6 1 Straight Female D-Sub User Plug, w/o Cable, Solder Type for E15/G15 ET ale Cordset 2 for E12 CBL-23 1 QC SERIES 6.11

12 OPTIONL ELECTRIC ODULE 1 Pin odule 12VDC (E1) For QC/TP-6 & QC/TP mounting holes.177 [ 4.5] thru,.31 x.32 DP [ 8 x 8.2 DP] C'Bore for [4x5] SHC screws mounting holes.177 [ 4.5] thru,.31 x.32 DP [ 8 x 8.2 DP] C'Bore for [4x5] SHC screws User Straight plug not shown connector 12VDC 1 pin connector 12VDC Flat for module mounting not shown: QC or TP dawings. ROBOT HLF ODULES: How to Order odules: For QC6 BSIC ODEL PORT SENSING QC E15 - LP - E1 SIE I/O BLOCK ODULE TOOL HLF ODULES: How to Order odules: BSIC ODEL TP E15 - SIE PORT I/O BLOCK ODULE E1 QC SERIES 6.12 ODULE FOR QC-6 PREOUNTED SEPRTE E1 KE1-QC6 1 pin 13 odule with Industrial User Connector, without Cable ODULE FOR QC-15 PREOUNTED SEPRTE E1 KE1-QC15 1 pin 13 odule with Industrial User Connector, without Cable ODULE FOR TP-6 PREOUNTED SEPRTE E1 KE1-TP6 1 pin 13 odule with Industrial User Connector, without Cable ODULE FOR TP-15 PREOUNTED SEPRTE E1 KE1-TP15 1 pin 13 odule with Industrial User Connector, without Cable CCESSORIES: ET-41 Straight female plug (w/o cable), solder type, cable clamp CCESSORIES: ET-42 Straight male plug (w/o cable), solder type, cable clamp odule kits above include: Flat for module mounting, straight plug (without cable), locating pins and hardware.

13 19 Pin odule 12VDC (E19) For QC/TP-6 & QC/TP-15 OPTIONL ELECTRIC ODULE t mounting holes.18 [ 4.5] thru,.31 x.32 DP [ 8 x 8.2 DP] C'Bore for [4x5] SHC screws mounting holes.18 [ 4.5] thru,.31 x.32 DP [ 8 x 8.2 DP] C'Bore for [4x5] SHC screws User Straight plug not shown pin connector 12VDC 19 pin connector 12VDC Flat for module mounting not shown: QC or TP dawings. ROBOT HLF ODULES: How to Order odules: For QC6 BSIC ODEL PORT ODULE QC E15 - SIE I/O BLOCK E19 ODULE FOR QC-6 PREOUNTED SEPRTE E19 KE19-QC6 19 pin 5 odule with Industrial User Connector, without Cable ODULE FOR QC-15 PREOUNTED SEPRTE E19 KE19-QC15 19 pin 5 odule with Industrial User Connector, without Cable TOOL HLF ODULES: How to Order odules: BSIC ODEL TP E15 - SIE PORT I/O BLOCK ODULE E19 ODULE FOR TP-6 PREOUNTED SEPRTE E19 KE19-TP6 19 pin 5 odule with Industrial User Connector, without Cable ODULE FOR TP-15 PREOUNTED SEPRTE E19 KE19-TP15 19 pin 5 odule with Industrial User Connector, without Cable QC SERIES 6.13 CCESSORIES: ET-43 Straight female plug (w/o cable), solder type, cable clamp CCESSORIES: ET-44 Straight male plug (w/o cable), solder type, cable clamp odule kits above include: Flat for module mounting, straight plug (without cable), locating pins and hardware.

14 OPTIONL ELECTRIC ODULE 26 Pin odule 12VDC (E26) For QC/TP-6 & QC/TP t mounting holes.18 [ 4.5] thru,.31 x.32 DP [ 8 x 8.2 DP] C'Bore for [4x5] SHC screws mounting holes.18 [ 4.5] thru,.31 x.32 DP [ 8 x 8.2 DP] C'Bore for [4x5] SHC screws User Straight plug not shown pin connector 12VDC 26 pin connector 12VDC Flat for module mounting not shown: QC or TP dawings. ROBOT HLF ODULES: How to Order odules: For QC6 BSIC ODEL PORT ODULE QC E15 - SIE I/O BLOCK E26 TOOL HLF ODULES: How to Order odules: BSIC ODEL TP E15 - SIE PORT I/O BLOCK ODULE E26 QC SERIES 6.14 ODULE FOR QC-6 PREOUNTED SEPRTE E26 KE26-QC6 26 pin 5 odule with Industrial User Connector, without Cable ODULE FOR QC-15 PREOUNTED SEPRTE E26 KE26-QC15 26 pin 5 odule with Industrial User Connector, without Cable ODULE FOR TP-6 PREOUNTED SEPRTE E26 KE26-TP6 26 pin 5 odule with Industrial User Connector, without Cable ODULE FOR TP-15 PREOUNTED SEPRTE E26 KE26-TP15 26 pin 5 odule with Industrial User Connector, without Cable CCESSORIES: ET-45 Straight female plug (w/o cable), solder type, cable clamp CCESSORIES: ET-46 Straight male plug (w/o cable), solder type, cable clamp odule kits above include: Flat for module mounting, straight plug (without cable), locating pins and hardware.

15 2 X 1/4" ir ports odule, Face Seal (PN14, PP14, PT14) For QC/TP-6 & QC/TP OPTIONL PNEUTIC ODULE x (see chart) x.32[8]dp x (see chart) x.32[8]dp 2x[ 5.H7 x 7.5DP] 2x[ 5.H7 x 7.5DP] holes Ø.18 [Ø4.5] thru, Ø.32 x.32 DP [Ø8 x 8 DP] C'bore for [4x5] SHC screws PN 1/4" NPT PP 1/4" BSPP PT 1/4" BSPT holes Ø.18 [Ø4.5] thru, Ø.32 x.32 DP [Ø8 x 8 DP] C'bore for [4x5] SHC screws aximum Working Pressure: 1 bar Flat for module mounting not shown: QC or TP dawings. ROBOT HLF ODULES: How to Order odules: For QC6 BSIC ODEL PORT ODULE ODULES FOR QC-6 PREOUNTED SEPRTE PN14 KPN14-QC6 2 x 1/4" NPT Pneumatic Ports, 1 bar PP14 KPP14-QC6 2 x 1/4" BSPP Pneumatic Ports, 1 bar PT14 KPT14-QC6 2 x 1/4" BSPT Pneumatic Ports, 1 bar ODULES FOR QC-15 PREOUNTED SEPRTE PN14 KPN14-QC15 2 x 1/4" NPT Pneumatic Ports, 1 bar PP14 KPP14-QC15 2 x 1/4" BSPP Pneumatic Ports, 1 bar PT14 KPT14-QC15 2 x 1/4" BSPT Pneumatic Ports, 1 bar CCESSORIES: QC E15 - PN14 SIE SLKT-395 I/O BLOCK Seal Repair Kit TOOL HLF ODULES: How to Order odules: BSIC ODEL PORT ODULE TP E15 - PN14 SIE I/O BLOCK ODULES FOR TP-6 PREOUNTED SEPRTE PN14 KPN14-TP6 2 x 1/4" NPT Pneumatic Ports, 1 bar PP14 KPP14-TP6 2 x 1/4" BSPP Pneumatic Ports, 1 bar PT14 KPT14-TP6 2 x 1/4" BSPT Pneumatic Ports, 1 bar ODULES FOR TP-15 PREOUNTED SEPRTE PN14 KPN14-TP15 2 x 1/4" NPT Pneumatic Ports, 1 bar PP14 KPP14-TP15 2 x 1/4" BSPP Pneumatic Ports, 1 bar PT14 KPT14-TP15 2 x 1/4" BSPT Pneumatic Ports, 1 bar QC SERIES 6.15 odule kits above include: Flat for module mounting, seals, locating pins and hardware.

16 OPTIONL PNEUTIC ODULE 4 X 1/8" ir ports odule, Face Seal (PN18, PP18, PT18) For QC/TP-6 & QC/TP x (see chart) x.32 [8] DP x (see chart) x.32[8]dp aximum Working Pressure: 1 bar 2x[ 3 holes Ø.18 [Ø4.5] thru, Ø.32 x.32 DP [Ø8 x 8 DP] C'bore for [4x5] SHC screws H7 x 7.5DP] PN 1/8" NPT PP 1/8" BSPP PT 1/8" BSPT Flat for module mounting not shown: QC or TP dawings. 3 holes Ø.18 [Ø4.5] thru, Ø.32 x.32 DP [Ø8 x 8 DP] C'bore for [4x5] SHC screws x[ H7 x 7.5DP] ROBOT HLF ODULES: How to Order odules: For QC6 BSIC ODEL PORT ODULE QC E15 - PP18 SIE I/O BLOCK ODULES FOR QC-6 PREOUNTED SEPRTE PN18 KPN18-QC6 4 x 1/8" NPT Pneumatic Ports, 1 bar PP18 KPP18-QC6 4 x 1/8" BSPP Pneumatic Ports, 1 bar PT18 KPT18-QC6 4 x 1/8" BSPT Pneumatic Ports, 1 bar TOOL HLF ODULES: How to Order odules: BSIC ODEL PORT ODULE TP E15 -PP18 SIE I/O BLOCK ODULES FOR TP-6 PREOUNTED SEPRTE PN18 KPN18-TP6 4 x 1/8" NPT Pneumatic Ports, 1 bar PP18 KPP18-TP6 4 x 1/8" BSPP Pneumatic Ports, 1 bar PT18 KPT18-TP6 4 x 1/8" BSPT Pneumatic Ports, 1 bar QC SERIES 6.16 ODULES FOR QC-15 PREOUNTED SEPRTE PN18 KPN18-QC15 4 x 1/8" NPT Pneumatic Ports, 1 bar PP18 KPP18-QC15 4 x 1/8" BSPP Pneumatic Ports, 1 bar PT18 KPT18-QC15 4 x 1/8" BSPT Pneumatic Ports, 1 bar CCESSORIES: SLKT-391 Seal Repair Kit ODULES FOR TP-15 PREOUNTED SEPRTE PN18 KPN18-TP15 4 x 1/8" NPT Pneumatic Ports, 1 bar PP18 KPP18-TP15 4 x 1/8" BSPP Pneumatic Ports, 1 bar PT18 KPT18-TP15 4 x 1/8" BSPT Pneumatic Ports, 1 bar odule kits above include: Flat for module mounting, seals, locating pins and hardware.

17 OPTIONL FLUID ODULE 2 x 3/8" Fluid Ports odule, Non Spilling, Double Shut-Off (HP38, HN38, HT38) For QC/TP-6 & QC/TP x (see chart) x.45[12]dp x(see chart) x.45[12]dp x.18 Thru x[ 5.H7 x 8DP] HN 3/8" NPT HP 3/8" BSPP HT 3/8" BSPT x.18 thru x[ 5.H7 x 8DP] aximum Working Pressure: 1 bar ROBOT HLF ODULES: How to Order odules: Flat for module mounting not shown: QC or TP dawings. TOOL HLF ODULES: How to Order odules: BSIC ODEL PORT SENSING QC E12 -LN - HN38 SIE I/O BLOCK ODULE BSIC ODEL TP E12 - HN38 SIE PORT I/O BLOCK ODULE ODULE FOR QC-6 ODULE FOR TP-6 PREOUNTED SEPRTE PREOUNTED SEPRTE HN38 KHN38-QC6 2 x 3/8" NPT Fluid Ports odule, 1 bar HN38 KHN38-TP6 2 x 3/8" NPT Fluid Ports odule, 1 bar ODULE FOR QC-15 ODULE FOR TP-15 PREOUNTED SEPRTE PREOUNTED SEPRTE HN38 KHN38-QC15 2 x 3/8" NPT Fluid Ports odule, 1 bar HN38 KHN38-TP15 2 x 3/8" NPT Fluid Ports odule, 1 bar odule kits above include: Flat for module mounting, couplings, locating pins and hardware. QC SERIES 6.17

18 QC Series Exploded View Robot Half Item Qty Name Robot Side 1 1 Body 2 1 Piston 3 1 Ball retainer 4 1 Ring 5 2 Bushing 6 4 to 6 Ball 1 1 Ring, O-Ring 11 1 Ring, O-Ring 12 1 Piston, O-ring 13 1 Piston, O-ring 14 4 Body, O-Ring 15 1 Spring 16 1 Ring, Pin (QC-15 only) 17 1 Retainer, O-Ring 18 1 Retainer, Washer 19 1 Body, SHC screw 2 1 Body, SHC screw 25 1 Sensor, (QC-15 only - optional) 26 1 Sensor Connector, (QC-15 only - optional) 27 1 Sensor, SS screw (QC-15 only) 3 1 I/O odule 31 2 odule, SHC Screw Tool Side 11 1 Body 12 1 Locking Pin 13 1 Centering Pin 14 1 Diamond Pin 15 3 Pin, Screw 16 1 I/O odule 17 2 odule, SHC screw NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. QC SERIES Tool Half 15 SK Seal Repair Kit Order # s Product Data Sheets SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Projection

19 QC Series ssembled View Robot Half Item Qty Name Tool Half Robot Side 1 1 Body 2 1 Piston 3 1 Ball retainer 4 1 Ring 5 2 Bushing 6 4 to 6 Ball 1 1 Ring, O-Ring 11 1 Ring, O-Ring 12 1 Piston, O-ring 13 1 Piston, O-ring 14 4 Body, O-Ring 15 1 Spring 16 1 Ring, Pin (QC-15 only) 17 1 Retainer, O-Ring 18 1 Retainer, Washer 19 1 Body, SHC screw 2 1 Body, SHC screw 25 1 Sensor, (QC-15 only - optional) 26 1 Sensor Connector, (QC-15 only - optional) 27 1 Sensor, SS screw (QC-15 only) 3 1 I/O odule 31 2 odule, SHC Screw Tool Side 11 1 Body 12 1 Locking Pin 13 1 Centering Pin 14 1 Diamond Pin 15 3 Pin, Screw 16 1 I/O odule 17 2 odule, SHC screw NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. ssembly Procedure - Robot Side 1) Install the air port plugs (#19) and (#2) with thread-locker into the body (#1) 2) Lubricate and install seals (#12) and (#13) into the piston (#2) 3) Insert the springs (#15) into the body 4) Insert the piston sub-assembly into the body 5) Lubricate and install seals (#1) and (#11) into the ring (#4) 6) Insert the pin (#16) into the ring (#4) 7) Insert the ring sub-assembly into the body 8) Insert the balls (#6) into the ball retainer (#3) 9) Insert the ball and retainer sub-assembly into the body 1) Fasten the ball retainer with washer (#17) and screws (#18) with thread-locker 11) Press in the bushings (#5) into the body 12) ount the O-Ring (#14) into the body 13) For QC15 with latch sensor only, fully insert the sensor (#25) into the body and slightly pull it back (.5 to 1 mm). Fasten the sensor (#25) with screw (#27). Plug in male connector (#26) with the female connector of the I/O block (#3) 14) ount the I/O block (#3) into the body and fasten with screw (#31) ssembly Procedure - Tool Side 1) Insert the locking pin (#12) into the body #11 and fasten with screws (#15) with thread-locker 2) Press in the diamond pin (#14) into the body 3) Press in the pin (#13) into the body 4) ount the I/O block (#16) into the body and fasten with screw (#17) QC SERIES 6.19

20 QC Series Cross Reference New Product # Old Product # Description Robot Half Size 3 QC-3-E15 QC Robot Half, Imperial, 15 Pin I/O odule QC-3-D15 QC Robot Half, Imperial, Double 15 Pin I/O odule QC-3-E15 QC Robot Half, etric, 15 Pin I/O odule QC-3-E12 QC Robot Half, etric, 12 Pin I/O odule Tool Half Size 3 TP-3-E15 TP Tool Half, Imperial, 15 Pin I/O odule TP-3-D15 TP156-- Tool Half, Imperial, Double 15 Pin I/O odule TP-3-E15 TP Tool Half, etric, 15 Pin I/O odule TP-3-E12 TP75-- Tool Half, etric, 12 Pin I/O odule ccessories Size 3 E15-QC Pin I/O Block with icro D-Sub Connector E12-QC Pin I/O Block with Turck 12 Connector E15-TP Pin I/O Block with icro D-Sub Connector E12-TP Pin I/O Block with Turck 12 Connector CBL Straight ale Cordset 1.2 for E15 SLKT-387 KQC3-OR Seal Repair Kit, QC3 SLKT-388 KQC3-HW Face Sealing Repair Kit, QC3 Robot Half Size 6 QC-6-E15 QC Robot Half, NPT, 15 Pin I/O odule QC-6-G15 QC Robot Half, NPT, 15 Pin Non-Recessed I/O odule QC-6-E15 QC Robot Half, etric, 15 Pin I/O odule QC-6-E12 QC Robot Half, etric, 12 Pin I/O odule QC-6-G15 QC Robot Half, etric, 15 Pin Non-Recessed I/O odule QC-6-E15 QC Robot Half, BSPT, 15 Pin I/O odule QC-6-G15 QC Robot Half, BSPT, 15 Pin Non-Recessed I/O odule QC-6-E15-1P QC Robot Half, NPT, 15 Pin I/O odule, 1 Ports QC-6-E15-1P QC Robot Half, etric, 15 Pin I/O odule, 1 Ports QC-6-E15-1P QC Robot Half, BSPT, 15 Pin I/O odule, 1 Ports QC SERIES 6.2 Tool Half Size 6 TP-6-E15 TP Tool Half, NPT, 15 Pin I/O odule TP-6-G15 TP Tool Half, NPT, 15 Pin Non-Recessed I/O odule TP-6-E15 TP Tool Half, etric, 15 Pin I/O odule TP-6-E12 TP Tool Half, etric, 12 Pin I/O odule TP-6-G15 TP Tool Half, etric, 15 Pin Non-Recessed I/O odule TP-6-E15 TP Tool Half, BSPT, 15 Pin I/O odule TP-6-G15 TP Tool Half, BSPT, 15 Pin Non-Recessed I/O odule TP-6-E15-1P TP Tool Half, NPT, 15 Pin I/O odule, 1 Ports TP-6-E15-1P TP Tool Half, etric, 15 Pin I/O odule, 1 Ports TP-6-E15-1P TP78--- Tool Half, BSPT, 15 Pin I/O odule, 1 Ports ccessories Size 6 SLKT-389 KQC6-OR Seal Repair Kit, QC6 Robot Half Size 15 QC-15-E15 QC Robot Half, NPT, 15 Pin I/O odule QC-15-G15 QC Robot Half, NPT, 15 Pin Non-Recessed I/O odule QC-15-E15-LP QC Robot Half, NPT, 15 Pin I/O odule, PNP Latch sensor QC-15-G15-LP QC Robot Half, NPT, 15 Pin Non-Recessed I/O odule, PNP Latch sensor QC-15-E15-LN QC Robot Half, NPT, 15 Pin I/O odule, NPN Latch sensor QC-15-G15-LN QC Robot Half, NPT, 15 Pin Non-Recessed I/O odule, NPN Latch sensor QC-15-E15 QC Robot Half, etric, 15 Pin I/O odule QC-15-G15 QC Robot Half, etric, 15 Pin Non-Recessed I/O odule QC-15-E15-LP QC Robot Half, etric, 15 Pin I/O odule, PNP Latch sensor QC-15-G15-LP QC Robot Half, etric, 15 Pin Non-Recessed I/O odule, PNP Latch sensor QC-15-E15-LN QC Robot Half, etric, 15 Pin I/O odule, NPN Latch sensor QC-15-G15-LN QC Robot Half, etric, 15 Pin Non-Recessed I/O odule, NPN Latch sensor QC-15-E15 QC Robot Half, BSPT, 15 Pin I/O odule QC-15-G15 QC Robot Half, BSPT, 15 Pin Non-Recessed I/O odule QC-15-E15-LP QC Robot Half, BSPT, 15 Pin I/O odule, PNP Latch sensor QC-15-G15-LP QC Robot Half, BSPT, 15 Pin Non-Recessed I/O odule, PNP Latch sensor QC-15-E15-LN QC Robot Half, BSPT, 15 Pin I/O odule, NPN Latch sensor QC-15-G15-LN QC Robot Half, BSPT, 15 Pin Non-Recessed I/O odule, NPN Latch sensor

21 QC Series Cross Reference New Product # Old Product # Description Tool Half Size 15 TP-15-E15 TP Tool Half, NPT, 15 Pin I/O odule TP-15-G15 TP Tool Half, NPT, 15 Pin Non-Recessed I/O odule TP-15-E15 TP Tool Half, etric, 15 Pin I/O odule TP-15-G15 TP Tool Half, etric, 15 Pin Non-Recessed I/O odule TP-15-E15 TP Tool Half, BSPT, 15 Pin I/O odule TP-15-G15 TP Tool Half, BSPT, 15 Pin Non-Recessed I/O odule odules Size 6 and 15 KG15-QC Pin I/O Block (Non-Recessed) with D-Sub Connector - QC side KE15-QC Pin I/O Block with D-Sub Connector - QC side KG15-TP Pin I/O Block (Non-Recessed) with D-Sub Connector - TP side KE15-TP Pin I/O Block with D-Sub Connector - TP side KE26-QC6 QE26 26 pin 5 odule with Industrial Connector - QC side KE26-TP6 TE26 26 pin 5 odule with Industrial Connector - TP side KE19-QC6 QE19 19 pin 5 odule with Industrial Connector - QC side KE19-TP6 TE19 19 pin 5 odule with Industrial Connector - TP side KE1-QC6 QE1 1 pin 13 odule with Industrial Connector - QC side KE1-TP6 TE1 1 pin 13 odule with Industrial Connector - TP side KG15-QC Pin I/O Block (Non-Recessed) with D-Sub Connector - QC side KE15-QC Pin I/O Block with D-Sub Connector - QC side KE26-QC15 QE26 26 pin 5 odule with IndustrialConnector - QC side KE26-TP15 TE26 26 pin 5 odule with Industrial Connector - TP side KE19-QC15 QE19 19 pin 5 odule with Industrial Connector - QC side KE19-TP15 TE19 19 pin 5 odule with Industrial Connector - TP side KE1-QC15 QE1 1 pin 13 odule with Industrial Connector - QC side KE1-TP15 TE1 1 pin 13 odule with Industrial Connector - TP side KPN18-QC6 QNPT18 4 x 1/8 NPT Pneumatic Ports odule - QC side KPP18-QC6 QBSPP18 4 x 1/8 BSPP Pneumatic Ports odule - QC side KPT18-QC6 QBSPT18 4 x 1/8 BSPT Pneumatic Ports odule - QC side KPN18-TP6 TNPT18 4 x 1/8 NPT Pneumatic Ports odule - TP side KPP18-TP6 TBSPP18 4 x 1/8 BSPP Pneumatic Ports odule - TP side KPT18-TP6 TBSPT18 4 x 1/8 BSPT Pneumatic Ports odule - TP side KPN14-QC6 QNPT14 2 x 1/4 NPT Pneumatic Ports odule - QC side KPP14-QC6 QBSPP14 2 x 1/4 BSPP Pneumatic Ports odule - QC side KPT14-QC6 QBSPT14 2 x 1/4 BSPT Pneumatic Ports odule - QC side KPN14-TP6 TNPT14 2 x 1/4 NPT Pneumatic Ports odule - TP side KPP14-TP6 TBSPP14 2 x 1/4 BSPP Pneumatic Ports odule - TP side KPT14-TP6 TBSPT14 2 x 1/4 BSPT Pneumatic Ports odule - TP side KPN18-QC15 QNPT18 4 x 1/8 NPT Pneumatic Ports odule - QC side KPP18-QC15 QBSPP18 4 x 1/8 BSPP Pneumatic Ports odule - QC side KPT18-QC15 QBSPT18 4 x 1/8 BSPT Pneumatic Ports odule - QC side KPN18-TP15 TNPT18 4 x 1/8 NPT Pneumatic Ports odule - TP side KPP18-TP15 TBSPP18 4 x 1/8 BSPP Pneumatic Ports odule - TP side KPT18-TP15 TBSPT18 4 x 1/8 BSPT Pneumatic Ports odule - TP side KPN14-QC15 QNPT14 2 x 1/4 NPT Pneumatic Ports odule - QC side KPP14-QC15 QBSPP14 2 x 1/4 BSPP Pneumatic Ports odule - QC side KPT14-QC15 QBSPT14 2 x 1/4 BSPT Pneumatic Ports odule - QC side KPN14-TP15 TNPT14 2 x 1/4 NPT Pneumatic Ports odule - TP side KPP14-TP15 TBSPP14 2 x 1/4 BSPP Pneumatic Ports odule - TP side KPT14-TP15 TBSPT14 2 x 1/4 BSPT Pneumatic Ports odule - TP side KHN38-QC6 QQD38 2 x 3/8 NPT Fluid Ports odule - QC side KHN38-TP6 TQD38 2 x 3/8 NPT Fluid Ports odule - TP side KHN38-QC15 QQD38 2 x 3/8 NPT Fluid Ports odule - QC side KHN38-TP15 TQD38 2 x 3/8 NPT Fluid Ports odule - TP side ET Straight Female D-Sub User Plug (w/o cable) Solder Type for E15/G15 (QC-6/15 & TP-6/15) ET Straight Female Plug (w/o cable) for E1-QC6/15 ET Straight ale Plug (w/o cable) for E1-TP6/15 ET Straight Female Plug (w/o cable) for E19-QC6/15 ET Straight ale Plug (w/o cable) for E19-TP6/15 ET Straight Female Plug (w/o cable) for E26-QC6/15 ET Straight ale Plug (w/o cable) for E26-TP6/15 QC SERIES 6.21

22 RQC Series odular Tool Changer- High Loads Robotic applications: Perfect for those flexible/multiple tooling applications utilizing one Robot. This product was designed with exceptional repeatability, high rigidity & load capacity to make it ideal for any robotic application. utomation applications: End effector tooling and interchangeable fixturing can be changed quickly and easily to accommodate many different styles of parts on the same assembly machine or machining center. Highly configurable, modular design: The odular RQC series easily accommodates up to 4 optional modular interfaces offering a high level of flexibility. ounting Information: Technical Specifications: ODULR RQC SERIES 6.22 Robot half has counterbored holes for mounting with a dowel pin hole, a raised boss for location, and features a ISO949-1 mounting pattern Pneumatic Specifications Imperial etric Pressure Operating Range 6-1 psi 4-7 bar Cylinder Type Double cting, Spring ssist Valve Required to Operate 4-way, 2-position ir Quality Requirements ir Filtration 4 icron or Better ir Lubrication Not Necessary* ir Humidity Low oisture Content (dry) Temperature Operating Range Buna-N Seals (standard) -3 ~18 F -35 ~8 C G Tool half has tapped holes, two dowel pin holes for accurate location of payload, and features a ISO949-1 mounting pattern aintenance Specifications Expected Life Normal pplication 5 million cycles w/ Preventative aintenance 1+ million cycles* Field Repairable Yes Seal Repair Kits vailable Yes aintenance Section. *ddition of lubrication will greatly increase service life pplication Restrictions Dirty or gritty environments achining operations generating chips Environments with loose particulate aintenance Section for: Exploded views and spare parts list Drawing Sections and assembly procedures Tool Changer terminology

23 Optional Weld Gun Power odule Size 8 & 12 only Latch/ Unlatch Switch RQC s are pre-equipped for latch, unlatch (all sizes) and part presence sensing (sizes 8 & 12 only). Dry contact or inductive sensors with or w/o connectors are available. Optional 19 Pin I/O odule Spring loaded contacts are recessed for a better protection V-Seal provides moisture resistance Other odules vailable: 4 Port Fluid odule (sizes 8 & 12 only) 2 Port Vacuum odule Servo Gun odule Operating Principle Piston Product Features Locking echanisms ade from hardened stainless steel, they provide a low stress, highly rigid locking capability Optional 6 Port Pneumatic odule Optional 6 Self-Sealing ir Ports odule (sizes 8 & 12 only) Locating Pins Robot Half Body Style-RQC Robot Half Style: Size-2 Style-RTP Tool Half Style: Size-2 Style-RQC Robot Half Style: Size-4 Style-RTP Tool Half Style: Size-4 RQC-2 ax. Payload: 2 lbs. 9 Kg ax. oment: 72 in-lbs. 81 Nm Weight: 4.7 lbs. 2.1 Kg RQC-4 ax. Payload: 4 lbs. 18 Kg ax. oment: 14 in-lbs. 158 Nm Weight: 8 lbs. 3.6 Kg Page 6.28 RTP-4 ax. Payload: 4 lbs. 18 Kg ax. oment: 14 in-lbs. 158 Nm Weight: 2.4 lbs. 1.1 Kg Page 6.3 Style-RQC Robot Half Style: Size-8 Page 6.24 RTP-2 ax. Payload: 2 lbs. 9 Kg ax. oment: 72 in-lbs. 81 Nm Weight: 2 lbs..9 Kg Page 6.26 RQC-8 ax. Payload: 8 lbs. 36 Kg ax. oment: 22 in-lbs. 249 Nm Weight: 11.8 lbs. 5.3 Kg Locking Pins Pin Retainer Tooling Half Body Failsafe Spring Locking Ring Style-RTP Tool Half Style: Size-8 Page 6.32 RTP-8 ax. Payload: 8 lbs. 36 Kg ax. oment: 22 in-lbs. 249 Nm Weight: 4 lbs. 1.8 Kg Style-RQC Robot Half Style: Size-12 Page 6.34 RQC-12 ax. Payload: 12 lbs. 55 Kg ax. oment: 3 in-lbs. 339 Nm Weight: 14.1 lbs. 6.4 Kg ODULR RQC SERIES 6.23 Page 6.36 Locked Position Unlocked Position Style-RTP Tool Half Style: Size-12 RTP-12 ax. Payload: 12 lbs. 55 Kg ax. oment: 3 in-lbs. 339 Nm Weight: 4.3 lbs. 1.9 Kg The tool half is inserted into the robot half. The robot half has a spring assisted double acting piston. When the piston is actuated the locking pins are driven under the locking ring. Thus locking the halves together. The fail-safe spring maintains the piston position in the event of pressure loss and the connected units must receive air pressure to de-couple. Options and ccessories Page 6.38 Page 6.4

24 TOOL CHNGER RQC-2 ROBOT DPTER ODULE Specifications RQC-2 aximum Payload... 2 lbs 9 Kg aximum oment... 7,2 in-lbs 81 Nm Weight of RQC Unit only lb 2.1 Kg Weight of Coupled Units lbs 3 Kg Pressure Range (locked cylinder).. 6~1 psi 4~7 bar Bore Ø in. 53 mm Displacement in cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm Valve required to actuate... 4-way, 2-position SIDE C 3Holes for odules ( Detail) SO mounting pattern SIDE C SIDE B (Identical to Side D) SIDE SIDE LOCK G1/8 x.31 [8] DP Holes for odules ( detail) [ 5 g7].2 5 SIDE D (Identical to Side B) [5] [ 8 H8] x[2] DP [ 8H9] x[9]dp 6xC'Bores Equally Spaced ( Detail).39 [1] (5 Length) Detail of odule Fixation UNLOCK G1/8 x.31 [8] DP 2x[5 x 1 DP] ODULR RQC SERIES 6.24 Failsafe operation: 4-way valves with a spring return are recommended to maintain air pressure to the lock port during emergency stop conditions. UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Unlock QC/ RQC Exhaust Pressure Lock Exhaust x[5 x 1 DP] SIDE D (Identical to Side B) Holes for odules ( Detail) Loading Information X, Y X REDY TO COUPLE POSITION T C Loading Capacity Imperial etric aximum Tensile T 3 lbs. 133 N aximum Compressive C 4 lbs. 178 N aximum oment x 72 in.-lbs. 81 Nm aximum oment y 72 in.-lbs. 81 Nm aximum oment z 72 in.-lbs. 81 Nm W RQC can couple to RTP at up to a.1 gap 2.54 RQC RTP COUPLED POSITION

25 TOOL CHNGER RQC-2 OPTIONL ODULES FOR ROBOT DPTER D VN/VP/VT C B SIDE C FN/FP/FT E19/G19 SIDE D E19/G19 E19/G19 SIDE B FN/FP/FT FN/FP/FT SIDE VN/VP/VT User Plugs Not Shown. NOTE: Only one module can be mounted per side. How to Order: (Order ccessories separately from Basic odel) For detailed sensing and module information see pages PORT: N NPT port BSPP ports BSPT ports BSIC ODEL PORT RQC SIE SENSING (FOR LTCH ND UNLTCH): L No sensing LP* PNP Inductive sensor CP PNP Inductive sensor with 12 connector LN* NPN Inductive sensor CN NPN Inductive sensor with 12 connector LD* Dry contact sensor CD Dry contact sensor with 12 connector *Requires E19 module or G19 module mounted on side C. Cables are sold separately. SIDE : No optional module FN 6 x 1/8" NPT air ports module, face seal, 1 bar FP 6 x 1/8" BSPP air ports module, face seal, 1 bar FT 6 x 1/8" BSPT air ports module, face seal, 1 bar SENSING SIDE SIDE B SIDE C SIDE D SIDE B ND/OR D: No optional module E19 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 19 pin, 5 mp, 12 VDC odule w/industrial User Connector, w/o Cable FN 6 x 1/8" NPT air ports module, face seal, 1 bar FP 6 x 1/8" BSPP air ports module, face seal, 1 bar FT 6 x 1/8" BSPT air ports module, face seal, 1 bar VN 2 x 3/4" NPT vacuum ports module, face seal VP 2 x 3/4" BSPP vacuum ports module, face seal VT 2 x 3/4" BSPT vacuum ports module, face seal Cordset or plug are sold separately. SIDE C: No optional module E19 ** 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 ** 19 pin, 5 mp, 12 VDC odule w/industrial User Connector, w/o Cable Cordset or plug are sold separately. **Not compatible with CD, CP or CN sensing option. PNEUTIC CCESSORIES: SLKT-41 RQC-2 Standard Seal Repair Kit ELECTRICL CCESSORIES: ET-48 9 Female Plug, w/o Cable, Solder Type, Cable Clamp for G19 CBL-28 9 Female 12 Cordset with 2 Cable for CP, CN, and CD CBL-29 9 Female Cordset with 4 Cable for E19 OSRK-1 PNP Inductive Sensor Repair Kit OSRK-2 NPN Inductive Sensor Repair Kit OSRK-3 Dry Contact Sensor Repair Kit ODULR RQC SERIES 6.25

26 TOOL CHNGER RTP-2 TOOL DPTER ODULE Specifications RTP-2 aximum Payload... 2 lbs 9 Kg aximum oment... 7,2 in-lbs 81 Nm Weight of RTP Unit only... 2 lb.9 Kg Weight of Coupled Units lbs 3 Kg Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm (8 Length) SIDE C ISO mounting pattern SIDE C SIDE D 6x[8] Equally Spaced ( Detail) SIDE [1] (5 Length) [ H9] x[9]dp SF [ 5H7] SIDE Holes for odules (see Detail) [5] [ 8 H8] x[2] DP Detail of odule Fixation SIDE B 3Holes for odules (see Detail) Sides, B, C & D are Identical Holes for odules (see Detail) SIDE B ODULR RQC SERIES 6.26 UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Loading Information X, Y X REDY TO COUPLE POSITION T C Loading Capacity Imperial etric aximum Tensile T 3 lbs. 133 N aximum Compressive C 4 lbs. 178 N aximum oment x 72 in.-lbs. 81 Nm aximum oment y 72 in.-lbs. 81 Nm aximum oment z 72 in.-lbs. 81 Nm W RQC can couple to RTP at up to a.1 gap 2.54 RQC RTP COUPLED POSITION

27 TOOL CHNGER RTP-2 OPTIONL ODULES FOR TOOLING DPTER D VN/VP/VT B C FN/FP/FT SIDE D SIDE E19/G19 FN/FP/FT SIDE B E19/G19 FN/FP/FT E19/G19 SIDE C VN/VP/VT NOTE: Only one module can be mounted per side. User Plugs Not Shown. How to Order: (Order ccessories separately from Basic odel) For detailed sensing and module information see pages BSIC ODEL SIDE SIDE C RTP SIE SIDE B SIDE D ODULR RQC SERIES 6.27 SIDE : No optional module FN 6 x 1/8" NPT air ports module, face seal, 1 bar FP 6 x 1/8" BSPP air ports module, face seal, 1 bar FT 6 x 1/8" BSPT air ports module, face seal, 1 bar SIDE B ND/OR D: No optional module E19 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable FN 6 x 1/8" NPT air ports module, face seal, 1 bar FP 6 x 1/8" BSPP air ports module, face seal, 1 bar FT 6 x 1/8" BSPT air ports module, face seal, 1 bar VN 2 x 3/4" NPT vacuum ports module, face seal VP 2 x 3/4" BSPP vacuum ports module, face seal VT 2 x 3/4" BSPT vacuum ports module, face seal Cordset or plug are sold separately. SIDE C: No optional module E19 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable Cordset or plug are sold separately. **Not compatible with CD, CP or CN sensing option. ELECTRICL CCESSORIES: ET-49 9 ale Plug, w/o Cable, Solder Type, Cable Clamp for G19 CBL-31 9 ale Cordset with 2 Cable for E19

28 TOOL CHNGER RQC-4 ROBOT DPTER ODULE Specifications RQC-4 aximum Payload... 4 lbs 18 Kg aximum oment... 14, in-lbs 158 Nm Weight of RQC Unit only... 8 lb 3.6 Kg Weight of Coupled Units lbs 4.7 Kg Pressure Range (locked cylinder).. 6~1 psi 4~7 bar Bore Ø in. 73 mm Displacement in cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm Valve required to actuate... 4-way, 2-position SIDE C 4 Holes for odules ( Detail) ISO mounting pattern SIDE C C L 1 5. SIDE B (Identical to Side D) SIDE SIDE LOCK G1/8 x.31 [8] DP Holes for odules ( Detail) [ 63 g7].2 5 SIDE D (Identical to Side B) [5] [ 8 H8] x[2] DP [ 8H9] x[9]dp 6xC'Bores Equally Spaced ( Detail).35 [9] (5 Length) Detail of odule Fixation UNLOCK G1/8 x.31 [8] DP 3 x [5 x1dp] ODULR RQC SERIES 6.28 Failsafe operation: 4-way valves with a spring return are recommended to maintain air pressure to the lock port during emergency stop conditions. UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Unlock QC/ RQC Exhaust Pressure Lock Exhaust x [5 x1dp].39 1 SIDE D (Identical to Side B) Holes for odules ( Detail) Loading Information T C X, Y X Loading Capacity Imperial etric aximum Tensile T 6 lbs. 267 N aximum Compressive C 8 lbs. 356 N aximum oment x 14 in.-lbs. 158 Nm aximum oment y 14 in.-lbs. 158 Nm aximum oment z 14 in.-lbs. 158 Nm W REDY TO COUPLE POSITION RQC can couple to RTP at up to a.1 gap 2.54 RQC RTP COUPLED POSITION

29 TOOL CHNGER RQC-4 OPTIONL ODULES FOR ROBOT DPTER D VN/VP/VT C B SIDE C FN/FP/FT SIDE D E19/2E19/G19/2G19 E19/2E19/G19/2G19 E19/2E19/G19/2G19 FN/FP/FT SIDE SIDE B FN/FP/FT VN/VP/VT NOTE: Only one module can be mounted per side (except 2E19 & 2G19 which are composed of 2 modules) User Plugs Not Shown. How to Order: (Order ccessories separately from Basic odel) For detailed sensing and module information see pages PORT: N NPT port BSPP ports BSPT ports BSIC ODEL PORT RQC SIE SENSING (FOR LTCH ND UNLTCH): L No sensing LP* PNP Inductive sensor CP PNP Inductive sensor with 12 connector LN* NPN Inductive sensor CN NPN Inductive sensor with 12 connector LD* Dry contact sensor CD Dry contact sensor with 12 connector *Requires E19 module or G19 module mounted on side C. Cordset or plug are sold separately. SENSING ELECTRICL CCESSORIES: ET-48 9 Female Plug, w/o Cable, Solder Type, Cable Clamp for G19 CBL-28 9 Female 12 Cordset with 2 Cable for CP, CN, and CD CBL-29 9 Female Cordset with 4 Cable for E19 OSRK-1 PNP Inductive Sensor Repair Kit OSRK-2 NPN Inductive Sensor Repair Kit OSRK-3 Dry Contact Sensor Repair Kit SIDE : No optional module FN 6 x 1/8" NPT air ports module, face seal, 1 bar FP 6 x 1/8" BSPP air ports module, face seal, 1 bar FT 6 x 1/8" BSPT air ports module, face seal, 1 bar SIDE SIDE B SIDE C SIDE D SIDE C: No optional module E19 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset 2E19 ** 2x 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable 2G19 ** 2x 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable Cordset or plug are sold separately. **Not compatible with CD, CP or CN sensing option. SIDE B ND/OR D: No optional module E19 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset 2E19 2x 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable 2G19 2x 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable FN 6 x 1/8" NPT air ports module, face seal, 1 bar FP 6 x 1/8" BSPP air ports module, face seal, 1 bar FT 6 x 1/8" BSPT air ports module, face seal, 1 bar VN 2 x 3/4" NPT vacuum ports module, face seal VP 2 x 3/4" BSPP vacuum ports module, face seal VT 2 x 3/4" BSPT vacuum ports module, face seal Cordset or plug are sold separately. PNEUTIC CCESSORIES: SLKT-42 RQC-4 Standard Seal Repair Kit ODULR RQC SERIES 6.29

30 TOOL CHNGER RTP-4 TOOL DPTER ODULE Specifications RTP-4 aximum Payload... 4 lbs 18 Kg aximum oment... 14, in-lbs 158 Nm Weight of RTP Unit only lb 1.1 Kg Weight of Coupled Units lbs 4.7 Kg Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm.4 11 (8 Length) SIDE C ISO mounting pattern SIDE C SIDE D (Identical to Side B) 6x[8] Equally Spaced ( Detail) SIDE [8] [9] (5 Length) [ H9] x[9]dp SIDE SF [ 63 H7] [5 x1dp] Holes for odules (see Detail) [ 5] [ 8 H8] x[2] DP Detail of odule Fixation SIDE B (Identical to Side D) 2Holes for odules (see Detail) Holes for odules (see Detail) ODULR RQC SERIES 6.3 SIDE B (Identical to Side D) UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Loading Information T C X, Y X Loading Capacity Imperial etric aximum Tensile T 6 lbs. 267 N aximum Compressive C 8 lbs. 356 N aximum oment x 14 in.-lbs. 158 Nm aximum oment y 14 in.-lbs. 158 Nm aximum oment z 14 in.-lbs. 158 Nm W REDY TO COUPLE POSITION RQC can couple to RTP at up to a.1 gap 2.54 RQC RTP COUPLED POSITION

31 TOOL CHNGER RTP-4 OPTIONL ODULES FOR TOOLING DPTER D VN/VP/VT C B SIDE FN/FP/FT SIDE D FN/FP/FT E19/2E19/G19/2G19 E19/2E19/G19/2G19 E19/2E19/G19/2G19 SIDE B FN/FP/FT SIDE C VN/VP/VT User Plugs Not Shown. NOTE: Only one module can be mounted per side (except 2E19 & 2G19 which are composed of 2 modules) How to Order: (Order ccessories separately from Basic odel) For detailed sensing and module information see pages BSIC ODEL SIDE SIDE C SIE SIDE : No optional module FN 6 x 1/8" NPT air ports module, face seal, 1 bar FP 6 x 1/8" BSPP air ports module, face seal, 1 bar FT 6 x 1/8" BSPT air ports module, face seal, 1 bar RTP SIDE B SIDE B ND/OR D: No optional module E19 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset 2E19 ** 2x 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable 2G19 ** 2x 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable FN 6 x 1/8" NPT air ports module, face seal, 1 bar FP 6 x 1/8" BSPP air ports module, face seal, 1 bar FT 6 x 1/8" BSPT air ports module, face seal, 1 bar VN 2 x 3/4" NPT vacuum ports module, face seal VP 2 x 3/4" BSPP vacuum ports module, face seal VT 2 x 3/4" BSPT vacuum ports module, face seal Cordset or plug are sold separately. SIDE D SIDE C: No optional module E19 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset 2E19 ** 2x 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable 2G19 ** 2x 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable Cordset or plug are sold separately. **Not compatible with CD, CP or CN sensing option. ELECTRICL CCESSORIES: ET-49 9 ale Plug, w/o Cable, Solder Type, Cable Clamp for G19 CBL-31 9 ale Cordset with 2 Cable for E19 ODULR RQC SERIES 6.31

32 TOOL CHNGER RQC-8 ROBOT DPTER ODULE Specifications RQC-8 aximum Payload... 8 lbs 36 Kg aximum oment... 22, in-lbs 249 Nm Weight of RQC Unit only lb 5.3 Kg Weight of Coupled Units lbs 7.1 Kg Pressure Range (locked cylinder).. 6~1 psi 4~7 bar Bore Ø in. 8 mm Displacement in cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm Valve required to actuate... 4-way, 2-position SIDE C O 14. SIDE B (Identical to Side D) ISO mounting pattern SIDE C SIDE SIDE LOCK G1/8 x.31 [8] DP Holes for odules ( Detail) O C 45 L 17 O Holes for odules ( Detail) O x C' Bores Equally Spaced ( Detail) SIDE D (Identical to Side B) O O [ 1H9] x [1] DP 6Holes for odules ( Detail) UNLOCK G1/8 x.31 [8] DP 2 x [5 x11dp] [5 x 13 DP] Except Holes arked O : [5 x 7.5 DP] [5 x 9 DP] [ 8 H8] x[2] DP Detail of odule Fixation [5] ODULR RQC SERIES 6.32 Failsafe operation: 4-way valves with a spring return are recommended to maintain air pressure to the lock port during emergency stop conditions. UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Unlock QC/ RQC Exhaust Pressure Lock Exhaust [ 8 g7] SIDE D (Identical to Side B) Loading Information X, Y X REDY TO COUPLE POSITION COUPLED POSITION T C Loading Capacity Imperial etric aximum Tensile T 12 lbs. 534 N aximum Compressive C 16 lbs. 712 N aximum oment x 22 in.-lbs. 249 Nm aximum oment y 22 in.-lbs. 249 Nm aximum oment z 22 in.-lbs. 249 Nm W RQC can couple to RTP at up to a.1 gap 2.54 RQC RTP

33 TOOL CHNGER RQC-8 OPTIONL ODULES FOR ROBOT DPTER SIDE D Wxx VN/VP/VT SN/SP/ST D C B HN/HP/HT PN/PP/PT FN/FP/FT SIDE HISRxx HI SRxx SRxx HI HISRxx SIDE C E19/2E19 G19/2G19 HN/HP/HT PN/PP/PT SN/SP/ST Wxx VN/VP/VT NOTE: Only one module can be mounted per side (except 2E19, 2G19, and HISRxx which are composed of 2 modules) User Plugs Not Shown. SIDE B How to Order: (Order ccessories separately from Basic odel) For detailed sensing and module information see pages BSIC ODEL PORT RQC SIE SENSING SIDE SIDE B SIDE C SIDE D PORT: N NPT port BSPP ports BSPT ports SENSING (FOR LTCH, UNLTCH ND REDY-TO-COUPLE): L No sensing LP* PNP Inductive sensor CP PNP Inductive sensor with 12 connector LN* NPN Inductive sensor CN NPN Inductive sensor with 12 connector LD* Dry contact sensor CD Dry contact sensor with 12 connector *Requires E19 module or G19 module mounted on side C. Cordset or plug are sold separately. ELECTRICL CCESSORIES: ET-48 9 Female Plug, w/o Cable, Solder Type, Cable Clamp for G19 CBL-28 9 Female 12 Cordset with 2 Cable for CP, CN, and CD CBL-29 9 Female Cordset with 4 Cable for E19 OSRK-4 PNP Inductive Sensor Repair Kit OSRK-5 NPN Inductive Sensor Repair Kit OSRK-6 Dry Contact Sensor Repair Kit SIDE : No optional module FN 6 x 1/4" NPT air ports module, face seal, 1 bar FP 6 x 1/4" BSPP air ports module, face seal, 1 bar FT 6 x 1/4" BSPT air ports module, face seal, 1 bar SIDE B ND/OR D: No optional module PN 6 x 1/4" NPT air ports module, face seal, 1 bar PP 6 x 1/4" BSPP air ports module, face seal, 1 bar PT 6 x 1/4" BSPT air ports module, face seal, 1 bar HN 4 x 3/8" NPT fluid ports module, 1 bar HP 4 x 3/8" BSPP fluid ports module, 1 bar HT 4 x 3/8" BSPT fluid ports module, 1 bar SN 6 x 1/4" NPT air ports module, self sealing, 1 bar SP 6 x 1/4" BSPP air ports module, self sealing, 1 bar ST 6 x 1/4" BSPT air ports module, self sealing, 1 bar VN 2 x 3/4" vacuum + 4 x 1/4" air NPT ports module, face sealing VP 2 x 3/4" vacuum + 4 x 1/4" air BSPP ports module, face sealing VT 2 x 3/4" vacuum + 4 x 1/4" air BSPT ports module, face sealing Wxx** Servo Gun and Welding Gun odule (Pin and Socket)-Consult factory HI Welding Gun module (3 x 18 mp spring loaded pins) SRxx** Servo Gun odule (with spring loaded pins) HISRxx** Servo Gun and Welding Gun module (with spring loaded pins) ** xx are attributed according to the customer wiring diagram. Consult factory. SRxx module can be mounted on the HI module to use with electric welding gun. SIDE C: No optional module E19 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset 2E19 ***2x 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable 2G19 *** 2x 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable Cordset or plug are sold separately. ***Not compatible with CD, CP or CN sensing option. PNEUTIC CCESSORIES: SLKT-43 RQC-8 Standard Seal Repair Kit ODULR RQC SERIES 6.33

34 TOOL CHNGER RTP-8 TOOL DPTER ODULE Specifications RTP-8 aximum Payload... 8 lbs 36 Kg aximum oment... 22, in-lbs 249 Nm Weight of RTP Unit only... 4 lb 1.8 Kg Weight of Coupled Units lbs 7.1 Kg Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm SIDE C (1 Length) SIDE D (Identical to Side B) ISO mounting pattern SIDE [1] O SIDE C O SIDE 6x[1] Equally Spaced ( Detail) [5 x1dp] SF 3.54 C [ 8 H7] L Holes for odules ( Detail) SIDE B (Identical to Side D) [ 1H9] x [1] DP 6Holes for odules ( detail) 2Holes for odules ( Detail) [5] [5 x 13 DP] Except O Holes arked : [5 x 11.5 DP] ODULR RQC SERIES 6.34 [ 8 H8] x[2] DP Detail of odule Fixation SIDE B (Identical to Side D) UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Loading Information X, Y X REDY TO COUPLE POSITION COUPLED POSITION T C Loading Capacity Imperial etric aximum Tensile T 12 lbs. 534 N aximum Compressive C 16 lbs. 712 N aximum oment x 22 in.-lbs. 249 Nm aximum oment y 22 in.-lbs. 249 Nm aximum oment z 22 in.-lbs. 249 Nm W RQC can couple to RTP at up to a.1 gap 2.54 RQC RTP

35 TOOL CHNGER RTP-8 OPTIONL ODULES FOR TOOLING DPTER HISRxx HI SRxx SIDE B SN/SP/ST B C D HN/HP/HT FN/FP/FT SIDE PN/PP/PT RN/RP/RT Wxx VN/VP/VT Wxx VN/VP/VT RN/RP/RT PN/PP/PT SIDE C E19/2E19 G19/2G19 HN/HP/HT SN/SP/ST SIDE D HI SRxx HISRxx NOTE: Only one module can be mounted per side (except 2E19, 2G19, and HISRxx which are composed of 2 modules) User Plugs Not Shown. How to Order: (Order ccessories separately from Basic odel) For detailed sensing and module information see pages BSIC ODEL SIDE SIDE C SIE SIDE : No optional module FN 6 x 1/4" NPT air ports module, face seal, 1 bar FP 6 x 1/4" BSPP air ports module, face seal, 1 bar FT 6 x 1/4" BSPT air ports module, face seal, 1 bar RTP SIDE B SIDE C: No optional module E19 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset 2E19 ***2x 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable 2G19 *** 2x 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable Cordset or plug are sold separately. ***Not compatible with CD, CP or CN sensing option. ELECTRICL CCESSORIES: ET-49 9 ale Plug, w/o Cable, Solder Type, Cable Clamp for G19 CBL-31 9 ale Cordset with 2 Cable for E19 SIDE D SIDE B ND/OR D: No optional module PN 6 x 1/4" NPT air ports module, face seal, 1 bar PP 6 x 1/4" BSPP air ports module, face seal, 1 bar PT 6 x 1/4" BSPT air ports module, face seal, 1 bar HN 4 x 3/8" NPT fluid ports module, 1 bar HP 4 x 3/8" BSPP fluid ports module, 1 bar HT 4 x 3/8" BSPT fluid ports module, 1 bar RN* 6 x 1/4" NPT air ports module, single shut-off flat face, 1 bar RP* 6 x 1/4" BSPP air ports module, single shut-off flat face, 1 bar RT* 6 x 1/4" BSPT air ports module, single shut-off flat face, 1 bar SN 6 x 1/4" NPT air ports module, double shut-off flat face, 1 bar SP 6 x 1/4" BSPP air ports module, double shut-off flat face, 1 bar ST 6 x 1/4" BSPT air ports module, double shut-off flat face, 1 bar VN 2 x 3/4" vacuum + 4 x 1/4" air NPT ports module, face sealing VP 2 x 3/4" vacuum + 4 x 1/4" air BSPP ports module, face sealing VT 2 x 3/4" vacuum + 4 x 1/4" air BSPT ports module, face sealing Wxx** Servo Gun and Welding Gun odule (Pin and Socket)-Consult factory HI Welding Gun module (3 x 18 mp spring loaded pins) SRxx** Servo Gun odule (with spring loaded pins) HISRxx** Servo Gun and Welding Gun module (with spring loaded pins) * Used with SN, SP, or ST modules on robot half. ** xx are attributed according to the customer wiring diagram. Consult factory. SRxx module can be mounted on the HI module to use with electric welding gun. ODULR RQC SERIES 6.35

36 TOOL CHNGER RQC-12 ROBOT DPTER ODULE Specifications RQC-12 aximum Payload lbs 55 Kg aximum oment... 3, in-lbs 339 Nm Weight of RQC Unit only lb 6.4 Kg Weight of Coupled Units lbs 8.3 Kg Pressure Range (locked cylinder).. 6~1 psi 4~7 bar Bore Ø in. 95 mm Displacement in cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm Valve required to actuate... 4-way, 2-position SIDE C O O SIDE B (Identical to Side D) ISO mounting pattern SIDE C O SIDE SIDE LOCK G1/8 x.31 [8] DP Holes for odules ( Detail) Holes for odules ( Detail) O x C' Bores Equally Spaced ( Detail) SIDE D (Identical to Side B) O O [ 1H9] x [1] DP 6Holes for odules ( Detail) UNLOCK G1/8 x.31 [8] DP 2 x [5 x11dp] [5 x 13 DP] Except O Holes arked : [5 x 9.5 DP] [ 8 H8] x[2] DP [5 x 7.5 DP] Detail of odule Fixation [5] ODULR RQC SERIES 6.36 Failsafe operation: 4-way valves with a spring return are recommended to maintain air pressure to the lock port during emergency stop conditions. UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Unlock QC/ RQC Exhaust Pressure Lock Exhaust [ 8 g7] SIDE D (Identical to Side B) Loading Information T C X, Y X Loading Capacity Imperial etric aximum Tensile T 18 lbs. 8 N aximum Compressive C 24 lbs. 17 N aximum oment x 3 in.-lbs. 339 Nm aximum oment y 3 in.-lbs. 339 Nm aximum oment z 3 in.-lbs. 339 Nm W REDY TO COUPLE POSITION RQC can couple to RTP at up to a.1 gap 2.54 RQC RTP COUPLED POSITION

37 TOOL CHNGER RQC-12 OPTIONL ODULES FOR ROBOT DPTER Wxx SIDE D VN/VP/VT SN/SP/ST D C B HN/HP/HT PN/PP/PT FN/FP/FT SIDE HISRxx HI SRxx SRxx HI HISRxx SIDE C E19/2E19 G19/2G19 HN/HP/HT PN/PP/PT SN/SP/ST VN/VP/VT Wxx NOTE: Only one module can be mounted per side (except 2E19, 2G19, and HISRxx which are composed of 2 modules) User Plugs Not Shown. SIDE B How to Order: (Order ccessories separately from Basic odel) For detailed sensing and module information see pages BSIC ODEL PORT RQC SIE SENSING SIDE SIDE B SIDE C SIDE D PORT: N NPT port BSPP ports BSPT ports SENSING (FOR LTCH, UNLTCH ND REDY-TO-COUPLE): L No sensing LP* PNP Inductive sensor CP PNP Inductive sensor with 12 connector LN* NPN Inductive sensor CN NPN Inductive sensor with 12 connector LD* Dry contact sensor CD Dry contact sensor with 12 connector *Requires E19 module or G19 module mounted on side C. Cordset or plug are sold separately. ELECTRICL CCESSORIES: ET-48 9 Female Plug, w/o Cable, Solder Type, Cable Clamp for G19 CBL-28 9 Female 12 Cordset with 2 Cable for CP, CN, and CD CBL-29 9 Female Cordset with 4 Cable for E19 OSRK-4 PNP Inductive Sensor Repair Kit OSRK-5 NPN Inductive Sensor Repair Kit OSRK-6 Dry Contact Sensor Repair Kit SIDE : No optional module FN 6 x 1/4" NPT air ports module, face seal, 1 bar FP 6 x 1/4" BSPP air ports module, face seal, 1 bar FT 6 x 1/4" BSPT air ports module, face seal, 1 bar SIDE B ND/OR D: No optional module PN 6 x 1/4" NPT air ports module, face seal, 1 bar PP 6 x 1/4" BSPP air ports module, face seal, 1 bar PT 6 x 1/4" BSPT air ports module, face seal, 1 bar HN 4 x 3/8" NPT fluid ports module, 1 bar HP 4 x 3/8" BSPP fluid ports module, 1 bar HT 4 x 3/8" BSPT fluid ports module, 1 bar SN 6 x 1/4" NPT air ports module, self sealing, 1 bar SP 6 x 1/4" BSPP air ports module, self sealing, 1 bar ST 6 x 1/4" BSPT air ports module, self sealing, 1 bar VN 2 x 3/4" vacuum + 4 x 1/4" air NPT ports module, face sealing VP 2 x 3/4" vacuum + 4 x 1/4" air BSPP ports module, face sealing VT 2 x 3/4" vacuum + 4 x 1/4" air BSPT ports module, face sealing Wxx** Servo Gun and Welding Gun odule (Pin and Socket)-Consult factory HI Welding Gun module (3 x 18 mp spring loaded pins) SRxx** Servo Gun odule (with spring loaded pins) HISRxx** Servo Gun and Welding Gun module (with spring loaded pins) ** xx are attributed according to the customer wiring diagram. Consult us. SRxx module can be mounted on the HI module to use with electric welding gun. SIDE C: No optional module E19 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset 2E19 ***2x 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable 2G19 *** 2x 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable Cordset or plug are sold separately. ***Not compatible with CD, CP or CN sensing option. PNEUTIC CCESSORIES: SLKT-44 RQC-12 Standard Seal Repair Kit ODULR RQC SERIES 6.37

38 TOOL CHNGER RTP-12 TOOL DPTER ODULE Specifications RTP-12 aximum Payload lbs 55 Kg aximum oment... 3, in-lbs 339 Nm Weight of RTP Unit only lb 1.9 Kg Weight of Coupled Units lbs 8.3 Kg Temperature Range ~18 F -35 ~8 C Repeatability... ±.1 in. ±.25 mm SIDE C (1 Length) SIDE D (Identical to Side B) ISO mounting pattern SIDE O O SIDE C O O SIDE 6x[1] Equally Spaced ( Detail) SF [ 8 H7] [5 x7.5dp] O.35 9 O Holes for odules ( Detail) SIDE B (Identical to Side D) [ 1H9] x [15] DP 6Holes for odules ( detail) 2Holes for odules ( Detail) [5 x 13 DP] Except Holes arked O : [5] [5 x 9.5 DP] ODULR RQC SERIES 6.38 [ 8 H8] x[2] DP Detail of odule Fixation SIDE B (Identical to Side D) UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Loading Information T C X, Y X Loading Capacity Imperial etric aximum Tensile T 18 lbs. 8 N aximum Compressive C 24 lbs. 17 N aximum oment x 3 in.-lbs. 339 Nm aximum oment y 3 in.-lbs. 339 Nm aximum oment z 3 in.-lbs. 339 Nm W REDY TO COUPLE POSITION RQC can couple to RTP at up to a.1 gap 2.54 RQC RTP COUPLED POSITION

39 TOOL CHNGER RTP-12 OPTIONL ODULES FOR TOOLING DPTER SIDE B HISRxx B D HI SRxx SN/SP/ST C HN/HP/HT FN/FP/FT SIDE PN/PP/PT RN/RP/RT Wxx Wxx VN/VP/VT VN/VP/VT RN/RP/RT PN/PP/PT SIDE C E19/2E19 G19/2G19 HN/HP/HT SN/SP/ST HI SRxx NOTE: Only one module can be mounted per side (except 2E19, 2G19, and HISRxx which are composed of 2 modules) User Plugs Not Shown. SIDE D HISRxx How to Order: (Order ccessories separately from Basic odel) For detailed sensing and module information see pages How to Order: (Order ccessories separately from Basic odel) For detailed sensing and module information see pages BSIC ODEL SIDE SIDE C SIE SIDE : No optional module FN 6 x 1/4" NPT air ports module, face seal, 1 bar FP 6 x 1/4" BSPP air ports module, face seal, 1 bar FT 6 x 1/4" BSPT air ports module, face seal, 1 bar RTP SIDE B SIDE C: No optional module E19 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset 2E19 ***2x 19 pin, 3 mp, 48 VDC odule w/turck 12 connector, w/o Cordset G19 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable 2G19 *** 2x 19 pin, 5 mp, 12 VDC odule w/industrial User Conn., w/o Cable Cordset or plug are sold separately. ***Not compatible with CD, CP or CN sensing option. ELECTRICL CCESSORIES: ET-49 9 ale Plug, w/o Cable, Solder Type, Cable Clamp for G19 CBL-31 9 ale Cordset with 2 Cable for E19 SIDE D SIDE B ND/OR D: No optional module PN 6 x 1/4" NPT air ports module, face seal, 1 bar PP 6 x 1/4" BSPP air ports module, face seal, 1 bar PT 6 x 1/4" BSPT air ports module, face seal, 1 bar HN 4 x 3/8" NPT fluid ports module, 1 bar HP 4 x 3/8" BSPP fluid ports module, 1 bar HT 4 x 3/8" BSPT fluid ports module, 1 bar RN* 6 x 1/4" NPT air ports module, single shut-off flat face, 1 bar RP* 6 x 1/4" BSPP air ports module, single shut-off flat face, 1 bar RT* 6 x 1/4" BSPT air ports module, single shut-off flat face, 1 bar SN 6 x 1/4" NPT air ports module, double shut-off flat face, 1 bar SP 6 x 1/4" BSPP air ports module, double shut-off flat face, 1 bar ST 6 x 1/4" BSPT air ports module, double shut-off flat face, 1 bar VN 2 x 3/4" vacuum + 4 x 1/4" air NPT ports module, face sealing VP 2 x 3/4" vacuum + 4 x 1/4" air BSPP ports module, face sealing VT 2 x 3/4" vacuum + 4 x 1/4" air BSPT ports module, face sealing Wxx** Servo Gun and Welding Gun odule (Pin and Socket)-Consult factory HI Welding Gun module (3 x 18 mp spring loaded pins) SRxx** Servo Gun odule (with spring loaded pins) HISRxx** Servo Gun and Welding Gun module (with spring loaded pins) * Used with SN, SP, or ST modules on robot half. ** xx are attributed according to the customer wiring diagram. Consult factory. SRxx module can be mounted on the HI module to use with electric welding gun. ODULR RQC SERIES 6.39

40 SENSING OPTIONS E19/G19 odules connecting with latch/unlatch sensors Side C RESERVED PINS NUBERS ON E19 / G19 RQC 2 & 4 RQC 8 & 12 2E19/2G19 E19/G19 LP or LN (Inductive) R: VDC L: Common : Lock N: Unlock R: VDC L: Common : Lock N: Unlock P: Ready to Couple When LP, LN, or LD option is ordered, 3, 4 or 5 wires are reserved on the E19 or G19 module. chart LD (Dry contact) L: Common : Lock N: Unlock L: Common : Lock N: Unlock P: Ready to Couple E19 Pins numbering G19 Pins numbering TURCK ale connector L N P R Detail Wire color on CBL-29 cordset Contact # Wire Color R Red L Brown Orange N Grey / Brown P White PHENOL ale connector L N P R Detail ODULR RQC SERIES Sensing ccessories LP, LN or LD using 19 Pins odule E19 or G19 (Require 3, 4 or 5 of the 19 Pins : see on this page) B SIDE C E19 odule (Turck Connector) Tool Plate Presence Sensing Pin Other Dimensions : see ccessories Pages LOCK / UNLOCK & TOOL PLTE PRESENCE SENSING OPTIONS (with Inductive Sensors or Dry Contact Switches) G19 odule (mphenol Connector) B C RQC [14.3] [22.5] [16.55] RQC [2.6] [33.75] [17.4] RQC [2.6] [45] [2.85] RQC [26.95] [45] [27.2] Unlock 12 Connector Lock Common Ready to Couple (RQC-8 & 12 only) Sensing ccessories CP, CN or CD by 12 Connector (3, 4 or 5 Pins : see below) C +1-3 VDC (Inductive sensors only) SIDE C Connector "Ready to Couple" Tool Plate Presence Sensing Pin

41 19 Pin odule 3 mp - 48 VDC (E19) For RQC/RTP- 2/4/8/12 OPTIONL ELECTRIC ODULES Robot half Tool half 2x.315 SF [ 8h7] x.315 SF [8 h7] Face Seal TURCK male connector [16x.75] SHC screws [5] N B U L K T C I O D E P F R G H S Detail TURCK female connector [ 16 x.75 ] SHC screws [5] D O C N E B P F U G L R H S I T K Detail Cordset direction Cordset direction ROBOT HLF ODULES: How to Order odules: For QC6 How to Order odules: RQC-2/4 BSIC ODEL RQC - 2 N - LP - - E19 - E19 - E19 PREOUNTED SEPRTE E19* KE19-RQC* 19 Pin odule 3 48 VDC, Turck Conn. CCESSORIES: SIE PORT CBL-29 SENSING SIDE SIDE B SIDE C SIDE D 9 Female Cordset with 4 et Cable for E19 TOOL HLF ODULES: How to Order odules: RTP-2/4 BSIC ODEL SIDE SIDE C RTP E19 - E19 - E19 SIE SIDE B SIDE D PREOUNTED SEPRTE E19* KE19-RTP* 19 Pin odule 3 48 VDC, Turck Conn. CCESSORIES: CBL-31 9 ale Cordset with 2 eter Cable for E19 ODULR RQC SERIES 6.41 How to Order odules: For QC6 How to Order odules: RQC-8/12 BSIC ODEL RQC - 12 N - LP E19 - SIE PORT SENSING SIDE SIDE B SIDE C SIDE D PREOUNTED SEPRTE E19* KE19-RQC* 19 Pin odule 3 48 VDC, Turck Conn. How to Order odules: RTP-8/12 BSIC ODEL SIDE SIDE C RTP E19 - SIE SIDE B SIDE D PREOUNTED SEPRTE E19* KE19-RTP* 19 Pin odule 3 48 VDC, Turck Conn. CCESSORIES: CBL-29 9 Female Cordset with 4 et Cable for E19 CCESSORIES: CBL-31 9 ale Cordset with 2 eter Cable for E19 odule kits above include: Indexing sleeves and hardware. * Cordset sold separately.

42 OPTIONL ELECTRIC ODULES 19 Pin odule 5 mp - 12 VDC (G19) For RQC/RTP- 2/4/8/12 Robot half Tool half 2x.315 SF [ 8h7] x.315 SF [8 h7] Face Seal mphenol ale connector 2 SHC screws [5] U N H J K L T V G F B S P E C D R Detail User 9 plug not shown. mphenol Female connector 2 SHC screws [5] L U N B P C R K J H T G V F S D E Detail ROBOT HLF ODULES: How to Order odules: For QC6 How to Order odules: RQC-2/4 TOOL HLF ODULES: How to Order odules: RTP-2/4 ODULR RQC SERIES 6.42 BSIC ODEL RQC - 2 N - LP - - G19 - G19 - G19 PREOUNTED SEPRTE G19 KG19-RQC 19 Pin, 5 mp odule with Industrial User Connector, without Cable CCESSORIES: SIE PORT ET-48 SENSING SIDE SIDE B SIDE C SIDE D 9 Female Plug, without Cable, Solder Type, Cable Clamp BSIC ODEL SIDE SIDE C RTP G19 - G19 - G19 SIE SIDE B SIDE D PREOUNTED SEPRTE G19 KG19-RTP 19 Pin, 5 mp odule with Industrial User Connector, without Cable CCESSORIES: ET-49 9 ale Plug, without Cable, Solder Type, Cable Clamp How to Order odules: For QC6 How to Order odules: RQC-8/12 BSIC ODEL RQC - 12 N - LP G19 - SIE PORT SENSING SIDE SIDE B SIDE C PREOUNTED SEPRTE G19 KG19-RQC 19 Pin, 5 mp odule with Industrial User Connector, without Cable SIDE D How to Order odules: RTP-8/12 BSIC ODEL SIDE SIDE C RTP G19 - SIE SIDE B SIDE D PREOUNTED SEPRTE G19 KG19-RTP 19 Pin, 5 mp odule with Industrial User Connector, without Cable CCESSORIES: ET-48 9 Female Plug, without Cable, Solder Type, Cable Clamp CCESSORIES: ET-49 9 ale Plug, without Cable, Solder Type, Cable Clamp odule kits above include: 9 plug (without cable), indexing sleeves and hardware.

43 OPTIONL IR ODULES 6 x 1/8" ir Ports odule, Face Seal ( FN, FP or FT ) For RQC/RTP-2 & RQC/RTP-4 Robot Half FN 1/8" NPT FP 1/8" BSPP FT 1/8" BSPT Tool Half x Face seal air ports.26 mini LOCK UNLOCK 2 x ir ports for RQC actuation when module is mounted on side Indexing sleeves 8x (see table) 5 x SHC Screws SF [ 8h7] SHC Screw [5] detail above x SHC Screws x (see table) xFree air ports.26 mini aximum ROBOT HLF working ODULES: pressure: 1 bar How to Order odules: For QC6 How to Order odules: RQC-2/4 BSIC ODEL RQC - 4 N - LP - FN - FN - - FN SIE PORT SENSING SIDE SIDE B SIDE C SIDE D ODULES FOR RQC-2/4 PREOUNTED SEPRTE FN KFN-RQC2 6 x 1/8" NPT ir Ports, Face Sealing, 1 bar FP KFP-RQC2 6 x 1/8" BSPP ir Ports, Face Sealing, 1 bar FT KFT-RQC2 6 x 1/8" BSPT ir Ports, Face Sealing, 1 bar TOOL HLF ODULES: How to Order odules: RTP-2/4 BSIC ODEL SIDE SIDE C RTP FN - FN - - FN SIE SIDE B SIDE D ODULE FOR RTP-2/4 PREOUNTED SEPRTE FN KFN-RTP2 6 x 1/8" NPT ir Ports, Face Sealing, 1 bar FP KFP-RTP2 6 x 1/8" BSPP ir Ports, Face Sealing, 1 bar FT KFT-RTP2 6 x 1/8" BSPT ir Ports, Face Sealing, 1 bar ODULR RQC SERIES 6.43 CCESSORIES: SLKT-46 6 x 1/8" ir odule Seal Repair Kit odule kits above include: Seals, indexing sleeves and hardware.

44 OPTIONL IR ODULES 6 x 1/4" ir Ports odule, Face Seal (FN, FP or FT) For RQC/RTP-8 & RQC/RTP-12 Robot Half FN 1/4" NPT FP 1/4" BSPP FT 1/4" BSPT Tool Half xFaceseal air ports.49 mini LOCK UNLOCK 2 x ir ports for RQC actuation when module is mounted on side 2 Indexing sleeves 8x (see table) 5 x SHC Screws detail above SF [ 8h7] SHC Screw [5] x SHC Screws x (see table) xFree air ports.49 mini aximum working pressure: 1 bar ROBOT HLF ODULES: How to Order odules: For QC6 How to Order odules: RQC-8/12 TOOL HLF ODULES: How to Order odules: RTP-8/12 ODULR RQC SERIES 6.44 BSIC ODEL RQC - 8 N - LP - FN PREOUNTED FN FP FT SIE PORT SENSING SIDE SIDE B SIDE C SIDE D SEPRTE KFN-RQC8 6 x 1/4" NPT ir Ports, Face Sealing, 1 bar KFP-RQC8 6 x 1/4" BSPP ir Ports, Face Sealing, 1 bar KFT-RQC8 6 x 1/4" BSPT ir Ports, Face Sealing, 1 bar BSIC ODEL SIDE SIDE C PREOUNTED FN FP FT RTP FN SIE SIDE B SIDE D SEPRTE KFN-RTP8 6 x 1/4" NPT ir Ports, Face Sealing, 1 bar KFP-RTP8 6 x 1/4" BSPP ir Ports, Face Sealing, 1 bar KFT-RTP8 6 x 1/4" BSPT ir Ports, Face Sealing, 1 bar CCESSORIES: SLKT-41 6 x 1/4" ir odule Seal Repair Kit odule kits above include: Seals, indexing sleeves and hardware.

45 6x1/4"irPortsodule,FaceSeal(PN,PPorPT) For RQC/RTP-8 & RQC/RTP-12 OPTIONL IR ODULES Robot Half Tooling Half x (see table) x Face seal air ports Face seal x SHC Screws [5] 2 x Indexing sleeves PN 1/4" NPT PP 1/4" BSPP PT 1/4" BSPT detail below SF [ 8 h7] x (see table) x Free air ports aximum working pressure: 1 bar ROBOT HLF ODULES: How to Order odules: For QC6 How to Order odules: RQC-8/12 BSIC ODEL RQC LP - - PN - -PN PREOUNTED PN PP PT SIE PORT SENSING SIDE SIDE B SIDE C SIDE D SEPRTE KPN-RQC8 6 x 1/4" NPT ir Ports, Self Sealing, 1 bar KPP-RQC8 6 x 1/4" BSPP ir Ports, Self Sealing, 1 bar KPT-RQC8 6 x 1/4" BSPT ir Ports, Self Sealing, 1 bar TOOL HLF ODULES: How to Order odules: RTP-8/12 BSIC ODEL SIDE SIDE C PREOUNTED PN PP PT RTP PN - -PN SIE SIDE B SIDE D SEPRTE KPN-RTP8 6 x 1/4" NPT ir Ports, Self Sealing, 1 bar KPP-RTP8 6 x 1/4" BSPP ir Ports, Self Sealing, 1 bar KPT-RTP8 6 x 1/4" BSPT ir Ports, Self Sealing, 1 bar ODULR RQC SERIES 6.45 CCESSORIES: SLKT-41 6 x 1/4" ir odule odule Seal Repair Kit odule kits above include: Couplings, indexing sleeves and hardware.

46 OPTIONL IR ODULES ODULR RQC SERIES x Indexing sleeves 6 x 1/4" ir Ports odule, Single Shut-Off Flat Face (RN, RP or RT) or Double Shut-Off Flat Face (SN, SP or ST) For RQC/RTP-8 & RQC/RTP-12 Tooling Half Robot Half 4.96 Single Shut-off x (see table) 6 x Shut-off socket with air port xSHC Screws [5] aximum working pressure: 1 bar ROBOT HLF ODULES: SF [ 8h7] detail below How to Order odules: For QC6 How to Order odules: RQC-8/12 RN* SN 1/4" NPT RP* SP 1/4" BSPP RT* ST 1/4" BSPT * Tooling half only Double Shut-off detail below x (see table) 6 x Free air ports.2 5 detail below x (see table) TOOL HLF ODULES: x Shut-off plug with air port How to Order odules: RTP-8/ BSIC ODEL RQC LP - - ST - - ST PREOUNTED SN SP ST SIE PORT SENSING SIDE SIDE B SIDE C SIDE D SEPRTE KSN-RQC8 6 x 1/4" NPT ir Ports, Self Sealing, 1 bar KSP-RQC8 6 x 1/4" BSPP ir Ports, Self Sealing, 1 bar KST-RQC8 6 x 1/4" BSPT ir Ports, Self Sealing, 1 bar BSIC ODEL SIDE SIDE C PREOUNTED SN SP ST RTP ST - - ST SIE SIDE B SIDE D SEPRTE KSN-RTP8 6 x 1/4" NPT ir Ports, Self Sealing, 1 bar KSP-RTP8 6 x 1/4" BSPP ir Ports, Self Sealing, 1 bar KST-RTP8 6 x 1/4" BSPT ir Ports, Self Sealing, 1 bar RN RP RT KRN-RTP8 6 x 1/4" NPT ir Ports, w/o Self Sealing, 1 bar KRP-RTP8 6 x 1/4" BSPP ir Ports, w/o Self Sealing, 1 bar KRT-RTP8 6 x 1/4" BSPT ir Ports, w/o Self Sealing, 1 bar odule kits above include: Couplings, indexing sleeves and hardware.

47 OPTIONL VCUU ODULES 2 x 3/4" Vacuum Ports odule, Face Seal ( VN, VP or VT ) For RQC/RTP-2 & RQC/RTP-4 Robot Half Tool Half 4 x SHC Screws x SHC Screws Face seal x Face seal vacuum ports x (see table) detail below SF 2 Indexing sleeves [ 8 h7] SHC Screw [5] x (see table) xFree vacuum ports VN 3/4" NPT VP 3/4" BSPP VT 3/4" BSPT ROBOT HLF ODULES: How to Order odules: For QC6 How to Order odules: RQC-2/4 BSIC ODEL RQC - 2 N - LP - - VN - -VN PREOUNTED VN VP VT CCESSORIES: SIE PORT SEPRTE KVN-RQC2 2 x 3/4" NPT Vacuum Ports, Face Sealing KVP-RQC2 2 x 3/4" BSPP Vacuum Ports, Face Sealing KVT-RQC2 2 x 3/4" BSPT Vacuum Ports, Face Sealing SLKT-45 SENSING SIDE SIDE B SIDE C SIDE D 2 x 3/4" Vacuum odule Seal Repair Kit TOOL HLF ODULES: How to Order odules: RTP-2/4 BSIC ODEL SIDE SIDE C For RTP-2 and -4 only: RTP VN - - VN SIE SIDE B SIDE D PREOUNTED SEPRTE VN KVN-RTP2 2 x 3/4" NPT Vacuum Ports, Face Sealing VP KVP-RTP2 2 x 3/4" BSPP Vacuum Ports, Face Sealing VT KVT-RTP2 2 x 3/4" BSPT Vacuum Ports, Face Sealing ODULR RQC SERIES 6.47 odule kits above include: Seals, indexing sleeves and hardware.

48 OPTIONL IR ODULES RV Robot Half/Tool Half 4-Port Vacuum odule for RQC/RTP- 8 page 6.53 for RV Features and Benefits ROBOT HLF N P T 3/8" NPT 3/8" BSPP 3/8" BSPT N P T B 1/4" NPT 1/4" BSPP 1/4" BSPT TOOL HLF [8.41] 213 [8.3] 24 "" IR IN SEE TBLE [.94] 24 [1.2] 26 [1.2] 26 CL [.51] 13 [.51] 13 [1.58] 4 [1.26] 32 [.55] Ø13.9 (4) 'O' RING SEL VCUU PORTS [1.2] 26 [3.43] 87 SEE DETIL BELOW [2.13] 54 [.63] (4) X "B" 16 SEE TBLE [.45] Ø12 (4) FCE SEL VCUU PORTS ODULR RQC SERIES 6.48 [.9843] 25 CL [4.9213] 125 [6.3] 16 odule ounting: SIDE B and/or SIDE D [1.34] 34 (4) 5 SHCS (2) INDEXING SLEEVES [.43] 11 [.2165] 5.5 [.315] (2) Ø8 H7 S.F [.5512 ] [1.34] 34 [.7] 1.8 [.47] 12 CL [4.9213] 125 [6.3] 16 [.9843] 25 ROBOT HLF ODULES: How to Order odules: For QC6 How to Order odules: RQC-8 BSIC ODEL SIDE SIDE C RQC N - -N SIE SIDE B SIDE D TOOL HLF ODULES: How to Order odules: RTP-8 BSIC ODEL SIDE SIDE C RTP N - -N SIE SIDE B SIDE D PREOUNTED N P T SEPRTE KN-RQC8 4 x 3/8" NPT ir Ports, Self Sealing KP-RQC8 4 x 3/8" BSPP ir Ports, Self Sealing KT-RQC8 4 x 3/8" BSPT ir Ports, Self Sealing PREOUNTED N P T SEPRTE KN-RTP8 4 x 1/4" NPT ir Ports, Self Sealing KP-RTP8 4 x 1/4" BSPP ir Ports, Self Sealing KT-RTP8 4 x 1/4" BSPT ir Ports, Self Sealing odule kits above include: Couplings, indexing sleeves and hardware.

49 2 x 3/4" Vacuum Ports odule, Face Seal (VN, VP or VT) For RQC/RTP-8 & RQC/RTP-12 OPTIONL VCUU ODULES Robot Half Tool Half xB (see table) 4xFaceseal air ports x (see table) xFaceseal vacuum ports Face seal xSHC Screws [5] detail below SF [ 8 h7] x (see table) 2xFree vacuum ports xB (see table) 4xFree air ports x Indexing sleeves B VN 3/4" NPT 1/4" NPT VP 3/4" BSPP 1/4" BSPP VT 3/4" BSPT 1/4" BSPT ROBOT HLF ODULES: How to Order odules: For QC6 How to Order odules: RQC-8/12 BSIC ODEL RQC LP - - VT - - VT PREOUNTED VN VP VT SIE PORT SENSING SIDE SIDE B SIDE C SIDE D SEPRTE KVN-RQC8 2 x 3/4" Vacuum and 4 x 1/4" ir NPT Ports, Face Sealing KVP-RQC8 2 x 3/4" Vacuum and 4 x 1/4" ir BSPP Ports, Face Sealing KVT-RQC8 2 x 3/4" Vacuum and 4 x 1/4" ir BSPT Ports, Face Sealing TOOL HLF ODULES: How to Order odules: RTP-8/12 BSIC ODEL SIDE SIDE C PREOUNTED VN VP VT RTP VT - - VT SIE SIDE B SIDE D SEPRTE KVN-RTP8 2 x 3/4" Vacuum and 4 x 1/4" ir NPT Ports, Face Sealing KVP-RTP8 2 x 3/4" Vacuum and 4 x 1/4" ir BSPP Ports, Face Sealing KVT-RTP8 2 x 3/4" Vacuum and 4 x 1/4" ir BSPT Ports, Face Sealing ODULR RQC SERIES 6.49 CCESSORIES: SLKT-49 2 x 3/4" Vacuum and 4 x 1/4" ir odule Seal Repair Kit odule kits above include: Seals, indexing sleeves and hardware.

50 OPTIONL IR ODULES 4 x 3/8" Fluid Ports odule, Non Spilling Double Shut-Off (HN, HP or HT) For RQC/RTP-8 & RQC/RTP-12 Robot Half Tooling Half detail below x (see table) 4 x Non spilling shut-off socket with fluid port xSHC Screws [5] SF [ 8h7] x (see table) 4 x Non spilling shut-off plug with fluid port x Indexing sleeves C.9843 L HN 3/8" NPT HP 3/8" BSPP HT 3/8" BSPT aximum working pressure: 1 bar ODULR RQC SERIES 6.5 ROBOT HLF ODULES: How to Order odules: For QC6 How to Order odules: RQC-8/12 BSIC ODEL RQC LP - - HP - -HP PREOUNTED HN HP HT SIE PORT SENSING SIDE SIDE B SIDE C SEPRTE KHN-RQC8 4 x 3/8" NPT Fluid Ports, 1 bar KHP-RQC8 4 x 3/8" BSPP Fluid Ports, 1 bar KHT-RQC8 4 x 3/8" BSPT Fluid Ports, 1 bar SIDE D TOOL HLF ODULES: How to Order odules: RTP-8/12 BSIC ODEL SIDE SIDE C PREOUNTED HN HP HT RTP HP - - HP SIE SIDE B SIDE D SEPRTE KHN-RTP8 4 x 3/8" NPT Fluid Ports, 1 bar KHP-RTP8 4 x 3/8" BSPP Fluid Ports, 1 bar KHT-RTP8 4 x 3/8" BSPT Fluid Ports, 1 bar odule kits above include: Couplings, indexing sleeves and hardware.

51 OPTIONL FLUID ODULES Servo odule (SRxx ) For RQC/RTP-8 & RQC/RTP Robot Half detail below Tooling Half ale industrial connectors (contact us for wiring diagram) Up to 7 x 1 mp spring loaded contacts for servo power Face seal xSHC screws [5] 2 x Indexing sleeves SF [ 8h7] Female industrial connectors (contact us for wiring diagram) Up to 7 x 1 mp contacts for servo power Up to 17 x 5 mp spring loaded contacts for servo I/O Up to 17 x 5 mp contacts for servo I/O User plugs not shown. ROBOT HLF ODULES: How to Order odules: RQC-8/12 BSIC ODEL RQC LP - - SRxx - - SRxx SIE PORT SENSING SIDE SIDE B SIDE C SRxx * KSRxx-RQC8 * Servo Gun odule (with spring loaded pins) The xx is replaced by two digits depending on wiring request. Wiring may depend on robot and welding gun specifications. Please consult factory *SRxx module can be mounted on the HI module to use with electric welding gun. Order HISRxx. odule kits above include: Plugs, seals, indexing sleeves and hardware. SIDE D TOOL HLF ODULES: How to Order odules: RTP-8/12 BSIC ODEL SIDE SIDE C RTP SRxx - - SRxx SIE SIDE B SIDE D PREOUNTED SEPRTE SRxx * KSRxx-RTP8 * Servo Gun odule (with spring loaded pins) The xx is replaced by two digits depending on wiring request. Wiring may depend on robot and welding gun specifications. Please consult factory *SRxx module can be mounted on the HI module to use with electric welding gun. Order HISRxx. ODULR RQC SERIES 6.51

52 OPTIONL WELD GUN ODULE 3 Contacts odule 18 mp - 63 VC (HI) For RQC/RTP-8 & RQC/RTP ULTI-CONTCT ale Connector TID15-SP8/5/26 #Ground #Pole1 Robot Half Tooling Half ULTI-CONTCT Female Connector TID-B15/5 # Ground #Pole1.2 5 #Pole2 #Pole Detail Detail B Detail B Detail x Spring loaded contacts x Contacts ODULR RQC SERIES 6.52 User straight plug not shown. ROBOT HLF ODULES: Detail 4xSHC Screws [5] 2 x Indexing sleeves SF [ 8h7] How to Order odules: RQC-8/ [ 5].315 SF [ 8h7] TOOL HLF ODULES: [5 x 13 DP] Detail B How to Order odules: RTP-8/12 BSIC ODEL RQC LP - - HI - - HI SIE PORT SENSING SIDE SIDE B SIDE C SIDE D BSIC ODEL SIDE SIDE C RTP HI - - HI SIE SIDE B SIDE D PREOUNTED HI SEPRTE KHI-RQC8 Welding Gun module (3 x 18 mp spring loaded pin) PREOUNTED HI SEPRTE KHI-RTP8 Welding Gun module (3 x 18 mp spring loaded pin) odule kits above include: Straight plug (without cable, crimp contacts), seals, indexing sleeves and hardware.

53 RV-uto Release Venturi Vacuum odule Providing a quick change in vacuum technology The RV vacuum module generates vacuum at the tool changer level, which is distributed across (4) ports, then piped independently to end effector vacuum cups. Key Features Single line-in air connection Standard Built-in Silencer (Decibel Level: 72 3 feet) Eliminates the need for individual venturis on each vacuum port ultiple tools can be supplied vacuum by one RV vacuum module Will supply vacuum for up to 5 cups per vacuum channel Lifetime warranty on venturis Tool Side odule Robot Side odule page 6.48 for dimensions and ordering information lso vailable for Clean Room pplications: RV Stainless Steel Class 1 Clean Room pproved 1-2 particles per cubic meter of air (3) utoblow-off does not allow contamination 6% less air consumption Faster production speeds 15 plus cycles per minute RPE Electic Gripper US PT #: 7,54,39 7,681,63 ed-redi Indexers ODULR RQC SERIES 6.53 Parts Handlers ed-redi Conveyors

54 RQC Series Exploded View ODULR RQC SERIES INTENNCE Robot Half Tool Half Item Qty Name Robot Half 1 1 Body 2 1 Piston 3 1 Pin Retainer 4 6 Pin 5 1 Ram 6 2 Sensing Pin 7 2 Stop 8 1 Bracket 9 2 Bushing 1 1 Pin 11 1 Target 2 1 Body, O-Ring 21 1 Body, Plug 22 1 Body, Plug 23 1 Piston, O-Ring 24 1 Retainer, O-Ring 25 1 Retainer, O-Ring 26 1 Piston, Pin 27 1 Piston, Screw 28 2 to 5 Body, Spring 29 1 Body, Pin 3 2 Retainer, SHC Screw 31 1 Target, Spring 32 2 Pin, O-Ring 33 2 Stop, Spring 34 2 Stop, SHC Screw 35 1 Bracket, O-Ring 36 1 Bracket, 12 Plug (optional) 37 3 Bracket, SHC Screw 38 1 Sensor Kit (optional) Tool Half 11 1 Body 12 1 Ring 13 1 Diamond Pin 14 1 Centering Pin 15 1 Pin 16 4 Lock Washer 17 4 SHC Screw NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices SK Seal Repair Kit Order # s Product Data Sheets SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Projection

55 RQC Series ssembled View Robot Half Tool Half 11 Item Qty Name Robot Half 1 1 Body 2 1 Piston 3 1 Pin Retainer 4 6 Pin 5 1 Ram 6 2 Sensing Pin 7 2 Stop 8 1 Bracket 9 2 Bushing 1 1 Pin 11 1 Target 2 1 Body, O-Ring 21 1 Body, Plug 22 1 Body, Plug 23 1 Piston, O-Ring 24 1 Retainer, O-Ring 25 1 Retainer, O-Ring 26 1 Piston, Pin 27 1 Piston, Screw 28 2 to 5 Body, Spring 29 1 Body, Pin 3 2 Retainer, SHC Screw 31 1 Target, Spring 32 2 Pin, O-Ring 33 2 Stop, Spring 34 2 Stop, SHC Screw 35 1 Bracket, O-Ring 36 1 Bracket, 12 Plug (optional) 37 3 Bracket, SHC Screw 38 1 Sensor Kit (optional) ssembly Procedure - Robot Half 1) Lubricate and install seal (#2) into the body #1 2) Install the air port plugs (#21) and (#22) with thread-locker into the body (#1) 3) Press in the bushings (#9) into the body 4) Lubricate and install seals (#24) and (#25) - sizes 8 and 12 only into the pin retainer (#3) 5) Insert the pins (#4) into the pin retainer (#3) 6) Lubricate and install seal (#23) onto the piston #2 7) Press in the pin (#26) into the piston 8) Completely insert the piston (#2) into the pin retainer (#3) 9) Sizes 8 and 12 only: press in the pin (#1) into target (#11) and install the spring (#31) and insert this sub assembly into the pin retainer 1) Locate and insert the ram (#5) into the piston and fasten with screw (#27) with thread-locker 11) Insert the springs (#28) into the body 12) Press in the pin (#29) into the body 13) Locate and insert the pin, pin retainer and piston sub-assembly into the body and fasten with screws (#3) with thread-locker ) Lubricate and install seals (#32) into the sensing pins (#6) 15) Insert the sensing pins into the body 16) Install the springs (#33) on the sensing pins 17) ount stops (#7) with screws (#34) with thread-locker 18) Lubricate and install seal (#35) onto the bracket (#8) 19) ount the optional sensor kit (#38) to the bracket 2) ount the optional 12 plug (#36) to the bracket (#8) and connect its connector to the sensor kit connector (#38) 21) Insert the sensor, plug and bracket sub assembly into the body and fasten with screws (#37) ssembly Procedure - Tool Half 1) Insert the ring (#12) with pressed-in pin #15 into the body (#11) and fasten with lock washer (#16) and screws (#17) with thread-locker 2) Press in the diamond pin (#13) into the body 3) Press in the pin (#14) into the body Tool Half 11 1 Body 12 1 Ring 13 1 Diamond Pin 14 1 Centering Pin 15 1 Pin 16 4 Lock Washer 17 4 SHC Screw NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices ODULR RQC SERIES INTENNCE 6.55

56 TOOL CHNGER TERINOLOGY ccuracy The actual positional differential of the locating dowels between two different Robot Halfs or Tool Halfs. ir odule lso called pneumatic ports. It refers to the component of the Tool Changer system that passes air through the QuickChange and Tool Plate to the End Effector. The air module is available in face-seal ports and is available with self-sealing or checked valves so that when the QuickChange uncouples, air does not leak and no extra valve is required to shut the air off. lignment Pins - Pins located on the tool plate that are used to align the Tool Changer to the Tool Plate during the coupling process. DE-ST-CO uses 2 alignment pins one diamond shaped and one round. lignment pins also limit moment about the axis. Offset Refers to total Coupled Height of the Tool Changer and Tool Plate. It is important in calculation of moment as a function of Robot cceleration. The more offset you have, the more moment that will be created as the Robot accelerates. Offset may limit maximum Payload allowed. Payload Refers to the weight of the Tool Changer and/or End Effector and part to be handled by the robot. Payload Rating (Lbs, Kg) Refers to the maximum weight that the robot or Tool Changer can carry safely. aximum Payload Rating is limited by and needs to consider Offset, weight and envelope size of the End Effector and part to be handled as well as robot acceleration in order to calculate proper moment load. TOOL CHNGER TERINOLOGY 6.56 Checked Valves Valves designed for either fluid or pneumatic medium that have a self-sealing mechanism that automatically check the fluid when uncoupled. When a checked valve is used an additional valve is not required to shut-off the fluid or air upon disconnection. Deflection Defines the amount of movement (slop) expected under a given moment load. This measurement indicates the rigidity of the coupling mechanism. DeviceNet communication protocol common to the North merican automotive industry. DeviceNet system communicates over a serial link (daisy chain) to each component on the system. component can be anything from a proximity switch to a water saver to a robot controller. Each component has a specific address and can be polled for status by the system. communication bus system like this eliminates the need for thousands of I/O wiring points because all the communication is done over a 5-wire (CN HIGH, CN LOW, V+, V-, and DRIN) cable. Electrical odule lso called an I/O Block or I/O odule, it is a component within the QuickChange system. Electrical I/O (Input/Output) communication is done through this module. lso, internal switches for Couple/Uncouple/Ready-to-Couple may be wired to this module. Face-Seal Ports Refers to ports used to pass air or vacuum through the Tool Changer such as air for operating the retract feature of a spot weld gun or air to operate a venture vacuum pump on a material handling End Effector. The face-seal ports do not stop air or vacuum flow when the Tool Changer uncouples. They require an additional air valve to shut the air or vacuum off before uncoupling. Face-seal ports only have an O-ring to prevent air or vacuum loss when the Tool Changer is coupled. Locking echanism The mechanism that locks the Tool Changer to the Tool Plate. It consists of a piston, ram and rollers (rolling pins). anual Tool Changer Tool Changer that requires manual intervention to couple or uncouple. aximum Compression Refers to the maximum force that can be applied to the Tool Changer in a direction. Not very important for most applications. aximum oment (x, y, z) very important sizing rating because it takes into account the dynamic loads created by the motion of the robot. x, y and z are the moment created when rotating about the X, Y and axis respectively. Ready-To-Couple switch that indicates the QuickChange is in the proper orientation to couple with the Tool Plate. It indicates that the Tool Changer is close enough to the Tool Plate to activate the Locking echanism. It is important for the robot controller to make decisions such as drop-off End Effector, Couple tool, Uncouple tool. lso refers to a switch that reads if the Tool Changer is in a Ready-to-couple position, that is, in close proximity to the Tool Plate (.1 inch). Repeatability The ability to go back to a pre-programmed point. In the context of a Tool Changer this indicates the ability to couple with precision so that additional misalignment is not introduced into the tooling. Robot cceleration Refers to the rate of increase in speed at which the robot will operate. Important for calculating maximum moment rating or maximum payload rating when considering offset, envelope size, weight of end effector and weight of part. Self-Sealing port that seals itself when it uncouples from its mating half. Conversely, the port automatically opens when it couples with it mating half. Servo odule Refers to a component within the QuickChange system for special applications using a servo-powered spot weld gun or servopowered slide/cylinder. Electrical I/O (Input/Output) communication is also done through this module. Bolts on to the tool changer where the Electrical odule would normally mount. Water odule Refers to the component of the Gun Changer system that passes cooling water through the QuickChange and Tool Plate to and from the spot weld gun, transformer, kickless cables and shunts. The water module has self-sealing or checked ports so that when the QuickChange uncouples, water does not leak and no extra valve is required to shut the water off. Weld odule lso called a 2 mp odule, it is a component within the Gun Changer system. Weld Current is passed from the Weld Controller to the transformer for use by the spot weld gun. The DE-ST-CO Weld odule is rated for the maximum current rating of 2 mps at 1% duty cycle (constant power on). Vacuum odule Refers to the component of the Tool Changer system that passes vacuum and air through the QuickChange and Tool Plate to the End Effector. The vacuum module comes standard with face-seal ports. n extra valve is required to shut the vacuum and air off. aximum Payload The maximum amount of weight the Tool Changer can handle. payload rating is used to give the design engineer a general reference for the size of Tool Changer that should be used for an application. aximum Tensile The maximum amount of pull away (something in tension) that the QuickChange can tolerate before failure. oment Rating (N-, In-Lbs) The rating given to a QuickChange to describe the maximum amount of moment that the unit can handle and still maintain the published repeatability and performance specifications.

57 QULITY PRECISION DESIGN DURBILITY NOTES PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION QULITY PRECISION DURBILITY PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION QULITY PRECISION DURBILITY PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION 6.57 QULITY PRECISION DURBILITY PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION QULITY PRECISION DURBILITY TOOL CHNGER TERINOLOGY

58 Compliance Wrist Robotic applications: Excellent for inserting components that may be misaligned or skewed with respect to mating components. Reduces part jamming which could transmit excessive forces back to the robot. utomation applications: For insertion applications where part positioning may be less than precise. Compliance in torsion, bending and lateral directions allow this devise to compensate for part placing inaccuracies. ounting Information: Technical Specifications: RCW SERIES Pneumatic Specifications Imperial etric Pressure Operating Range 4-1 psi 3-7 bar Cylinder Type Double cting Dynamic Seals Internally Lubricated Buna-N Valve Required to Operate 4-way, 2-position 6.58 ir Quality Requirements ir Filtration ir Lubrication ir Humidity 4 icron or Better Not Necessary* Low oisture Content (dry) On size 5-8, robot side has tapped holes for mounting G On size 125-3, robot side has counter bored holes for mounting with a dowel hole and raised boss for location Temperature Operating Range Buna-N Seals (standard) -2 ~18 F -3 ~8 C aintenance Specifications Expected Life Normal pplication 5 million cycles w/ Preventative aintenance 1+ million cycles* Field Repairable Yes Seal Repair Kits vailable Yes *ddition of lubrication will greatly increase service life aintenance Section Not recommended in horizontal axis applications where the weight attached to the tool side can deflect the device On all sizes tool side has tapped holes for mounting. Sizes have pilot hole and dowel hole for positioning

59 Quality Components nodized aluminum components Elements are cutting fluid and coolant resistant Product Features Lifetime Lubrication Life time cylinder and locking mechanism lubrication Style-RCW Compliance Wrist Size-5 Style: RCW-5-3 ax. Payload: 2.4 lbs. 1. Kg Lateral Comp. (X/Y):.118 in. 3 mm Weight:.57 lbs..26 Kg Page 6.6 Style-RCW Compliance Wrist Size-8 Style: RCW-8-3 ax. Payload: 5 lbs. 2.4 Kg Lateral Comp. (X/Y):.118 in. 3 mm Weight:.57 lbs..26 Kg Page 6.61 Overload Pins Overload pins (sizes 8, 1 and 3) and anti-rotation device (sizes 16 and larger) Locking Cylinder Operating Principle Locking Cylinder Locking cylinder (standard on 125 and larger) creates a rigid coupling between the robot and tool plates Robot Plate Piston Style-RCW Compliance Wrist Size-1 Style: RCW-1-4,-6 ax. Payload: 8 lbs. 3.5 Kg Lateral Comp. (X/Y):.118 in. 3 mm Weight: 1. lbs..4 Kg Pages 6.62 & 6.63 Style-RCW Compliance Wrist Size-125 Style: RCW ax. Payload: 15 lbs. 7 Kg Lateral Comp. (X/Y):.79 in. 2 mm Weight: 2.6 lbs. 1.2 Kg Page 6.64 Elastic Element Piston Rod Positioning Cone Tool Plate Style-RCW Compliance Wrist Size-16 Style: RCW-16-6,-8 ax. Payload: 4 lbs. 18 Kg Lateral Comp. (X/Y):.79 in. 2 mm Weight: 3.7 lbs. 1.7 Kg Pages 6.65 & 6.66 RCW SERIES 6.59 Style-RCW Compliance Wrist Size-2 Style: ax. Payload: 115 RCW-2-12 lbs. 52 Kg Lateral Comp. (X/Y):.118 in. 3 mm Weight: 18.3 lbs. 8.3 Kg Pages 6.67 Exhaust Pressure Two aluminum plates are connected by elastomeric elements which allow lateral, angular, and rotational movement between them. Larger units with locking cylinder allow the two plates to be rigidly connected to one another during acceleration or deceleration of the payload. Style-RCW Compliance Wrist Size-3 Style: RCW-3-12 ax. Payload: 33 lbs. 15 Kg Lateral Comp. (X/Y):.98 in. 2 mm Weight: 12.8 lbs. 5.8 Kg Page 6.68

60 COPLINCE WRIST RCW-5-3 2X 15 3X #8-32 THRU ON Ø 1.5 [Ø 38.1] B.C. Specifications RCW-5-3 aximum Payload lbs 1.1 Kg isalignment Capability... ±.8 in. ±2 mm aximum Rotation... ±2º ±2º Weight lbs..26 Kg Temperature Range ~18 F -3 ~8 C Ø.315 [Ø 8] THRU Ø [Ø 5] 2X [8.] 3X #8-32 THRU ON Ø 1.5 [Ø 38.1] B.C [4.].315 [8.] Ø.315 [Ø 8] THRU VIEW RCW SERIES 6.6 Loading Information W X F L C T Y, X UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: BSIC ODEL RCW-5-3 Loading Capacity Imperial etric aximum Force F 18 lbs. 8 N aximum Tension T 9 lbs. 4 N aximum Compressive C 9 lbs. 4 N aximum oment x 177 in.-lbs. 2 Nm aximum oment y 177 in.-lbs. 2 Nm aximum oment z 177 in.-lbs. 2 Nm aximum Payload W 2.4 lbs. 1.1 Kg Stiffness Information Imperial etric Torsional Stiffness about axis 157 in-lbs/deg 17 N-m/deg Lateral Stiffness (X and Y axis) 228 lbf/in 4 N/mm xial Stiffness (compression axis) 9136 lbf/in 16 N/mm Insertion Point L ax 2 in. 5 mm

61 COPLINCE WRIST RCW-8-3 2X 15 Specifications RCW-8-3 aximum Payload lbs 2.4 Kg isalignment Capability ±.118 in. ±3 mm aximum Rotation ±2º ±2º Weight lbs..26 Kg Pressure Range (locked cylinder). 4-1 psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar] 5 lbs 222 N Valve required to actuate way, 2-position 3X #1-32 THRU ON Ø 2.75 [Ø 69.85] B.C. Ø.789 X.31 DP [Ø 2 X 8 DP] #1-32 X.192 DP [5 X 4.87 DP] IR PORT (LOCK) Ø 3.11 [Ø 79].47 [12] 2X 15 3X #1-32 THRU ON Ø 2.75 [Ø 69.85] B.C..92 [23].315 [8.] [42.].315 [8.] PNEUTIOCK (RECOENDED, OPTION) VIEW Loading Information W X F L C T Y, X UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: BSIC ODEL PNEUTIOCKING RCW OV - L OVERLOD PINS RCW SERIES 6.61 Loading Capacity Imperial etric aximum Force F 18 lbs. 8 N aximum Tension T 9 lbs. 4 N aximum Compressive C 9 lbs. 4 N aximum oment x 177 in.-lbs. 2 Nm aximum oment y 177 in.-lbs. 2 Nm aximum oment z 177 in.-lbs. 2 Nm aximum Payload W 5 lbs. 2.4 Kg Stiffness Information Imperial etric Torsional Stiffness about axis 248 in-lbs/deg 28 N-m/deg Lateral Stiffness (X and Y axis) 228 lbf/in 4 N/mm xial Stiffness (compression axis) 9136 lbf/in 16 N/mm Insertion Point L ax 4 in. 1 mm

62 COPLINCE WRIST RCW-1-4 4X #1-32 THRU ON Ø 3.5 [Ø 88.9] B.C. 2X 3 Specifications RCW-1-4 aximum Payload lbs 3.5 Kg isalignment Capability ±.118 in. ±3 mm aximum Rotation ±2º. ±2º Weight lbs..4 Kg Pressure Range (locked cylinder). 4-1 psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar]. 8 lbs 355 N Valve required to actuate way, 2-position 2X [21.24] VIEW Ø.985 X.31 DP [Ø 25 X 8 DP].8362 [21.24] Ø [Ø 1] Ø.197 [Ø 5 h7] THRU PNEUTIOCK (RECOENDED, OPTION).8362 [21.24] Ø.197 [Ø 5 h7] THRU.92 [23].315 [8.] [42.].8362 [21.24].315 [8.] 2X 3 #1-32 X.192 DP [5 X 4.87 DP] IR PORT (LOCK).47 [12] 4X #1-32 THRU ON Ø 3.5 [Ø 88.9] B.C. 2X 3 UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] RCW SERIES 6.62 Loading Information W X F L C T Y, X How to Order: BSIC ODEL PNEUTIOCKING RCW-1-4 -OV - L OVERLOD PINS Loading Capacity Imperial etric aximum Force F 34 lbs. 15 N aximum Tension T 124 lbs. 55 N aximum Compressive C 124 lbs. 55 N aximum oment x 177 in.-lbs. 2 Nm aximum oment y 177 in.-lbs. 2 Nm aximum oment z 177 in.-lbs. 2 Nm aximum Payload W 8 lbs. 3.5 Kg Stiffness Information Imperial etric Torsional Stiffness about axis 412 in-lbs/deg 46 N-m/deg Lateral Stiffness (X and Y axis) 286 lbf/in 5 N/mm xial Stiffness (compression axis) lbf/in 21 N/mm Insertion Point L ax 6 in. 15 mm

63 COPLINCE WRIST RCW-1-6 2X 3 Ø.985 X.31 DP [Ø 25 X 7.8 DP] 4X #1-32 THRU ON Ø 3.5 [Ø 88.9] B.C. Specifications RCW-1-6 aximum Payload... 8 lbs 3.5 Kg isalignment Capability... ±.118 in. ±3 mm aximum Rotation... ±2º ±2º Weight lbs..4 Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar]... 8 lbs 355 N Valve required to actuate... 4-way, 2-position.8362 [21.24] Ø.197 [Ø 5 h7] THRU.47 [12].8362 [21.24] Ø [Ø 1] PNUETIOCK (RECOENDED, OPTION).8362 [21.24] Ø.197 [Ø 5 h7] THRU.92 [23].315 [8.] [42.].8362 [21.24].315 [8.] 2X 3 #1-32 X.192 [4.87] DP IR PORT (LOCK) 4X #1-32 THRU ON Ø 3.5 [Ø 88.9] B.C. VIEW UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Loading Information W X F L C T Y, X How to Order: BSIC ODEL PNEUTIOCKING RCW-1-6 -OV - L OVERLOD PINS RCW SERIES 6.63 Loading Capacity Imperial etric aximum Force F 55 lbs. 24 N aximum Tension T 18 lbs. 8 N aximum Compressive C 18 lbs. 8 N aximum oment x 265 in.-lbs. 3 Nm aximum oment y 265 in.-lbs. 3 Nm aximum oment z 265 in.-lbs. 3 Nm aximum Payload W 8 lbs. 3.5 Kg Stiffness Information Imperial etric Torsional Stiffness about axis 628 in-lbs/deg 71 N-m/deg Lateral Stiffness (X and Y axis) 457 lbf/in 8 N/mm xial Stiffness (compression axis) lbf/in 32 N/mm Insertion Point L ax 6 in. 15 mm

64 COPLINCE WRIST RCW Ø.315 [Ø 8 h7] THRU [5.] 2X 3 2X 5 IR PORT (FITTING SUPPLIED FOR.25 [6] O.D. TUBING) Specifications RCW aximum Payload lbs 7 Kg isalignment Capability... ±.79 in. ±2 mm aximum Rotation... ±1º ±1º Weight lbs. 1.2 Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar] lbs 6 N Valve required to actuate... 4-way, 2-position 6X Ø.331 [Ø 8.4] THRU C BORE FOR 8 SHCS ON Ø [Ø 1] B.C. (FRO FR SIDE) 2X 3 5X 8 THRU ON Ø [Ø 1] B.C. Ø [Ø 125] Ø SF [Ø 5 h7] Ø.315 [Ø 8 h7] THRU.118 [3.].472 [12.].472 [12.] [5.] PNEUTIOCK (STNDRD) Ø SF [Ø 5 h7].157 [4.] [5.] 2X 3 VIEW UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] RCW SERIES 6.64 Loading Information W X F L C T Y, X How to Order: BSIC ODEL RCW Loading Capacity Imperial etric aximum Force F 36 lbs. 16 N aximum Tension T 18 lbs. 8 N aximum Compressive C 18 lbs. 8 N aximum oment x 265 in.-lbs. 3 Nm aximum oment y 265 in.-lbs. 3 Nm aximum oment z 265 in.-lbs. 3 Nm aximum Payload W 15 lbs. 7 Kg PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT Stiffness Information Imperial etric Torsional Stiffness about axis 785 in-lbs/deg 88 N-m/deg Lateral Stiffness (X and Y axis) 457 lbf/in 8 N/mm xial Stiffness (compression axis) lbf/in 32 N/mm Insertion Point L ax 8 in. 2 mm

65 COPLINCE WRIST RCW [62.5] Ø.3937 [Ø 1 h7] THRU 6 TYP 2X 5 IR PORT (FITTING SUPPLIED FOR.25 [6] O.D. TUBING) Specifications RCW-16-6 aximum Payload... 4 lbs 18 Kg isalignment Capability... ±.79 in. ±2 mm aximum Rotation... ±1º ±1º Weight lbs. 1.7 Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar] lbs 489 N Valve required to actuate... 4-way, 2-position NTI-ROTTION (-R STNDRD) 6X Ø.413[Ø 1.5] THRU C BORE FOR 1 SHCS EQ. SPCED ON Ø [Ø 125] B.C. (FRO FR SIDE).472 [12.] Ø6.26 [Ø159.] Ø SF [Ø 8 h7].118 [3.] 5X 1 THRU ON Ø [Ø 125] B.C. 2X [5.].472 [12.] PNEUTIOCK (STNDRD) Ø SF [Ø 8 h7].157 [4.] 2X [62.5] Loading Information W X F L C T Y, X How to Order: Ø.3937 [Ø 1 h7] THRU VIEW UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] BSIC ODEL NTI-ROTTION RCW R RCW SERIES 6.65 Loading Capacity Imperial etric aximum Force F 36 lbs. 16 N aximum Tension T 18 lbs. 8 N aximum Compressive C 18 lbs. 8 N aximum oment x 265 in.-lbs. 3 Nm aximum oment y 265 in.-lbs. 3 Nm aximum oment z 265 in.-lbs. 3 Nm aximum Payload W 4 lbs. 18 Kg Stiffness Information Imperial etric Torsional Stiffness about axis 998 in-lbs/deg 113 N-m/deg Lateral Stiffness (X and Y axis) 457 lbf/in 8 N/mm xial Stiffness (compression axis) lbf/in 32 N/mm Insertion Point L ax 12 in. 3 mm

66 COPLINCE WRIST RCW [62.5] Ø.3937 [Ø 1 h7] THRU 6 TYP Specifications RCW-16-8 aximum Payload... 4 lbs 18 Kg isalignment Capability... ±.79 in. ±2 mm aximum Rotation... ±1º ±1º Weight lbs. 1.7 Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar] lbs 489 N Valve required to actuate... 4-way, 2-position 2X 5 IR PORT (FITTING SUPPLIED FOR.25 [6] O.D. TUBING) NTI-ROTTION (-R STNDRD) 6X Ø.413[Ø 1.5] THRU C BORE FOR 1 SHCS EQ. SPCED ON Ø [Ø 125] B.C. (FRO FR SIDE).472 [12.] Ø6.26 [Ø159.] Ø SF [Ø 8 h7].118 [3.] 5X 1 THRU ON Ø [Ø 125] B.C. 2X [5.].472 [12.] PNEUTIOCK (STNDRD) Ø SF [Ø 8 h7].157 [4.] 2X [62.5] VIEW Ø.3937 [Ø 1 h7] THRU RCW SERIES 6.66 Loading Information W X F L C T Y, X UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: BSIC ODEL NTI-ROTTION RCW R Loading Capacity Imperial etric aximum Force F 45 lbs. 2 N aximum Tension T 225 lbs. 11 N aximum Compressive C 225 lbs. 11 N aximum oment x 78 in.-lbs. 8 Nm aximum oment y 78 in.-lbs. 8 Nm aximum oment z 78 in.-lbs. 8 Nm aximum Payload W 4 lbs. 18 Kg Stiffness Information Imperial etric Torsional Stiffness about axis 131 in-lbs/deg 148 N-m/deg Lateral Stiffness (X and Y axis) 57 lbf/in 1 N/mm xial Stiffness (compression axis) lbf/in 42 N/mm Insertion Point L ax 12 in. 3 mm

67 6x6 Ø.393SF [Ø1h7] THRU ON Ø6.299[Ø16] B.C. COPLINCE WRIST RCW-2-12 Specifications RCW-2-12 aximum Payload lbs 52 Kg isalignment Capability... ±.118 in. ±3 mm aximum Rotation... ±1º ±1º Weight lbs. 8.3 Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar]... 4 lbs 1779 N Valve required to actuate... 4-way, 2-position Ø.413 [ Ø 1.5] (6X) C'BORE FOR 1 SHCS (FRO FR SIDE) ON Ø [ Ø 16] B.C. G1/8 IR PORT (LOCK) 5 G1/8 IR PORT (UNLOCK) 6x6 6x6 Ø3.937SF [Ø1h6] Ø7.795 [Ø198].118 [3].276 [7].551 [14] 2.25 [56] Ø2.323 [Ø59] Ø3.937SF x.138dp [Ø1h7 x 3.5DP].551 [14] OUNTING BORE (6X) ON Ø [ Ø16] B.C. 1 (5X) ON Ø [ Ø 16] B.C. VIEW Loading Information W X F L C T Y, X UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: BSIC ODEL NTI-ROTTION RCW R RCW SERIES 6.67 Loading Capacity Imperial etric aximum Force F 68 lbs. 3 N aximum Tension T 45 lbs. 2 N aximum Compressive C 45 lbs. 2 N aximum oment x 79 in.-lbs. 8 Nm aximum oment y 79 in.-lbs. 8 Nm aximum oment z 79 in.-lbs. 8 Nm aximum Payload W 115 lbs. 52 Kg Stiffness Information Imperial etric Torsional Stiffness about axis 1632 in-lbs/deg 184 N-m/deg Lateral Stiffness (X and Y axis) 57 lbf/in 1 N/mm xial Stiffness (compression axis) lbf/in 64 N/mm Insertion Point L ax 16 in. 4 mm

68 COPLINCE WRIST RCW [62.51] 2X 3 2X 3 6X Ø.49 [Ø 1.4] THRU EQ SPCED ON Ø [2] B.C. Specifications RCW-3-12 aximum Payload lbs 15 Kg isalignment Capability... ±.98 in. ±2.5 mm aximum Rotation... ±1º ±1º Weight lbs. 5.8 Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar]... 4 lbs 1779 N Valve required to actuate... 4-way, 2-position [191.51] Ø.3937 SF [Ø 1 h7] THRU PNEUTIOCK (STNDRD).472 [12.] 2X Ø SF [Ø 1 h7] OVERLOD PINS (STNDRD).138 [3.5] 2X Ø.3937 SF [Ø 1 h7] THRU [5.] [16.7].472 [12.] 2X Ø SF [Ø 8 h7] Ø [Ø 3.].138 [3.5] 6X 1 EQ SPCED ON Ø [Ø 25.] B.C. 2X G1/8 IR PORTS L C VIEW RCW SERIES 6.68 Loading Information W X F L C T Y, X UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: BSIC ODEL RCW-3-12 Loading Capacity Imperial etric aximum Force F 9 lbs. 4 N aximum Tension T 45 lbs. 2 N aximum Compressive C 45 lbs. 2 N aximum oment x 88 in.-lbs. 1 Nm aximum oment y 88 in.-lbs. 1 Nm aximum oment z 88 in.-lbs. 1 Nm aximum Payload W 33 lbs. 15 Kg PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT Stiffness Information Imperial etric Torsional Stiffness about axis 3742 in-lbs/deg 422 N-m/deg Lateral Stiffness (X and Y axis) 915 lbf/in 16 N/mm xial Stiffness (compression axis) lbf/in 64 N/mm Insertion Point L ax 24 in. 6 mm

69 RCW Series Exploded View 1 2 Item Qty Name 1 1 Top Plate 2 x Flexible Element 3 1 Bottom Plate 4 1 Locking Cylinder 5 1 Overload Pin 6 1 Piston 7 1 Cap 8 1 Centering Cone NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. SK Seal Repair Kit Order # s Product Data Sheets RCW SERIES SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Projection

70 Lateral Compliance Device Pneumatic Centering Robotic applications: For inserting components that may be laterally misaligned with respect to mating parts. Reduces part jamming which could transmit excessive forces to the robot. Robot and tool side mounting patterns are made to DIN robot mounting standards. utomation applications: For insertion applications where part positioning may be less than precise. Compliance in lateral directions allows this device to compensate for part placing inaccuracies. Reduces jamming of mating components. ounting Information: Technical Specifications: K SERIES Pneumatic Specifications Imperial etric Pressure Operating Range 4-1 psi 3-7 bar Cylinder Type Double cting Dynamic Seals Buna-N Valve Required to Operate 4-way, 2-position 6.7 ir Quality Requirements ir Filtration ir Lubrication ir Humidity 4 icron or Better Not Necessary* Low oisture Content (dry) Robot side has counter bored holes for mounting with a dowel hole and raised boss for location G The tool side has tapped holes for mounting and a pilot hole and dowel hole for positioning Not recommended in horizontal axis applications where the weight attached to the tool side can deflect the device Temperature Operating Range Buna-N Seals (standard) -2 ~18 F -3 ~8 C aintenance Specifications Expected Life Normal pplication 5 million cycles w/ Preventative aintenance 1+ million cycles* pplication Restrictions Dirty or gritty environments achining operations generating chips Environments with loose particulate *ddition of lubrication will greatly increase service life aintenance Section

71 Hard Coat nodize nodized aluminum components Product Features Locking Cylinder Locking cylinder creates a rigid connection between robot and tool side Style-K Lateral lignment Style: K-8R Size -8R ax. Payload: 2 lb 1 Kg ax. isalignment:.8 in. 2mm Weight: 1.1 lb.5 Kg Page6.72 Style-K Lateral lignment Size -1 Style: K-1 ax. Payload: 5 lb 2.5 Kg ax. isalignment:.8 in. 2mm Weight: 1.8 lb.82 Kg Operating Principle Robot Plate Crossed Roller Bearing Crossed roller bearings eliminate side forces generated by placing misaligned components Locking Cylinder Piston Page 6.73 Style-K Lateral lignment Size -125 Style: K-125 ax. Payload: 1 lb 5 Kg ax. isalignment:.12 in. 3.mm Weight: 4.4 lb 2. Kg Page 6.74 Style-K Lateral lignment Size -16 Style: ax. Payload: 25 lb K Kg ax. isalignment:.15 in. 4mm Weight: 7. lb 3.2 Kg Tool Plate Exhaust Open Position Positioning Cone Piston Rod Pressure Roller Bearing Elements Page 6.75 Style-K Lateral lignment K SERIES 6.71 Size -2 Style: ax. Payload: 9 lb K-2 4 Kg ax. isalignment:.47 in. 12 mm Weight: 16.5 lb 7.5 Kg Pressure Lock Position Exhaust Se Page 6.76 The two halves of this device are connected by two pairs of crossed roller bearing slides that are perpendicular to one another. In the unlocked position, relative motion can occur independently between the two halves in both the X & Y directions. In the locked position, the tool half is brought back on center with respect to the robot half with the use of cone centering which is actuated by the built in air cylinder. Style-K Lateral lignment Size -3 Style: K-3 ax. Payload: 44 lb 2 Kg ax. isalignment:.98 in. 25 mm Weight: 115 lb 52Kg Page 6.77

72 LTERL LIGNENT K-8R PNEUTIC CENTERING SERIES [ 79.] [.789 SF 2 h7].78 [2.] Specifications K-8R aximum Payload... 2 lbs 1 Kg isalignment Capability... ±.8 in. ±2 mm Weight lb.5 Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar]... 3 lbs 133 N Repeatability... ±.1 in. ±.3 mm Valve required to actuate... 4-way, 2-position.626 [15.9].937 [23.8] [42.] 1.14 SF [ 28 h7].8 [2.] [ 79.1].159SF X.25 DP [ 4 h7 X 6 DP] [28.55] 4X 4 X.38 DP 1.17 [29.7] 4X.177 [ 4.5] THRU IR FITTINGS FOR C'BORE FRO 4 SHCS (FRO FR SIDE).25 [6] O.D. TUBING (SUPPLIED).524 [13.31] [44.5] 1.17 [29.7].3494 [8.87] K SERIES 6.72 K SERIES 7.72 Loading Information X C T Y,X [44.5] Loading Capacity Imperial etric aximum Tensile T 45 lb 2 N aximum Compressive C 45 lb 2 N aximum oment x 26 in.-lb 3. Nm aximum oment y 26 in.-lb 3. Nm aximum oment z 26 in.-lb 3. Nm aximum Payload W 2. lb 1 Kg W.159SF X.25 DP [ 4 h7 X 6 DP] How to Order: BSIC ODEL VIEW K-8R.7493 [19.3] UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] PNEUTIC CCESSORIES Standard Seal Repair Kit SLKT-213 1

73 LTERL LIGNENT K-1 PNEUTIC CENTERING SERIES.472 [12.] Ø 3.9 [Ø 99.] Ø SF [Ø 31.5 h6].118 [3.] Specifications K-1 aximum Payload... 5 lbs 2.5 Kg isalignment Capability... ±.8 in. ±2 mm Weight lb.82 Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar]... 7 lbs 311 N Repeatability... ±.1 in. ±.3 mm Valve required to actuate... 4-way, 2-position [42.].315 [8.].79 [2.] Ø SF [Ø 31.5 h7] Ø [Ø 1.] Ø.236 [Ø 6 h7] THRU Ø.259 [Ø 6.6] THRU C BORE FOR 6 SHCS (FRO FR SIDE) [35.4] 4 PS [4.] IR FITTINGS FOR.25 [6] O.D. TUBING (SUPPLIED) [56.6].9843 [25.] 4X 6 THRU [56.6] 5.4 [128] Ø.236 [Ø 6 h7] THRU VIEW Loading Information UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: K SERIES 6.73 X C T Y, X W BSIC ODEL K-1 K SERIES Loading Capacity Imperial etric aximum Tensile T 9 lb 4 N aximum Compressive C 9 lb 4 N aximum oment x 265 in.-lb 3. Nm aximum oment y 265 in.-lb 3. Nm aximum oment z 265 in.-lb 3. Nm aximum Payload W 5 lb 2.5 Kg PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT-132 1

74 LTERL LIGNENT K-125 PNEUTIC CENTERING SERIES.472 [12.].354 [9.] Ø [Ø 125.] Ø SF [Ø 5 h6] Ø SF [Ø 5 h7] Ø [Ø 125.].118 [3.] 1.98 [5.3].157 [4.] Specifications K-125 aximum Payload... 1 lbs 5 Kg isalignment Capability... ±.12 in. ±3 mm Weight lb 2. Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar] lbs 533 N Repeatability... ±.1 in. ±.3 mm Valve required to actuate... 4-way, 2-position [48.1] 6X 8 THRU Ø.315 [Ø 8 h7] THRU Ø.315 [Ø 8 h7] THRU [5.] 3.41 [86.6] [48.1] 3 IR FITTINGS FOR.25 [6] O.D. TUBING (SUPPLIED) [5.] [1.] Ø.331 [Ø 8.4] THRU C BORE FOR 8 SHCS (FRO FR SIDE) VIEW [34.] K SERIES 6.74 K SERIES 7.74 Loading Information X C T Y, X Loading Capacity Imperial etric aximum Tensile T 18 lb 81 N aximum Compressive C 18 lb 81 N aximum oment x 53 in.-lb 59.9 Nm aximum oment y 53 in.-lb 59.9 Nm aximum oment z 53 in.-lb 59.9 Nm aximum Payload W 1 lb 5 Kg W UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: BSIC ODEL K-125 PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT-133 1

75 LTERL LIGNENT K-16 PNEUTIC CENTERING SERIES.472 [12.] Ø 6.26 [Ø 159.] Ø SF [Ø 8 h6].118 [3.] Specifications K-16 aximum Payload lbs 11 Kg isalignment Capability... ±.15 in. ±4 mm Weight lb 3.2 Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar] lbs 533 N Repeatability... ±.1 in. ±.3 mm Valve required to actuate... 4-way, 2-position.472 [12.].157 [4.] [5] Ø SF [Ø 8 h7] Ø 6.26 [Ø 159.] [62.5] [7.7] 5X 1 THRU Ø.393 [Ø 1 h7] THRU Ø.393 [Ø 1 h7] THRU [18.3] [7.7] 3 IR FITTINGS FOR.25 [6] O.D. TUBING (SUPPLIED) [62.5] [62.5] 4X Ø.413 [Ø 1.5] THRU C BORE FOR 1 SHCS (FRO FR SIDE) [5.] VIEW Loading Information X UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: BSIC ODEL K-16 K SERIES 6.75 C T Y, X W PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT K SERIES Loading Capacity Imperial etric aximum Tensile T 225 lb 11 N aximum Compressive C 225 lb 11 N aximum oment x 885 in.-lb 1. Nm aximum oment y 885 in.-lb 1. Nm aximum oment z 885 in.-lb 1. Nm aximum Payload W 25 lb 11 Kg

76 LTERL LIGNENT K-2 PNEUTIC CENTERING SERIES.551 [14.] Ø [Ø 198.] Ø SF [Ø 1 h6].118 [3.] Specifications K-2 aximum Payload... 9 lbs 4 Kg isalignment Capability... ±.47 in. ±12 mm Weight lb 7.5 Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar]... 4 lbs 1779 N Repeatability... ±.1 in. ±.3 mm Valve required to actuate... 4-way, 2-position.551 [14.].157 [4.] [65.] Ø SF [Ø 1 h7] Ø [Ø 198.] 3.15 [8.] [8.] Ø.393SF X.393DP [Ø1h7 X 1DP] ON Ø6.299 [Ø16] B.C [81.3] Ø.393 [Ø 1 h7] THRU [138.6] 3.21 [81.3] 4 5X 1 THRU 3.15 [8.] 4X Ø.413 [Ø1.5] THRU C BORE FOR 1 SHCS (FRO FR SIDE) ON Ø4.528 [Ø115] BC [57.5] IR FITTINGS FOR.25 [6] TUBING (SUPPLIED) VIEW K SERIES 6.76 K SERIES 7.76 Loading Information X C T Y, X Loading Capacity Imperial etric aximum Tensile T 36 lb 161 N aximum Compressive C 36 lb 161 N aximum oment x 1327 in.-lb 15. Nm aximum oment y 1327 in.-lb 15. Nm aximum oment z 1327 in.-lb 15. Nm aximum Payload W 9 lb 4 Kg W UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: BSIC ODEL K-2 PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT-135 1

77 LTERL LIGNENT K-3 PNEUTIC CENTERING SERIES Specifications K-3 aximum Payload lbs 2 Kg isalignment Capability... ±.98 in. ±25 mm Weight lb 52 Kg Pressure Range (locked cylinder) psi 3-7 bar Temperature Range ~18 F -3 ~8 C Locking 8 PSI [5.5 bar] lbs 3224 N Repeatability... ±.1 in. ±.3 mm Valve required to actuate... 4-way, 2-position [32.9] 3.74 [95.] 5.96 [15.] [3.] 2x X [8.] [25.] [8.] 5.96 [15.] 2x X [25.] VIEW - K SERIES UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] 6.77 Loading Information X C T Y, X Loading Capacity Imperial etric aximum Tensile T 9 lb 43 N aximum Compressive C 9 lb 43 N aximum oment x 2655 in.-lb 3. Nm aximum oment y 2655 in.-lb 3. Nm aximum oment z 2655 in.-lb 3. Nm aximum Payload W 44 lb 2 Kg W How to Order: BSIC ODEL K-3 PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT K SERIES

78 K-8R Series Exploded View Item Qty Name (6 SCREWS) Robot Half 2 1 Tool Half 3 4 Way 4 1 Center Rail 5 1 Piston 6 1 Bushing 7 4 Roller Cage Half 8 4 Roller Cage Full 9 1 Cap 1 1 Retaining Ring Socket Head Screw 12 4 Set Screw 13 1 O-Ring 14 1 O-Ring 15 1 O-Ring 1 NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. K SERIES (6 SCREWS) (4 SET SCREWS) 8 Preload djustment 1) Loosen the six socket head cap screws on the robot half (1) about 1/2 turn. 2) Seat the way (3) that is furthest from the preload set screws (4) in position and using loctite on the threads, tighten those three screws to fasten the way in place. 3) Evenly advance the two preload set screws to a point where there is no play in the robot half. 4) Using loctite on the threads, tighten the remaining three screws to fasten the way (3) in place. NOTE: There is a possibility that when the second set of screws are tightened, the preload will increase - if this happens, loosen the three screws again and back off slightly and evenly on the two preload adjustment set screws. 5) Follow 1 thru 4 again to adjust the preload for the tool half (2). 6) Be sure that the bearings glide freely - if the unit becomes choppy then the preload might be too tight. 7) s a check to see that the preload has been set properly, you should be able to push on the end of one of the nylon bearing cages with about 3 pounds, and that half will move without the bearing skidding. SK Seal Repair Kit Order # s Product Data Sheets SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Projection

79 1 2 K-1~3 Series Exploded View Item Qty Name 1 1 Centering Cone 2 1 Top Plate 3 4 Rail,Fixed 4 4 Rail, oveable 5 4 Bearings 6 8 Stop 7 1 Shaft 8 1 Cap 9 1 Piston 1 1 Bottom Plate 11 1 Center Plate NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. SK Seal Repair Kit Order # s Product Data Sheets K SERIES SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Projection

80 Cylindrical Horizontal Compliance Devices Flexibility of the tool: Cylindrical Horizontal compliance devices are used for inserting components that may be misaligned with the tool. They allow a horizontal displacement that compensates for part placing inaccuracies. For precision applications: The use of high quality components allow to get centering repeatability from.2mm and angular repeatability from +/- 1. Harsh environments: The enclosed design of this series allows them to be used in harsh environments. Spring assist: Due to the optional spring assist, compliance may be used in single acting mode. CH SERIES 6.8 ounting Information: It is recommended to use the compliance in the vertical axis only Technical Specifications: Pneumatic Specifications Imperial etric Pressure Operating Range 3-1 psi 2-7 bar Cylinder Type Double acting or double acting spring assist or single acting spring return Dynamic seals Internally lubricated Buna-N seals Valves Required to Operate Double cting 4-way, 2 position Single cting (-RL or -R option) 3 way, 2 position The compliance is located using a pilot boss and a dowel pin and assembled using 4 or 6 through body screws G Tooling is located using a centering and a dowel pin and assembled using 4 screws ir Quality Requirements ir Filtration ir Lubrication ir Humidity 4 icron or Better Not Necessary* Low oisture Content (dry) Temperature Operating Range Joints Nitrile (standard) -1 ~18 F -25 ~8 C aintenance Specifications ** Expected Life Normal pplication 3 million cycles w/ Preventative aintenance 6+ million cycles Field Repairable Yes Seal Repair Kits vailable Yes Compliance can be operated using top manifold airport * ddition of lubrication will greatly increase service life ** aintenance Section

81 Spring ssist Spring assist option allows to center the tool (R) or to release the tooling (RL). It also allows the use in single acting mode ir Ports Side or top airports (top ports require O-rings) Bottom Case Product Features Operating Principle Quality Components ade from aluminum alloy hard coat anodization. ain components are made of hardened and precision ground steel Interface n optional blank interface allows to easily machine adapt the tooling onto the compliance Output Flange Style- Cylindrical Horizontal Compliance Devices Style: CH-5 Size-5 isalignment Capability: ±.118 in. ± 3 mm aximum Payload: 4.4 lbs. 2 Kg Weight:.43 lbs..195 Kg Page 6.82 Style- Cylindrical Horizontal Compliance Devices Style: CH-8 Size-8 isalignment Capability: ±.197 in. ± 5 mm aximum Payload: 17.6 lbs. 8 Kg Weight: 1.65 lbs..75 Kg Page 6.83 Style- Cylindrical Horizontal Compliance Devices Size-11 Style: CH-11 isalignment Capability: ±.256 in. ± 6.5 mm aximum Payload: 3.8 lbs. 14 Kg Weight: 4.63 lbs. 2.1 Kg Page 6.84 Crossed Ring Style- Cylindrical Horizontal Compliance Devices Body Spring Cap Centering Cone Piston Key Size-14 Style: CH-14 isalignment Capability: ±.315 in. ± 8 mm aximum Payload: lbs. 3 Kg Weight: 9.5 lbs Kg Page 6.85 Style- Cylindrical Horizontal Compliance Devices CH SERIES 6.81 Compliance Centered Size-165 Style: CH-165 isalignment Capability: ±.472 in. ± 12 mm aximum Payload: lbs. 4 Kg Weight: lbs. 8.7 Kg Page 6.86 Exhaust Pressure Exhaust Pressure double acting piston is linked to a centering cone with a male cone at its end. When actuated, the male cone goes into the female cone of the output flange. The two perpendicular slots of the crossed ring enables the tooling to keep its orientation. The spring assist option allows to center (R) or to release (RL) the output flange in case of air failure. It also allows the use in single acting mode.

82 CH-5 CYLINDRICL HORIONTL COPLINCE DEVICES [ Ø3 H9 x 1 DP] x [ 5 x 4.5 DP] [3.2] 4 x Ø.126 for [3] SHC screws 4 x [3 x 7 DP] [Ø2.5 H9 x 5 DP] [43] Ø1.693 [43.] Ø1.693 [ 2.] [3 h7] isalignment Capability ±.118 [16] Ø.63 - I: Tool Plate Option CH SERIES 6.82 Specifications CH-5 Centering [7 bar] lbs. 332 N aximum payload lbs. 2 Kg isalignment Capability... ±.12 in. ±3 mm Weight lbs..195 Kg Pressure Range (without springs) psi 2-7 bar Pressure Range (with springs) psi 3-7 bar Cylinder bore in. 34 mm Displacement in cm 3 ctuation....7 sec. /.7 sec Repeatability... ±.8 in. ±.2 mm ngular repeatability... ±1mn [3.5] 4 x Ø.138 for [3] SHC screws [5.] Ø1.969 [16.] Ø [Ø2.5 H9] [ 2 H7].7874 UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic odel) BSIC ODEL TOOL PLTE CH-5P - - I - x,y C T X Y z SPRING SSIST ISLIGNENT SPRING R Tool Recentering RL Tool Release Leave Blank. No Spring Option (standard) Loading Capacity Imperial etric aximum Tensile T 17 lbs. 75 N aximum Breakaway Compressive C 17 lbs. 75 N aximum Breakaway oment x 17.7 in.-lbs. 2 Nm aximum Breakaway oment y 17.7 in.-lbs. 2 Nm aximum Breakaway oment z 8.8 in.-lbs. 1 Nm ISLIGNENT XX Special isalignment x 1 (ie: 15 is for +/- 1.5mm) Leave Blank. Standard Capability

83 CH-8 CYLINDRICL HORIONTL COPLINCE DEVICES [Ø5 H9 x 13 DP] 2 x [4 x 5 DP] (supplied plugged) Free 4 4 Centred [5.8 h7] Centred [Ø4 H9 x 5 DP] 4 x [5 x 7 DP] Free [5.2] 4 x Ø.25 for [5] SHC screws [69.85] Ø2.75 [69.85] Ø x G1/8 x.24 [6] DP] [ 34.] isalignment Capability ±.197 [28] Ø1.12 [5.5] 4 x Ø.217 for [5] SHC screws - I: Tool Plate Option [8.] Ø3.15 [28.] Ø Specifications CH-8 Centering [7 bar] lbs. 135 N aximum payload lbs. 8 Kg isalignment Capability... ±.2 in. ±5 mm Weight lbs..75 Kg Pressure Range (without springs) psi 2-7 bar Pressure Range (with springs) psi 4-7 bar Cylinder bore in. 6 mm Displacement in cm 3 ctuation....8 sec. /.8 sec. Repeatability... ±.8 in. ±.2 mm ngular repeatability... ±1mn UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] 45 [Ø4 H9] H7 CH SERIES 6.83 Loading Information How to Order: (Order ccessories separately from Basic odel) BSIC ODEL TOOL PLTE CH-8P - - I - x,y C T X Y z SPRING SSIST ISLIGNENT SPRING R Tool Recentering RL Tool Release Leave Blank. No Spring Option (standard) Loading Capacity Imperial etric aximum Tensile T 36 lbs. 16 N aximum Breakaway Compressive C 36 lbs. 16 N aximum Breakaway oment x 71 in.-lbs. 8 Nm aximum Breakaway oment y 71 in.-lbs. 8 Nm aximum Breakaway oment z 53 in.-lbs. 6 Nm ISLIGNENT XX Special isalignment x 1 (ie: 15 is for +/- 1.5mm) Leave Blank. Standard Capability

84 CH-11 CYLINDRICL HORIONTL COPLINCE DEVICES [Ø8 H9 x 13 DP] 2 x [5 x 5 DP] (Supplied plugged) Free 45 3 Centred [76.2 h7] Centred 4 x [8 x 14 DP] Free [8.5] 4 x Ø.335 for [8] SHC srews [Ø6 H9 x 12 DP] [4.] [92.25] Ø x G1/8 x.31 [8] DP isalignment Capability ±.256 [28] Ø I: Tool Plate Option CH SERIES 6.84 Specifications CH-11 Centering [7 bar] lbs. 166 N aximum payload lbs. 14 Kg isalignment Capability... ±.25 in. ±6.5 mm Weight lbs. 2.1 Kg Pressure Range (without springs) psi 2-7 bar Pressure Range (with springs) psi 4-7 bar Cylinder bore in. 76 mm Displacement in cm 3 ctuation....1 sec. /.1 sec. Repeatability... ±.16 in. ±.4 mm ngular repeatability... ±15mn [9.] 4 x Ø.354 for [8] SHC srews [28.] Ø [11.] Ø4.331 [Ø6 H9] [4 H7] UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic odel) BSIC ODEL TOOL PLTE CH-11P - - I - x,y C T X Y z SPRING SSIST ISLIGNENT SPRING R Tool Recentering RL Tool Release Leave Blank. No Spring Option (standard) Loading Capacity Imperial etric aximum Tensile T 43 lbs. 19 N aximum Breakaway Compressive C 43 lbs. 19 N aximum Breakaway oment x 16 in.-lbs. 12 Nm aximum Breakaway oment y 16 in.-lbs. 12 Nm aximum Breakaway oment z 159 in.-lbs. 18 Nm ISLIGNENT XX Special isalignment x 1 (ie: 15 is for +/- 1.5mm) Leave Blank. Standard Capability

85 CH-14 CYLINDRICL HORIONTL COPLINCE DEVICES 2 x [6 x 7 DP] (Supplied plugged) Centred [122.2] Ø4.811 [18 h7] Centred 4 x [8 x 16 DP] [8.5] 6 x Ø.335 for [8] SHC screws [Ø6 H9 x 12 DP] Free 6 [122.2] Ø4.811 [Ø8 H9 x 2 DP] 2 x G1/4 x.39 [1] DP Free isalignment Capability ±.315 [4.] Ø I: Tool Plate Option Specifications CH-14 Centering [7 bar] lbs. 317 N aximum payload lbs. 3 Kg isalignment Capability... ±.31 in. ±8 mm Weight lbs Kg Pressure Range (without springs) psi 2-7 bar Pressure Range (with springs) psi 4-7 bar Cylinder bore in. 15 mm Displacement in cm3 ctuation....2 sec. /.2 sec. Repeatability... ±.24 in. ±.6 mm ngular repeatability... ±2mn [9.] 4 x Ø.354 for [8] SHC scews [Ø6 H9] 45 [14.] Ø5.512 [4.] Ø [54 H7] UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] CH SERIES 6.85 Loading Information How to Order: (Order ccessories separately from Basic odel) BSIC ODEL TOOL PLTE CH-14P - - I - x,y C T X Y z SPRING SSIST ISLIGNENT SPRING R Tool Recentering RL Tool Release Leave Blank. No Spring Option (standard) Loading Capacity Imperial etric aximum Tensile T 5 lbs. 225 N aximum Breakaway Compressive C 5 lbs. 225 N aximum Breakaway oment x 168 in.-lbs. 19 Nm aximum Breakaway oment y 168 in.-lbs. 19 Nm aximum Breakaway oment z 177 in.-lbs. 2 Nm ISLIGNENT XX Special isalignment x 1 (ie: 15 is for +/- 1.5mm) Leave Blank. Standard Capability

86 CH-165 CYLINDRICL HORIONTL COPLINCE DEVICES 2 x [6 x 7 DP] (Supplied plugged) Centred [142.9] Ø5.626 [127 h7] Centred 4 x [1 x 2 DP] [11.] 6 x Ø.433 for [1] SHC scews [Ø8 H9 x 16 DP] Free 6 [Ø1 H9 x 2 DP] 2 x G1/4 x.39 [1] DP Free [56 h7] isalignment Capability ±.472 [142.9] Ø5.626 [4.] Ø I: Tool Plate Option CH SERIES 6.86 Specifications CH-165 Centering [7 bar] lbs. 414 N aximum payload lbs. 4 Kg isalignment Capability... ±.47 in. ±12 mm Weight lbs. 8.7 Kg Pressure Range (without springs) psi 2-7 bar Pressure Range (with springs) psi 4-7 bar Cylinder bore in. 12 mm Displacement in cm 3 ctuation sec. /.36 sec. Repeatability... ±.24 in. ±.6 mm ngular repeatability... ±2mn [11.] 4 x Ø.433 for [1] SHC srews [Ø8 H9] 45 [165.] Ø [4.] Ø [56 H7] UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic odel) BSIC ODEL TOOL PLTE CH-165P - - I - x,y C T X Y z SPRING SSIST ISLIGNENT SPRING R Tool Recentering RL Tool Release Leave Blank. No Spring Option (standard) Loading Capacity Imperial etric aximum Tensile T 52 lbs. 23 N aximum Breakaway Compressive C 52 lbs. 23 N aximum Breakaway oment x 23 in.-lbs. 23 Nm aximum Breakaway oment y 23 in.-lbs. 23 Nm aximum Breakaway oment z 248 in.-lbs. 28 Nm ISLIGNENT XX Special isalignment x 1 (ie: 15 is for +/- 1.5mm) Leave Blank. Standard Capability

87 CH Series Exploded View Item Qty Name Body 2 1 Piston 3 1 Centering cone 4 1 Cap 5 1 Crossed ring 6 1 Output flange 7 1 Bottom case 8 2 Sleeve 9 4 Key 5 1 O-ring, Cap 51 2 O-ring, Cap 52 4 SS screw, Cap 53 2 SHC screw, Cap 54 1 O-ring, Piston 55 1 O-ring, Piston 56 1 O-ring, Centering cone 57 1 LHC screw, Piston 58 1 Washer, Piston 61 2 Pin, Key 62 2 Pin, Sleeve 65 2 Pin, Body 66 4 SHC screw, Flask 67 6 Spring NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices ssembly Procedures 1) Press-in the bushing (#8) into the body (#1) 2) Insert the pins (#65) into the body (#1) 3) Lubricate and insert the pins (#62) into the bushings (#8) 4) Lubricate and insert the keys (#9) into the pins (#62) 5) Lubricate and assemble the crossed ring (#5) onto the body (#1). The keys (#9) have to be positioned into the slots of the crossed ring 6) Insert the pins (#61) into the output flange (#6) 7) Lubricate and insert the keys (#9) into the pins (#61) 8) ssemble the sub assembly output flange and keys on the crossed ring (#5). The keys (#9) have to be positioned into the slots of the crossed ring 9) ount the bottom case (#7) onto the body, positioning with the pins (#65). 1) Fasten the bottom case (#7) using the screws (#66) with thread locker 11) Insert the O-Ring (#56) into the centering cone (#3) 12) Insert the O-Ring (#54) into the inside groove of the piston (#2) ) Insert the O-Ring (#55) into the outside groove of the piston (#2) 14) ssemble the piston (#2) with the centering cone (#3). For -RL option, the piston counterbore holes have to face the body counterbore holes. Opposite mounting for -R option. 15) Fasten the centering cone (#3) with the piston (#2) using the washer (#58) and the screw (#57) with thread locker 16) For RL option, insert the springs (#67) into the body and piston counterbore holes. 17) Insert the piston + centering cone sub assembly into the body 18) For R option, insert the springs (#67) into the cap and piston counterbore holes. 19) Insert the O-Ring (#5) into cap groove (#4) 2) Insert the O-Ring (#51) into counterbore holes of the cap (#4) 21) Screw the SS screws into the cap (#4) with thread locker 22) Locate and insert the cap (#4) into the body (#1) using the screws (52) with thread locker. CH SERIES INTENNCE 6.87 SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Projection

88 CH Series ssembled View Item Qty Name Body 2 1 Piston 3 1 Centering cone 4 1 Cap 5 1 Crossed ring 6 1 Output flange 7 1 Bottom case 8 2 Sleeve 9 4 Key 5 1 O-ring, Cap 51 2 O-ring, Cap 52 4 SS screw, Cap 53 2 SHC screw, Cap 54 1 O-ring, Piston 55 1 O-ring, Piston 56 1 O-ring, Centering cone 57 1 LHC screw, Piston 58 1 Washer, Piston 61 2 Pin, Key 62 2 Pin, Sleeve 65 2 Pin, Body 66 4 SHC screw, Flask 67 6 Spring NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. CH SERIES INTENNCE 6.88 SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Projection

89 QULITY PRECISION DESIGN DURBILITY NOTES PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION QULITY PRECISION DURBILITY PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION QULITY PRECISION DURBILITY PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION 6.89 QULITY PRECISION DURBILITY PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION QULITY PRECISION DURBILITY CH SERIES

90 Robot Load Limiters Robotic applications: Robots are designed to operate within certain load limits. The robot load limited protects the robot from overloads caused by collisions, excessive loading, or programming errors by providing a coupling that separates before the robots design limits are exceeded. switch signals the robot to stop if a de-coupling occurs. utomation applications: For insertion applications, part picking and placing. The load limiter can protect the part, the fixture or the assembly machine from overload in compressive, bending or torsional overload situations. ounting Information: Technical Specifications: ULS SERIES 6.9 Pneumatic Specifications Imperial etric Pressure Operating Range 4-1 psi 3-7 bar Cylinder Type Non-Conventional Valve Required to Operate 3-way, 2-position ir Quality Requirements ir Filtration 4 icron or Better ir Lubrication Not Necessary* ir Humidity Low oisture Content (dry) Robot side has counter bored holes for mounting with a dowel hole and raised boss for location G The tool side has tapped holes for mounting and a pilot hole and dowel hole for positioning Temperature Operating Range -2 ~18 F 3 ~8 C aintenance Specifications Expected Life Normal pplication 5 million cycles w/ Preventative aintenance 1+ million cycles Field Repairable Yes Seal Repair Kits vailable Yes pplication Restrictions Dirty or gritty environments achining operations generating chips Environments with loose particulate aintenance Section

91 Quality Components nodized aluminum components Product Features Style-ULS Load Limiter Size-8 Style: ULS-8 xial Breakaway: 24 lbs. 168 N Weight: 1.3 lbs..59 Kg Page 6.92 Style-ULS Load Limiter Style: Size-1 ULS-1 xial Breakaway: 33 lbs N Weight: 1.87 lbs..85 Kg Page 6.93 Built-in Sensor Built in proximity sensor for detecting de-coupling Pressure Plate ccurate pressure plate locating for repeatable re-coupling. Style-ULS Load Limiter Style: Size-125 ULS-125 xial Breakaway: 62 lbs. 275 N Weight: 3.52 lbs. 1.6 Kg Operating Principle Body Style-ULS Load Limiter Style: Size-16 Page 6.94 ULS-16 xial Breakaway: 1125 lbs. 5 N Weight: 7.1 lbs. 3.2 Kg Page 6.95 Locating Pin Sensor Seal Pressure Plate Tool Plate Style-ULS Load Limiter Style: Size-2 ULS-2 xial Breakaway: 175 lbs N Weight: lbs. 9.8 Kg Page 6.96 ULS SERIES 6.91 Pressure Exhaust Style-ULS Load Limiter Size-25 Style: ULS-25 xial Breakaway: 225 lbs. 9 N Weight: 35 lbs. 16 Kg Page 6.97 The robot limiter is comprised of two halves, the robot side and the tool side, which can be separated from one another but not detached. The two halves are held together by compressed air forcing the pressure plate to seal on the inside surface of the robot half. The force required to breakaway the unit is proportional to the air pressure. In the event of an overload the sensor detects the motion of the pressure plate and can signal the robot or assembly machine and the valve supplying pressure to the load limiter to shut down. When the collision is cleared and the tool is manually returned to the normal orientation the sensor can reactivate the valve to re-pressurize the device. Style-ULS Load Limiter Size-3 Style: xial Breakaway: 2475 lbs. ULS-3 11, N Weight: 53 lbs. 24 Kg Page 6.98

92 ULS-8 ROBOT LOD LIITER SERIES [34.].118 [3.].55 [14] Ø3.228 [Ø82.] Ø [Ø4h7].551 [14.] 5 IR PORT (FITTING SUPPIED FOR.25 [6] O.D. TUBING) 2.25 [56.] Specifications ULS-8 aximum Payload lbs. 4. Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in. 12 mm Weight lbs..59 Kg Pressure Range (locked cylinder) psi 1-7 bar Temperature Range ~16 F -2 ~7 C Repeatability... ±.1 in. ±.3 mm Valve required to actuate... 3-way, 2-position.512 [13.] Ø [Ø4H7].126 [3.2] 2.4 [5.9] 4X Ø.169 THRU [Ø4.3 THRU] C'BORE FOR 4 SHCS (FRO FR SIDE) Ø3.15 [Ø8.] [25.] 2X Ø6mm [Ø6H7] THRU 4.6 [13] 2.4 [5.9] [34.77] [31.55] [44.5] Ø4mm X.318DP [Ø4H7 X 8DP] [35.4] 8X 6 THRU [35.4] VIEW PNP SENSOR 24 VDC QUICK DISCONNECT CBLE (STNDRD).3668 [9.32] [44.5] ULS SERIES 6.92 Loading Information X, Y Loading Capacity at 9 psi 6 bar Imperial etric aximum Breakaway Compressive C 24 lbs. 168 N aximum Breakaway oment x 21 in.-lbs. 24 Nm aximum Breakaway oment y 21 in.-lbs. 24 Nm aximum Breakaway oment z 21 in.-lbs. 24 Nm C X UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) N lbs BSIC ODEL XIL LODING ULS-8 PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT aximum Overload Nm in.lbs OENT LODING XIL BREKWY OENT BREKWY PSI Bar PRESSURE PSI Bar PRESSURE

93 ULS-1 ROBOT LOD LIITER SERIES [34.].315 [8.].47 [12] Ø3.898 [Ø99.] Ø [Ø5h7] Ø [Ø5H7] Ø3.898 [Ø99.].118 [3.].79 [18.].118 [3.] [6.] 5 IR PORT (FITTING SUPPLIED FOR.25 [6] O.D. TUBING) Specifications ULS-1 aximum Payload lbs. 8. Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in. 14 mm Weight lbs..85 Kg Pressure Range (locked cylinder) psi 1-7 bar Temperature Range ~16 F -2 ~7 C Repeatability... ±.1 in. ±.3 mm Valve required to actuate... 3-way, 2-position PNP SENSOR 24 VDC QUICK DISCONNECT CBLE (STNDRD) Ø5mm X.318DP [Ø5H7 X 8DP] Ø8mm [Ø8H7] THRU 6X 8 THRU [45.] [4.] 5.52 [14] [34.4] [83.1] [69.3] [4.] 3.15 [8.] [34.4] [83.1] VIEW 4X Ø.28 THRU [Ø5.3 THRU] C'BORE FOR 5 SHCS (FRO FR SIDE) Loading Information UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) BSIC ODEL ULS SERIES 6.93 X, Y C X ULS-1 PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT Loading Capacity at 9 psi 6 bar Imperial etric aximum Breakaway Compressive C 33 lbs N aximum Breakaway oment x 35 in.-lbs. 4 Nm aximum Breakaway oment y 35 in.-lbs. 4 Nm aximum Breakaway oment z 35 in.-lbs. 4 Nm XIL BREKWY aximum Overload N lbs XIL LODING OENT BREKWY Nm in.lbs OENT LODING PSI Bar PRESSURE PSI Bar PRESSURE

94 ULS-125 ROBOT LOD LIITER SERIES [34.].157 [4.].55 [14] Ø4.921 [Ø125.] Ø2.483 [Ø63h7].79 [18.].157 [4.] 2.52 [64.] Specifications ULS-125 aximum Payload lbs. 12. Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in. 12 mm Weight lbs. 1.6 Kg Pressure Range (locked cylinder) psi 1-7 bar Temperature Range ~16 F -2 ~7 C Repeatability... ±.1 in. ±.3 mm Valve required to actuate... 3-way, 2-position PNP SENSOR 24 VDC O QUICK DISCONNECT CBLE (STNDRD).551 [14.] Ø2.483 [Ø63H7] Ø4.921 [Ø125.] [1.] 5 IR PORT (FITTING SUPPLIED FOR.25 [6] O.D. TUBING) 4X Ø.252 THRU [Ø6.4 THRU] C'BORE FOR 6 SHCS (FRO FR SIDE) 4.11 [14.4] 1.72 [43.2] 2X Ø8mm [Ø8H7] THRU 3.41 [86.6] [69.3] [4.] [5.] 12X 8 THRU 4.11 [14.4] 1.72 [43.2] [56.5] 6.43 [163] Ø5mm X.318DP [Ø5H7 X 8DP] ULS SERIES 6.94 Loading Information X, Y C [4.] X [5.] VIEW UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) BSIC ODEL ULS-125 PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT Loading Capacity at 9 psi 6 bar Imperial etric aximum Breakaway Compressive C 62 lbs. 275 N aximum Breakaway oment x 96 in.-lbs. 19 Nm aximum Breakaway oment y 96 in.-lbs. 19 Nm aximum Breakaway oment z 96 in.-lbs. 19 Nm aximum Overload N lbs XIL LODING Nm in.lbs OENT LODING XIIL BREKWY OENT BREKWY PSI Bar PRESSURE PSI Bar PRESSURE

95 ULS-16 ROBOT LOD LIITER SERIES [41.5].157 [4.].45 [12] Ø6.26 [Ø159.] Ø [Ø8h7].492 [12.5] 5 IR PO R T (FITTING SUPPLIED FOR.25 [6] O.D. TUBING] [7.] Specifications ULS-16 aximum Payload lbs. 2 Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in mm Weight lbs. 3.2 Kg Pressure Range (locked cylinder) psi 1-7 bar Temperature Range ~16 F -2 ~7 C Repeatability... ±.2in. ±.5 mm Valve required to actuate... 3-way, 2-position.394 [1.] Ø [Ø8H7] Ø5.79 [Ø145.].157 [4.] 2X PNP SENSOR 24 VDC QUICK DISCONNECT CBLE (STNDRD ) [1.] [5.] 2X 1mm 1H7 FOR OUTER 125mm B.C [146.] [62.5] [5.] 6X [86.6] [18.3] 6X Ø.252 THRU [Ø6.4 THRU] C'BORE FOR 6 SHCS (FRO FR SIDE ) [73.] [126.4] 7.37 [187] 6X 1 THRU Ø6mm X.318DP [Ø6H7 X 8DP] [62.5] [125.] [73.] VIEW Loading Information X, Y C X UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) BSIC ODEL ULS-16 PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT-14 1 ULS SERIES 6.95 Loading Capacity at 9 psi 6 bar Imperial etric aximum Breakaway Compressive C 1125 lbs. 5 N aximum Breakaway oment x 21 in.-lbs. 237 Nm aximum Breakaway oment y 21 in.-lbs. 237 Nm aximum Breakaway oment z 21 in.-lbs. 237 Nm XIL BREKWY aximum Overload N lbs. XIL LODING OENT BREKWY Nm in.lbs OENT LODING PSI Bar PRESSURE PSI Bar PRESSURE

96 ULS-2 ROBOT LOD LIITER SERIES.157 [4.] 2.25 [56.].83 [21] Ø7.795 [Ø198.] Ø3.937 [Ø1h7].827 [21.] 5 IR PORT (FITTING SUPPLIED FOR.25 [6] O.D. TUBING) [1.] Specifications ULS-2 aximum Payload lbs. 55. Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in. 9.5 mm Weight lbs. 9.8 Kg Pressure Range (locked cylinder) psi 1-7 bar Temperature Range ~16 F -2 ~7 C Repeatability... ±.4 in. ±.1 mm Valve required to actuate... 3-way, 2-position.197 [5.].591 [15.] Ø3.937 [Ø1H7] Ø7.795 [Ø198.] [138.6] 8X Ø.331 THRU [Ø8.4 THRU] C'BORE FOR 8 SHCS (FRO FR SIDE) 6.62 [168.1] [69.6] Ø8mm X.433DP [Ø8H7 X 11DP] [16.] 3.15 [8.] Ø1mm [Ø1H7] THRU 6.62 [168.1] [69.6] 8.76 [222] [99.] 6X 1 THRU [8.] 2X PNP SENSOR 24 VDC QUICK DISCONNECT CBLE (STNDRD) VIEW ULS SERIES 6.96 Loading Information X, Y C X UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) BSIC ODEL ULS-2 PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT Loading Capacity at 9 psi 6 bar Imperial etric aximum Breakaway Compressive C 175 lbs N aximum Breakaway oment x 45 in.-lbs. 59 Nm aximum Breakaway oment y 45 in.-lbs. 59 Nm aximum Breakaway oment z 45 in.-lbs. 59 Nm XIL BREKWY aximum Overload N lbs. XIL LODING OENT BREKWY Nm in.lbs OENT LODING PSI Bar PRESSURE PSI Bar PRESSURE

97 ULS-25 ROBOT LOD LIITER SERIES 1.24 [26.].157 [4.] Ø9.764 [Ø248.] Ø3.937 [Ø1h7] 1.24 [26.] 2.42 [61.] [15.] Specifications ULS-25 aximum Payload lbs. 8. Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in. 16 mm Weight lbs. 16 Kg Pressure Range (locked cylinder) psi 1-7 bar Temperature Range ~16 F -2 ~7 C Repeatability... ±.4 in. ±.1 mm Valve required to actuate... 3-way, 2-position.197 [5.].591 [15.] Ø3.937 [Ø1h7] Ø7.795 [Ø198.] 2X PNP SENSOR 24 VDC QUICK DISCONNECT CBLE (STNDRD) 6 TYP. 45 TYP. Ø8mm [Ø8H7] ON Ø9.133 [Ø232] [27.8] 2X Ø.3937 [Ø1H7] 6X 1 THRU ON Ø6.299 [Ø16] 6X 1 THRU ON Ø4.921 [Ø125] 8X Ø.33 [Ø8.4] THRU ON Ø9.133 [Ø232] Loading Information X, Y C X UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) BSIC ODEL ULS-25 PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT ULS SERIES 6.97 Loading Capacity at 9 psi 6 bar Imperial etric aximum Breakaway Compressive C 225 lbs. 9 N aximum Breakaway oment x 54 in.-lbs. 61 Nm aximum Breakaway oment y 54 in.-lbs. 61 Nm aximum Breakaway oment z 54 in.-lbs. 61 Nm XIL BREKWY aximum Overload N lbs. XIL LODING OENT BREKWY Nm in.lbs OENT LODING PSI Bar PRESSURE PSI Bar PRESSURE

98 ULS-3 ROBOT LOD LIITER SERIES.157 [4.] 1.24 [26.] Ø [Ø298.] Ø4.921 [Ø125.] [36.] [71.] 5.39 [128.] Specifications ULS-3 aximum Payload lbs. 12. Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in. 25 mm Weight lbs. 24. Kg Pressure Range (locked cylinder) psi 1-7 bar Temperature Range ~16 F -2 ~7 C Repeatability... ±.8 in. ±.2 mm Valve required to actuate... 3-way, 2-position.197 [5.].748 [19.] [125.] [25.] 22.5 PNP SENSOR 24 VDC QUICK DISCONNECT CBLE (STNDRD) 6 TYP. 45 TYP. Ø.3149 [Ø8H7] [322.4] Ø.4724 [Ø12H7] Ø.3937 [Ø1H7] 6X 1 ON Ø6.299 [Ø16] 6X 12 ON Ø7.874 [Ø2] VIEW - 8X Ø.33 [Ø8.4] THRU ON Ø11.12 [Ø282] ULS SERIES 6.98 Loading Information X, Y C X How to Order: (Order ccessories separately from Basic odel) BSIC ODEL ULS-3 PNEUTIC CCESSORIES ORDER # QTY/UNIT Standard Seal Repair Kit SLKT Loading Capacity at 9 psi 6 bar Imperial etric aximum Breakaway Compressive C 2475 lbs. 11, N aximum Breakaway oment x 6195 in.-lbs. 7 Nm aximum Breakaway oment y 6195 in.-lbs. 7 Nm aximum Breakaway oment z 6195 in.-lbs. 7 Nm XIL BREKWY aximum Overload N lbs XIL LODING PSI Bar PRESSURE OENT BREKWY Nm in.lbs OENT LODING PSI Bar PRESSURE

99 ULS Series Exploded View Item Qty Name 1 1 Body 2 1 Top Plate 3 1 Bottom Plate 4 1 Sensor 5 1 Pressure Plate NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. SK Seal Repair Kit Order # s Product Data Sheets ULS SERIES SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Projection

100 Emergency Stop odules Safety: This module is used between a robot and the tooling. It protects the part, the fixture or the assembly machine for overload in compressive, bending or torsional overload situations. Wide deflecting motion: The wide deflecting motions coupled to the electric pressure sensor avoid expensive expenses and maintenance breakdowns. Variable trip point: djusting the pressure from 2 to 1 bars allow to set a precise trip point as required by the application. Compact and robust: These modules are designed for harsh environment applications. U SERIES 6.1 ounting Information: odules can be mounted & operated in any orientation The module is located using pilot boss and a dowel pin and assembled with 4 thru body screws G Technical Specifications: Pneumatic Specifications Imperial etric Pressure Operating Range psi 2-1 bar Cylinder Type Non-Conventional Dynamic seals Internally lubricated Buna-N seals Valve Required to Operate -145 PSI regulator ir Quality Requirements ir Filtration ir Lubrication ir Humidity 4 icron or Better Not Necessary* Low oisture Content (dry) Temperature Operating Range -3 ~18 F -35 ~8 C aintenance Specifications ** Expected Life Normal pplication 5 million cycles w/ Preventative aintenance 1+ million cycles Field Repairable Yes Seal Repair Kits vailable Yes * ddition of lubrication will greatly increase service life ** aintenance Section The tooling is located using pilot boss and a dowel pin and assembles with 3 or 4 screws Using the blank plate allows the customer to locate and assemble its tooling to their convenience

101 Quality Components ade from aluminum alloy with red coat anodization. The modules main components are made of heat treated steel Product Features Tooling ttachment Tooling can be mounted directly on the output flange or using the provided blank flange Style- Emergency Stop odules Style: U-6 Size-6 xial Compliance:.28 in. 7 mm Rotation: 45º 45º ngular: 12º 12º Weight:.99 lbs..45 Kg Style- Emergency Stop odules Page 6.12 Style: U-8 Size-8 xial Compliance:.334 in. 8.5 mm Rotation: 24º 24º ngular: 12º 12º Weight: 1.5 lbs..68 Kg Electric Pressure Sensor Transmits a signal to the P in case of and overload or collision Operating Principle ir Ports Lateral air port Blank Plate Style- Emergency Stop odules Size-11 Page 6.13 Style: U-11 xial Compliance:.531 in mm Rotation: 31º 31º ngular: 12º 12º Weight: 4.6 lbs. 2.1 Kg Cap Sensor Spring Conical Seat Spherical Pin Body Output Flange Style- Emergency Stop odules Size-14 Page 6.14 Style: U-14 xial Compliance:.63 in. 16 mm Rotation: 45º 45º ngular: 12º 12º Weight: 8.8 lbs. 4. Kg Style- Emergency Stop odules Size-165 Page 6.15 Style: U-165 xial Compliance:.67 in. 17 mm Rotation: 24º 24º ngular: 12º 12º Weight: 12.8 lbs. 5.8 Kg U SERIES 6.11 Reset Position Pressure Overload Position The conical seat in the output flange and the spherical pin are used to place the module in the home position. The pressure inside the chamber applies an effort on the output flange to keep it in the home position. When an outside force or moment applied to the output flange is higher then the preset force, the conical seat moves from the spherical pin generating an air leakage. The air leakage causes a pressure fall down in the module chamber which is detected by the sensor. The tool reset has to be done manually. Page 6.16

102 U-6 EERGENCY STOP ODULES [6.] 4 x Ø ELECTRIC PRESSURE SENSOR COPRISING : banjo socket 1 locking clip Plug in sensor IP [38.1 h7] 1.5 SF [ Ø4 H9 x 13 DP] G 1/ Output flange attachment [13.] Ø x [5 x 1 DP] [22 h7].8661 SF [ Ø4 H9 x 8 DP] U SERIES 6.12 Specifications U-6 aximum Payload lbs. 1.8 Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in. 7 mm Weight lbs..45 Kg Pressure Range (locked cylinder) psi 2-1 bar Cylinder bore in. 45 mm Displacement....6 in. 3 1 cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.2 in. ±.5 mm Valve required to actuate... 3-way, 2-position Loading Information UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) BSIC ODEL U-6 aximum Overload x,y C z Loading Capacity at 1 psi 7 bar Imperial etric aximum Breakaway Compressive C 139 lbs. 62 N aximum Breakaway oment x 124 in.-lbs. 14 Nm aximum Breakaway oment y 89 in.-lbs. 1 Nm aximum Breakaway oment z 124 in.-lbs. 14 Nm Y XIL BREKWY N lbs XIL LODING PRESSURE PSI 1 Bar OENT BREKWY Nm in-lbs OENT LODING PRESSURE x, y z 145 PSI 1 Bar

103 U-8 EERGENCY STOP ODULES [7.] 4 x Ø ELECTRIC PRESSURE SENSOR COPRISING : 1 banjo socket 1 locking clip 1 Plug in sensor IP67 [5.8 h7] 2. SF [Ø5 H9 x 13 DP] G 1/ Output flange attachment [14 H7].5512 SF [3.5 H7] 1.28 SF 45 [13.] Ø.866 [Ø5 H9 x 7 DP] x [5 x 1 DP] Specifications U-8 aximum Payload lbs. 4.5 Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in. 8.5 mm Weight lbs..68 Kg Pressure Range (locked cylinder) psi 2-1 bar Cylinder bore in. 61 mm Displacement in cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.25 in. ±.6 mm Valve required to actuate... 3-way, 2-position Loading Information UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) BSIC ODEL U-8 U SERIES 6.13 aximum Overload x,y C z Loading Capacity at 1 psi 7 bar Imperial etric aximum Breakaway Compressive C 372 lbs N aximum Breakaway oment x 195 in.-lbs. 22 Nm aximum Breakaway oment y 221 in.-lbs. 25 Nm aximum Breakaway oment z 195 in.-lbs. 22 Nm Y XIL BREKWY N lbs XIL LODING PRESSURE 145 PSI 1 Bar OENT BREKWY Nm in-lbs OENT LODING x, y PRESSURE z 145 PSI 1 Bar

104 U-11 EERGENCY STOP ODULES [9.] 4 x Ø ELECTRIC PRESSURE SENSOR COPRISING : 1 banjo socket 1 locking clip 1 Plug in sensor IP [ 76.2 h7] SF [Ø5 H9 x 13 DP] G 1/ Output flange attachment [44 h7] SF [2 H7].7874 SF 45 [3] Ø1.181 [Ø6 H9 x 7 DP] x [6 x 11 DP] U SERIES 6.14 Specifications U-11 aximum Payload lbs. 8.5 Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in mm Weight lbs. 2.1 Kg Pressure Range (locked cylinder) psi 2-1 bar Cylinder bore in. 86 mm Displacement in cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.3 in. ±.8 mm Valve required to actuate... 3-way, 2-position Loading Information UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) BSIC ODEL U-11 aximum Overload x,y C z Loading Capacity at 1 psi 7 bar Imperial etric aximum Breakaway Compressive C 712 lbs. 317 N aximum Breakaway oment x 522 in.-lbs 59 Nm aximum Breakaway oment y 345 in.-lbs 39 Nm aximum Breakaway oment z 522 in.-lbs 59 Nm Y XIL BREKWY N lbs XIL LODING PRESSURE 145 PSI 1 Bar OENT BREKWY Nm in-lbs OENT LODING x, y PRESSURE z 145 PSI 1 Bar

105 U-14 EERGENCY STOP ODULES [11.] 4 x Ø ELECTRIC PRESSURE SENSOR COPRISING : 1 banjo socket 1 locking clip 1 Plug in sensor IP [ h7] 4.25 SF [Ø8 H9 x 25 DP] G 1/ Output flange attachment [25 H7].9843 SF [56 h7] SF 45 [38] Ø [Ø8 H9 x 15 DP] 4 x [8 x 2 DP] Specifications U-14 aximum Payload lbs Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in. 16 mm Weight lbs. 4. Kg Pressure Range (locked cylinder) psi 2-1 bar Cylinder bore in. 18 mm Displacement in cm 3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.4 in. ±.1 mm Valve required to actuate... 3-way, 2-position Loading Information UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) BSIC ODEL U-14 U SERIES 6.15 aximum Overload x,y C z Loading Capacity at 1 psi 7 bar Imperial etric aximum Breakaway Compressive C 1178 lbs. 524 N aximum Breakaway oment x 1584 in.-lbs 179 Nm aximum Breakaway oment y 1221 in.-lbs 138 Nm aximum Breakaway oment z 1584 in.-lbs 179 Nm Y XIL BREKWY N lbs XIL LODING PRESSURE 145 PSI 1 Bar OENT BREKWY Nm in-lbs OENT LODING x, y PRESSURE z 145 PSI 1 Bar

106 U165 EERGENCY STOP ODULES [13.] 4 x Ø ELECTRIC PRESSURE SENSOR COPRISING : 1 banjo socket 1 locking clip 1 Plug in sensor IP67 [127 h7] 5. SF [Ø1 H9 x 25 DP] G1/ Output flange attachment [28 H7] SF [61 h7] SF 45 [44] Ø1.732 [Ø1 H9 x 15 DP] x [1 x 21 DP] U SERIES 6.16 Specifications U-165 aximum Payload lbs. 22. Kg Rotational Compliance (X and Y axis) Rotational Compliance ( axis) xial Compliance ( axis) in. 17 mm Weight lbs. 5.8 Kg Pressure Range (locked cylinder) psi 2-1 bar Cylinder bore in. 121 mm Displacement in cm3 Temperature Range ~18 F -35 ~8 C Repeatability... ±.5 in. ±.12 mm Valve required to actuate... 3-way, 2-position Loading Information UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Imperial in. etric [mm] Dimensions are Third ngle ll Dowel Holes are SF (Slip Fit). etric Threads. = ±.1 [.] = [±.25] symmetrical about Projection Locational Tolerance Course Pitch. = ±.5 [.] = [±.13] centerline ±.5" or [±.13mm]. = ±.5 [.] = [±.13] How to Order: (Order ccessories separately from Basic odel) BSIC ODEL U-165 aximum Overload x,y C z Loading Capacity at 1 psi 7 bar Imperial etric aximum Breakaway Compressive C 1472 lbs. 655 N aximum Breakaway oment x 1956 in.-lbs 221 Nm aximum Breakaway oment y 1584 in.-lbs 179 Nm aximum Breakaway oment z 1956 in.-lbs 221 Nm Y XIL BREKWY N lbs XIL LODING PRESSURE 145 PSI 1 Bar OENT BREKWY Nm in-lbs OENT LODING x, y PRESSURE z 145 PSI 1 Bar

107 U Series Exploded View Item Qty Name Body 2 1 Blank Plate 3 1 Output Flange 4 2 Spherical pin 5 1 Stop 7 1 Spring cap 8 2 Cylindrical spacer 9 1 Cap 52 1 Pin, Output flange 53 4 SHC screw, Flange 54 4 Hexagon CSKH screw, Stop 55 2 Pin, Stop 56 2 SS screw, Cylindrical pin 57 1 Spring 58 1 O-ring, Cap 59 6 SHC screw, Cap 6 1 Pin, Cap 61 1 O-ring, output flange 69 1 Electric pressure sensor NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. djustment Procedures For an easier adjustment, the blank plate (#2) can be disassembled. It is also advised to supply the module with two bar air pressure. 1) Unscrew the SS screws (#56) to release the cylindrical spacer (#8) 2) Unscrew the spherical pin (#4) to release the contact with the conical seats of the output flange (#3) ) Line up the engraved sign of the body (#1) and the output flange (#3) 4) Screw, simultaneously, by successive quarter of turn, the spherical pin (#4) till getting a contact into the conical seats of the output flange (#3). Repeat this operation until getting a minimal angular freedom. 5) Fasten the SS screws (#56) into the lateral tapped holes of the cap (#9) ssembly Procedures 1) Locate the stop (#5) using the two pins (#55) into the body (#1) 2) Fasten the stop (#5) with (#54) screws with thread locker 3) Install the spring (#57) into the stop hole 4) Insert the spring cap (#7) into the spring (#57) 5) Insert the O-Ring (#58) into the top groove of the body (#1) 6) Screw the spherical pin (#4) into the cap (#9) 7) Insert the cylindrical spacer (#8) into the lateral holes of the cap (#9) 8) Fasten the SS screws (#56) into the lateral tapped holes of the cap (#9) 9) Insert the O-Ring (#61) into the groove of the cap (#9) 1) Insert the output flange (#3) into the cap (#9) lining up the engraved signs 11) Insert this subassembly into the body (#1) and locate it using (#6) pin 12) Fasten the cap (#9) with (#59) SH screws with thread locker 13) Locate the blank plate (#2) onto the output flange (#3) using the dowel pin (#52) 14) Fasten the blank plate (#2) with (#53) SH screws with thread locker 15) Screw the electric pressure sensor (#69) in the body (#1) U SERIES INTENNCE 6.17 SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Projection

108 U Series ssembled View Item Qty Name Body 2 1 Blank Plate 3 1 Output Flange 4 2 Spherical pin 5 1 Stop 7 1 Spring cap 8 2 Cylindrical spacer 9 1 Cap 52 1 Pin, Output flange 53 4 SHC screw, Flange 54 4 Hexagon CSKH screw, Stop 55 2 Pin, Stop 56 2 SS screw, Cylindrical pin 57 1 Spring 58 1 O-ring, Cap 59 6 SHC screw, Cap 6 1 Pin, Cap 61 1 O-ring, output flange 69 1 Electric pressure sensor NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. U SERIES INTENNCE 6.18 SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Projection

109 QULITY PRECISION DESIGN DURBILITY NOTES PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION QULITY PRECISION DURBILITY PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION QULITY PRECISION DURBILITY PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION 6.19 QULITY PRECISION DURBILITY PRECISION DURBILITY QULITY DURBILITY QULITY PRECISION QULITY PRECISION DURBILITY U SERIES INTENNCE

110 Resettable Emergency Stop odules Safety: This module is used between a robot and the tooling. It protects the part, the fixture or the assembly machine for overload in compressive, bending or torsional overload situations. Resettable: This module is equipped with a patented mechanism that helps to reset the tooling after an overload or collision. Wide deflecting motion: The wide deflecting motions coupled to the electric pressure sensor avoid expensive expenses and maintenance breakdowns. Variable trip point: djusting the pressure from 2 to 1 bars allow to set a precise trip point as required by the application. Compact and robust: These modules are designed for harsh environment applications. UR SERIES 6.11 ounting Information: odules can be mounted & operated in any orientation The module is located using pilot boss and a dowel pin and assembled with 4 thru body screws G Technical Specifications: Pneumatic Specifications Imperial etric Pressure Operating Range psi 2-1 bar Cylinder Type Non-Conventional Dynamic seals Internally lubricated Viton seals Valve Required to Operate -145 PSI regulator ir Quality Requirements ir Filtration ir Lubrication ir Humidity 4 icron or Better Not Necessary* Low oisture Content (dry) Temperature Operating Range -3 ~18 F -35 ~8 C aintenance Specifications ** Expected Life Normal pplication 5 million cycles w/ Preventative aintenance 1+ million cycles Field Repairable Yes Seal Repair Kits vailable Yes * ddition of lubrication will greatly increase service life ** aintenance Section The tooling is located using 2 dowel pins and assembled with 4 screws Using the blank plate allows the customer to locate and assemble its tooling to their convenience

111 Tooling ttachment Tooling can be mounted directly on the output flange or using the provided blank flange Product Features Quality Components ade from aluminum alloy with red coat anodization. The modules main components are made of heat treated steel Style- Emergency Stop odules Size-11 Style: U-11R xial Compliance:.531 in mm Rotation: 45º 45º ngular: 12º 12º Weight: 4.9 lbs Kg Resettable built-in cylinder helps to reset the module once after an overload ir Port Lateral air port Style- Emergency Stop odules Size-14 Page Style: U-14R xial Compliance:.689 in mm Rotation: 46.8º 46.8º ngular: 12º 12º Weight: 1.4 lbs Kg Page Electric Pressure Sensor Transmits a signal to the P in case of an overload or collision Operating Principle Blank Plate Cap Body Conical Seat Spherical Pin Output Flange UR SERIES Reset Position Pressure Overload Position The conical seat in the output flange and the spherical pin are used to place the module in the home position. The pressure inside the chamber applies an effort on the output flange to keep it in the home position. When an outside force or moment applied to the output flange is higher then the preset force, the conical seat moves from the spherical pin generating an air leakage. The air leakage causes a pressure fall down in the module chamber which is detected by the sensor. The module can be reset using the piston placed into the cylinder.