SIGMA NEXTGEN TOOL CHANGE SYSTEM

Transcription

1 SIGMA NEXTGEN TOOL CHANGE SYSTEM ROBOT ADAPTOR SNGR 125/160 SNGR 200 SNGR 200(6) TOOL ADAPTOR SNGT 125/160 SNGT 200 SNGT 200(6) Manual No , Rev 04 December 24, Saratoga Road Glenville, NY USA Phone: Fax:

2 Sigma NextGen Tool Change System Manual No , Rev 04 Page 2 REVISION REVISION DATE AUTHOR DESCRIPTION JD INITIAL RELEASE JD TM SC SC -ADDED 200 & 200(6) TO SIGMA NEXTGEN USER GUIDE -ADDED RECOMMENDED SEQUENCE OF OPERATION Added page OEM Switch Setting ESR SATS-9HAKYT - Added spring failure to Troubleshooting. - Added Spring to the Maintenance Schedule. - Added Replacement Procedure for Spring. - Added NOTICE for Robot Adaptor Plate Usage. MAJOR UPDATE Including: - Hook Latching Mechanism - Pressure Couple/Uncouple Sensing All rights reserved. Copyright Applied Robotics Inc. The use of this document is reserved exclusively for the use of Applied Robotics Incorporated customers and personnel. The information and drawings contained herein are the sole property of Applied Robotics Incorporated and shall not be divulged to any third party without the prior written consent of Applied Robotics Inc. The information in this document is subject to change without notice. Applied Robotics makes no warranty of any kind with regard to this user s guide, including but not limited to, implied warranties or fitness for a particular purpose. Applied Robotics Inc. shall not be liable for any errors contained herein or for incidental or consequential damages in connection with the performance or use of this material.

3 Sigma NextGen Tool Change System Manual No , Rev 04 Page 3 CONTENTS 1 PRECAUTIONS SYSTEM DESCRIPTION TECHNICAL SPECIFICATIONS SNG 125/ SNG SNG 200(6) INSTALLATION MOUNTING TO ROBOT FLANGE - SNGR 125/ MOUNTING TO ROBOT FLANGE SNGR MOUNTING TO ROBOT FLANGE SNGR200(6) MOUNTING TO END OF ARM TOOL SNGT MOUNTING TO END OF ARM TOOL SNGT 200 & SNGT 200(6) CONNECTING THE AIR SUPPLY OEM SWITCH SETTING Loss of air design features Pressure Sensing Couple/Uncouple Switches GUIDE TO OPERATION INITIAL TEST PROGRAMMING THE COUPLE AND UNCOUPLE POINTS TOOL DROP PREVENTION ARI RECOMMENDED SEQUENCE OF OPERATION TROUBLESHOOTING TROUBLESHOOTING GUIDE TROUBLESHOOTING FAULT TREE METHOD TO MANUALLY UNCOUPLE MAINTENANCE MAINTENANCE SCHEDULE ,000 Cycles ,000 Cycles ,000 Cycles ,000,000 Cycles ,250,000 Cycles ,500,000 Cycles ,500,000 Cycles ,000,000 Cycles ,250,000 Cycles ,500,000 Cycles ,750,000 Cycles ,000,000 Cycles... 33

4 Sigma NextGen Tool Change System Manual No , Rev 04 Page PREVENTATIVE MAINTENANCE Lubrication Robot Adaptor Tool Adaptor Lubrication Specifications Visual Checks Robot Adaptor Tool Adaptor SPARE PARTS SPARE PARTS REPLACEMENT CAP, CAM COVER SNG 125/160R, SNG 200, & SNG 200(6) SUBASSY, PRESSURE SENSING SNG 125/160, SNG 200, & SNG 200(6) LOCATING PIN, ROUND/DIAMOND SNG 125/160, SNG 200, & SNG 200(6)... 40

5 Sigma NextGen Tool Change System Manual No , Rev 04 1 PRECAUTIONS Page 5 READ MANUAL Do not start, operate, or service machine until you read and understand operator s manual. Failure to do so could result in serious injury. HAND CRUSH NOTICE Indicates the possibility for a crush force between components during coupling of the Robot and Tool Adaptor. Indicates a hazardous situation which, if not avoided, will result in death or serious injury. Indicates a hazardous situation which, if not avoided, could result in death or serious injury. Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury. Indicates a situation which, if not avoided, could result in equipment damage and voiding the manufacturer s equipment warranty. IGNORING INFORMATION ABOUT POTENTIAL HAZARDS CAN LEAD TO SERIOUS HARM TO PERSONNEL AND/ D/OR DAMAGE TO THE EQUIPMENT, AND MAY RESULT IN THE NULLIFICATION OF THE MANUFACTURER S EQUIPMENT WARRANTY. HEED ALL PRECAUTION NOTICES

6 Sigma NextGen Tool Change System Manual No , Rev 04 Page 6 2 SYSTEM DESCRIPTION The Sigma NextGen automatic tool changing system contains two major components: Robot Adaptor Assembly Attaches directly to a robot flange utilizing an ISO pattern without the need for adaptor plates on most currently available robotic arms. Tool Adaptor Assembly Attaches directly to a tooling plate. Mounting patterns follow thread sizes and spacing of the robot adaptor assemblies. The Sigma NextGen system provides a strong, fast, and reliable method for a robot to connect to and release a number of different tools. Attachment is through a mechanical linkage. To couple and uncouple the Sigma NextGen system, air is ported to a double acting cylinder in the robot adaptor assembly. This double acting cylinder drives 3 cams underneath 3 latching surfaces machined into the tool adaptor ring (the 200(6) model has 6 cams and latching surfaces). As the two halves of the Sigma NextGen system are brought together and the cams extended and retracted, the robot and tooling are physically connected and disconnected along with any utilities contained in the attached modules. The Sigma NextGen system utilizes two locating pins and 2 (or 4) fasteners for attaching the utility modules in order to create a precise and simple interface. The Sigma NextGen naming convention is explained on the next page.

7 Sigma NextGen Tool Change System Manual No , Rev 04 Page 7 SNG R 125/160-2P -X B0037 Assembly Code (Assigned by Factory) Hardware Kit & RTC Option (RA Only) Hardware Kit (First Digit) o 1 11xM10 w/ 1xM10 Dowel, 2 11xM12 w/ 1xM12 Dowel, 3 6xM12 w/ 1xM12 Dowel, 4(Special) 11xM10 (Grade 10.9) w/ 1xM10 (Diamond) Dowel RTC Option (Second Digit) o 0 No RTC Switches, 1 1 RTC Switch, 2 2 RTC Switches, 3 3 RTC Switches Hub Size/Diameter Available sizes: 50mm, 63mm, 80mm, 100mm, 125mm, or 160mm Bolting Pattern X = M10 on 125mm and 160mm BCs Y = M10 on 125mm BC; M12 on 160mm BC W = M12 on 200mm BC V = M16 on 200mm BC C/UC Switch Type (RA Only) 2 P = 2 PNP-wired switches 2N = 2 NPN-wired switches Bolting Circles 125/160 = 2 BCs: 125mm & 160mm 200 = single 200mm BC 200(6) 200mm BC w/ 6 cams Housing Type R = robot side T = tool side Product Code SNG = Sigma Next Generation SNGT160-X-HUB Tool Adaptor SNGR125/160-2P-X-HUB Robot Adaptor

8 Sigma NextGen Tool Change System Manual No , Rev 04 Page 8 3 TECHNICAL SPECIFICATIONS 3.1 SNG 125/160 Specifications Metric English Payload 500 Kg 1102 lb Maximum Applied Moment Mx, My 3013 N-m in-lb Maximum Applied Moment Mz 3194 N-m in-lb Width x Length 243 mm x mm 9.57 in x in Height (Robot and Tool Coupled) 120 mm 4.72 in Mass / Weight Robot 8.78 Kg lb Tool 6.20 Kg lb Positional Repeatability X & Y axis +/ mm +/ in Positional Repeatability Z axis +/ mm +/ in Operating Temperature 5-60 C F Supply Pressure 6 ± 1 Bar psi

9 Sigma NextGen Tool Change System Manual No , Rev 04 Page SNG 200 Specifications Metric English Payload 1000 Kg 2205 lb Maximum Applied Moment Mx, My 5181 N-m in-lb Maximum Applied Moment Mz 5440 N-m in-lb Width x Length 310 mm x 358 mm 12.2 in x 14.1 in Height (Robot and Tool Coupled) 120 mm 4.72 in Mass / Weight Robot Kg lb Tool 9.45 Kg lb Positional Repeatability X & Y axis +/ mm +/ in Positional Repeatability Z axis +/ mm +/ in Operating Temperature 5-60 C F Supply Pressure 6 ± 1 Bar psi

10 Sigma NextGen Tool Change System Manual No , Rev 04 Page SNG 200(6) Specifications Metric English Payload 1500 Kg 3307 lb Maximum Applied Moment Mx, My N-m in-lb Maximum Applied Moment Mz N-m in-lb Width x Length 310 mm x 358 mm 12.2 in x 14.1 in Height (Robot and Tool Coupled) 120 mm 4.72 in Mass / Weight Robot Kg lb Tool 9.45 Kg lb Positional Repeatability X & Y axis +/ mm +/ in Positional Repeatability Z axis +/ mm +/ in Operating Temperature 5-60 C F Supply Pressure 6 ± 1 Bar psi

11 Sigma NextGen Tool Change System Manual No , Rev 04 4 INSTALLATION 4.1 MOUNTING TO ROBOT FLANGE - SNGR 125/160 The Sigma NextGen SNGR125/160 robot adaptor assemblies are designed to mount directly to robots utilizing either an ISO 125mm or ISO 160mm bolt pattern. The ISO mm mounting pattern consists of 11 M10 threaded holes and one M10 dowel hole, evenly spaced on a 125mm bolt circle. If using bolting ring pattern X, the ISO mm mounting pattern consists of 11 M10 threadedd holes and one M10 dowel hole, evenly spaced on a 160mm bolt circle. If using bolting ring pattern Y, the ISO 160mm mounting pattern consists of 11 M12 threaded holes and one M12 dowel hole, evenly spaced on a 160mm bolt circle. The patterns also include a locating hub with a diameter of either 50, 63, 80, 100, or 125 mm. The following steps should be followed to ensure the Robot Adaptor Assembly is correctly mounted to the robot flange. Using bolting ring pattern X or Y and the 125mm B.C. with M10 socket head cap screws: 1. Locate the robot adaptor housing to the robot mounting flange utilizing the HUB diameter locating boss and/or M10 locating dowels for proper positioning. 2. Insert and tighten the M10 socket head cap screws (minimum Property Classs 10.9) provided with the robot adaptor assembly. The torque applied to these screws must follow either the robot manufacturer s specifications or ISO 898 torque values. Using bolting ring pattern X and the 160mm B.C. with M10 socket head cap screws: 1. Locate the robot adaptor housing to the robot mounting flange utilizing the HUB locating boss and/or M10 locating dowel for proper positioning. 2. Insert and tighten the M10 socket head cap screws (minimum Property Classs 10.9) provided with the robot adaptor assembly. The torque applied to these screws must follow either the robot manufacturer s specifications or ISO 898 torque values. Using bolting ring pattern Y and the 160mm B.C. with M12 socket head cap screws: Page 11 ENSURE THAT THE MATING SURFACES OF THE ROBOT ADAPTOR AND ROBOT FLANGE ARE FLUSH (PLANAR) WHEN FASTENING THE SCREWS. ENSURE THAT THE MATING SURFACES OF THE ROBOT ADAPTOR AND ROBOT FLANGE ARE FLUSH (PLANAR) WHEN FASTENING THE SCREWS. ENSURE THAT THE MATING SURFACES OF THE ROBOT ADAPTOR AND ROBOT FLANGE ARE FLUSH (PLANAR) WHEN FASTENING THE SCREWS. 1. Locate the robot adaptor housing to the robot mounting flange utilizing the HUB diameter locating boss and/or M12 locating dowel for proper positioning. 2. Insert and tighten the M12 socket head cap screws (minimum Property Classs 10.9) provided with the robot adaptor assembly. The torque applied to these screws must follow either the robot manufacturer s specifications or ISO 898 torque values.

12 Sigma NextGen Tool Change System Manual No , Rev 04 Page 12 TIGHTEN FACEPLATE MOUNTING SCREWS TO ROBOT MANUFACTURER S SPECIFICATIONS. IF USING LOCTITE, USE LOCTITE 242. DO NOT EXCEED THE MAXIMUM APPLIED MOMENT OF THE TOOL CHANGER WHEN USING A ROBOT ADAPTOR PLATE TO ADAPT TO OTHER BOLTING PATTERNS.

13 Sigma NextGen Tool Change System Manual No , Rev 04 Page MOUNTING TO ROBOT FLANGE SNGR200 The Sigma NextGen SNGR 200 robot adaptor assemblies are designed to mount directly to robots utilizing an ISO mm bolt pattern. The SNGR 200 mounting pattern consists of 10 M12 threaded holes and one M12 dowel hole, evenly spaced on a 200mm bolt circle. This pattern also includes a locating hub with a diameter of either 125mm or 160 mm. The following steps should be followed to ensure the Robot Adaptor Assembly is correctly mounted to the robot flange. Using bolting ring pattern W and the 200 B.C. with M12 socket head cap screws: ENSURE THAT THE MATING SURFACES OF THE ROBOT ADAPTOR AND ROBOT FLANGE ARE FLUSH (PLANAR) WHEN FASTENING THE SCREWS. 1. Locate the robot adaptor housing to the robot mounting flange utilizing the HUB diameter locating boss and/or M12 locating dowels for proper positioning. 2. Insert and tighten the M12 socket head cap screws (minimum Property Classs 10.9) provided with the robot adaptor assembly. The torque applied to these screws must follow either the robot manufacturer s specifications or ISO 898 torque values. TIGHTEN FACEPLATE MOUNTING SCREWS TO ROBOT MANUFACTURER S SPECIFICATIONS. IF USING LOCTITE, USE LOCTITE 242. DO NOT EXCEED THE MAXIMUM APPLIED MOMENT OF THE TOOL CHANGER WHEN USING A ROBOT ADAPTOR PLATE TO ADAPT TO OTHER BOLTING PATTERNS.

14 Sigma NextGen Tool Change System Manual No , Rev 04 Page MOUNTING TO ROBOT FLANGE SNGR200(6) The Sigma NextGen SNGR 200(6) robot adaptor assemblies are designed to mount directly to the KUKA KR1000. The SNGR 200(6) mounting pattern consists of 18 M16 threaded holes and one M12 dowel hole, evenly spaced on a 200mm bolt circle. This pattern also includes a locating hub with a diameter of either 125mm or 160 mm. The following steps should be followed to ensure the Robot Adaptor Assembly is correctly mounted to the robot flange. Using bolting ring pattern V and the 200 B.C. with M16 low head socket head cap screws: ENSURE THAT THE MATING SURFACES OF THE ROBOT ADAPTOR AND ROBOT FLANGE ARE FLUSH (PLANAR) WHEN FASTENING THE SCREWS. 1. Locate the robot adaptor housing to the robot mounting flange utilizing the HUB diameter locating boss and/or M12 locating dowels for proper positioning. 2. Insert and tighten the M16 low head socket head cap screws (minimum Property Class 10.9) provided with the robot adaptor assembly. The torque applied to these screws must follow either the robot manufacturer s specifications or ISO 898 torque values. TIGHTEN FACEPLATE MOUNTING SCREWS TO ROBOT MANUFACTURER S SPECIFICATIONS. IF USING LOCTITE, USE LOCTITE 242. DO NOT EXCEED THE MAXIMUM APPLIED MOMENT OF THE TOOL CHANGER WHEN USING A ROBOT ADAPTOR PLATE TO ADAPT TO OTHER BOLTING PATTERNS.

15 Sigma NextGen Tool Change System Manual No , Rev 04 Page MOUNTING TO END OF ARM TOOL SNGT160 The Sigma Next Generation SNGT160 tool adaptor assemblies are designed to mount directly to customer tooling utilizing an ISO mm bolt pattern. If using bolting ring pattern X, the ISO 160mm mounting pattern consists of (6 or 11) M10 threaded holes and one M10 dowel hole, evenly spaced on a 160mm bolt circle. If using bolting ring pattern Y, the ISO 160 mm mounting pattern consists of (6 or 11) M12 threaded holes and one M12 dowel hole, evenly spaced on a 160mm bolt circle. The patterns also include a locating pocket with a diameter of 100 mm. The following steps should be followed to ensuree the Tool Adaptor Assembly is correctly mounted to the customer s tool. Using bolting ring pattern X and the 160 B.C. with M10 socket head cap screws: ENSURE THAT THE MATING SURFACES OF THE ROBOT ADAPTOR AND ROBOT FLANGE ARE FLUSH (PLANAR) WHEN FASTENING THE SCREWS. 1. Locate the tool adaptor housing to the tool plate utilizing the 100 mm diameter receiving pocket and/or M10 locating dowels for proper positioning. 2. Insert and tighten the M10 socket head cap screws [ARI can provide a tool adaptor assembly (optional)]. Applied Robotics includes Property Class 10.9 (minimum) socket head cap screws and recommends the use of steel threads in the tool plate and ISO 898 thread engagement and torque values. Using bolting ring pattern Y and the 160 B.C. with M12 socket head cap screws: ENSURE THAT THE MATING SURFACES OF THE ROBOT ADAPTOR AND ROBOT FLANGE ARE FLUSH (PLANAR) WHEN FASTENING THE SCREWS. 1. Locate the tool adaptor housing to the tool plate utilizing the 100 mm diameter receiving pocket and/or M12 locating dowels for proper positioning. 2. Insert and tighten the M12 socket head cap screws [ARI can provide a tool adaptor assembly (optional)]. Applied Robotics includes Property Class 10.9 (minimum) socket head cap screws and recommends the use of steel threads in the tool plate and ISO 898 thread engagement and torque values. TIGHTEN FACEPLATE MOUNTING SCREWSS TO THE APPROPRIATE SPECIFICATION DEPENDING ON THE END EFFECTOR USED. IF USING LOCTITE, USE LOCTITE 242.

16 Sigma NextGen Tool Change System Manual No , Rev 04 Page MOUNTING TO END OF ARM TOOL SNGT 200 & SNGT 200(6) The Sigma Next Generation SNGT 200 and SNGT 200(6) tool adaptor assemblies are designed to mount directly to customer tooling utilizing an ISO mm bolt pattern. The ISO 200mm mounting pattern consists of (6 or 10) M12 threaded holes and one M12 dowel hole, evenly spaced on a 200mm bolt circle. The Sigma NextGen also includes a locating pocket with a diameter of 125 mm. The following steps should be followed to ensure the Tool Adaptor Assembly is correctly mounted to the customer s tool. Using bolting ring pattern W and the 200 B.C. with M12 socket head cap screws: ENSURE THAT THE MATING SURFACES OF THE TOOL ADAPTOR AND TOOL PLATE ARE FLUSH (PLANAR) WHEN FASTENING THE SCREWS. 1. Locate the tool adaptor housing to the tool plate utilizing the 125 mm diameter receiving pocket and/or M12 locating dowels for proper positioning. 2. Insert and tighten the M12 socket head cap screws [ARI can provide a tool adaptor assembly (optional)]. Applied Robotics includes Property Class 10.9 (minimum) socket head cap screws and recommends the use of steel threads in the tool plate and ISO 898 thread engagement and torque values. TIGHTEN MOUNTING SCREWS TO THE APPROPRIATE SPECIFICATION DEPENDING ON THE END EFFECTOR USED. IF USING LOCTITE, USE LOCTITE 242.

17 Sigma NextGen Tool Change System Manual No , Rev 04 Page 17 IF A PILOT IS USED TO LOCATE THE TOOL TO THE TOOL ADAPTOR, CARE MUST BE TAKEN TO ENSURE CLEARANCE FOR THE LATCHING MECHANISM. 8.00mm MAX The locating hub on the tool cannot protrude into the tool changer greater than 8.00mm. This will interfere with the cam engagement mechanism, and prevent the Tool Changer from coupling. The Tool Side has a limiting hub which prevents the integrator from inserting a hub that would interfere with the mechanism. dimension to the right for proper measurement limitations.

18 Sigma NextGen Tool Change System Manual No , Rev 04 Page CONNECTING THE AIR SUPPLY Install air fittings for Couple and Uncouple (actuation ports supplied by customer) PNEUMATIC PRESSURE SHOULD NEVER BE SUPPLIED TO THE SIGMA NEXTGEN SYSTEM UNLESS THE POSITION OF THE VALVE SUPPLYING THE AIR IS KNOWN AND HAS BEEN CONFIRMED. FAILURE TO DO SO CAN RESULT IN SERVIOUS INJURY OR DEATH FROM A DROPPED TOOL. THE ROBOT SHOULD NEVER BE RUN WITHOUT AIR PRESSURE BEING SUPPLIED TO THE TOOL CHANGER. PRESSURE TO THE TOOL CHANGER MUST BE AT LEAST 4.9 BAR (72 PSIG) FOR PROPER OPERATION. IF A SINGLE SOLENOID, SPRING-RETURN, 4-WAY PNEUMATIC VALVE IS USED, THE FOLLOWING MUST BE UNDERSTOOD AND ADHERED TO: IN THE DE-ENERGIZED STATE, THE VALVE MUST PROVIDE AIR TO THE COUPLE PORT ONLY. UNCOUPLE COUPLE Both the coupling and uncoupling actuation port lines must be installed in order for the XChange System to function properly. Either a single solenoid spring-return 4-way pneumatic valve or a double solenoid 4-way pneumatic valve can be used to connect air to the couple and uncouple ports on the Robot Adaptor Unit. S.1-EM-R-V-PB The valve module used for the Sigma NextGen series of tool changers is a single solenoid 4-way pneumatic valve (see S.1- EM-R-V-PB at left). This module can only be installed on side 1 of the robot housing so that it is over the couple and uncouple ports. The valve module is designed to interface directly and be controlled through the robot electrical module for easy integration. S-EM-R-U-2V1/2BS-V The pneumatic supply for the valve module can be supplied via the appropriate universal module (see S-EM- R-U-2V1/2BS-V at left). Alternately it can be supplied through a separate supply line coming down the robot arm.

19 Sigma NextGen Tool Change System Manual No , Rev 04 Page OEM SWITCH SETTING WHEN THE ARI DOUBLE SOLENOID 4-WAY PNEUMATIC VALVE MODULE IS USED, THE FOLLOWING CONDITIONS MUST BE UNDERSTOOD AND ADHERED TO: THE VALVE WILL REMAIN IN ITS PRESENT POSITION UNTIL ITS POSITION IS CHANGED BY EITHER ENERGIZING THE ALTERNATE SOLENOID OR MANUALLY PRESSING THE ALTERNATE SOLENOID OVERRIDE BUTTON LOCATED ON THE VALVE BODY. IF THE SOLENOID ON ONE SIDE OF THE VALVE IS ENERGIZED, THE CONDITION OF THE VALVE WILL NOT CHANGE BY ONLY ENERGIZING THE OTHER SOLENOID. YOU MUST ALSO DE-ENERGIZE THE FIRST SOLENOID. THE VALVE WILL NOT CHANGE UNLESS THERE IS AIR SUPPLY TO THE VALVE. THE POWER FLOW TO THE UNCOUPLE SOLENOID SHOULD ALWAYS BE ROUTED IN SERIES THROUGH ALL TOOL STORAGE FIXTURE TOOL PRESENT SWITCHES. ARI SINGLE SOLENOID 4- WAY PNEUMATIC VALVE MODULE COUPLE AND UNCOUPLE SENSOR SIGNALS SHOULD BE CONTINUALLY MONITORED TO VERIFY THAT THE TOOL CHANGER IS IN THE PROPER STATE BEFORE COMMANDING THE ROBOT TO MOVE Loss of air design features Holding force up to the rated payload of the Robot Adaptor Assembly is provided in the event of all pneumatic pressure loss by design features in the robot adaptor; specifically, the operating piston spring, the 5 degree taper between the cams and the transfer plate, and the hook design on the back side of the cam.

20 Sigma NextGen Tool Change System Manual No , Rev 04 Page 20 Spring Return to Couple 5 Degree Self Locking Taper Hook Locking Feature The Coupling Cams should be in the coupled position (extended) when system air is applied and the valve is de-energized Pressure Sensing Couple/Uncouple Switches The Pressure Sensing Couple and Uncouple switches are preset at the factory to an OEM standard which is derived to produce a calculated engineering safety factor. ADJUSTING OR TAMPERING WITH THE OEM SWITCHES VOIDS ALL WARRANTY AND MAY LEAD TO CATASTROPHIC FAILURE. Should the switches need to be replaced, see 9.2. MAKING CONNECTIONS WHILE UNDER POWER COULD RESULT IN DAMAGE TO THE EQUIPMENT. TO AVOID DAMAGING EQUIPMENT, ENSURE THAT ALL CABLES ARE CONNECTED BEFORE SUPPLYING POWER TO THE EQUIPMENT.

21 Sigma NextGen Tool Change System Manual No , Rev 04 Page 21 5 GUIDE TO OPERATION 5.1 INITIAL TEST Once the plumbing is installed to the Couple and Uncouple ports, control power is connected to the supply valve, and the Couple and Uncouple position sensors are in communication with the robot controller/plc and/or ARI s Safety Control Module, perform the following steps to verify the proper operation of the Sigma NextGen unit: 1. Verify the robot adaptor assembly is clear of any obstruction and not coupled to the tool adaptor assembly. 2. Turn on supply air to the control valve and verify cams move to the extendedd position. This will verify the single solenoid 4-way valve is plumbed correctly. 3. Supply control power to the solenoid valve and supply the signal from the controller/plc to move the valve to the Uncouple (Solenoid energized) position. The cams should retract to the Uncoupled position and the input from the Uncoupled sensor should be received by the robot controller/plc. 4. Change the state of the solenoid valve by turning off the Uncouple signal (solenoid de-energized). The cams should extend back to the Coupled position and the Uncoupled sensor signal should turn off and the Coupled Signal should turn on at the robot controller/plc. 5. Repeat steps 3 and 4 several times. The cam action should be smooth and quick. 5.2 PROGRAMMING THE COUPLE AND UNCOUPLE POINTS To identify the couple point of each following steps should be taken: DURING TESTING KEEP YOUR FINGERS CLEAR OF THE MECHANICAL COUPLING MECHANISM AND THE COUPLING INTERFACE SURFACE. KEEP OUT OF THE ROBOT WORK ENVELOPE WHEN DRIVE POWER IS ON. THE ROBOT SHOULD NEVER BE RUN WITHOUT A MINIMUM AIR PRESSURE OF 4.9 BAR (72 PSIG) BEING SUPPLIED TO THE ROBOT ADAPTOR ASSEMBLY. tooling adaptor assembly during the teaching phase, the 1. Orient the robot and tool adaptor assemblies so that the centerline axes are aligned and the interface surfaces are parallel. 2. Energize the solenoid, resulting in an Uncoupled (retracted cam) state. 3. Rotate the robot adaptor assembly so that the alignment dowels are centered on the bushings in the tool ring of the tooling adaptor assembly. 4. Make whatever lateral corrections are necessary to center the alignment dowels to the tool ring bushings. Exact alignment in the lateral position is not required, although the pins should not interfere with the inside diameter of the bushings. 5. Start to bring the Robot and Tool Adaptor together. Stop the motion when the distance between the Robot Adaptor Face and the Tooling Adaptor Face is as close as can be reasonably achieved. Minimizing the distance between the Robot Adaptor and Tool Adaptor will ensure optimum performance of the tool changer over its

22 Sigma NextGen Tool Change System Manual No , Rev 04 Page 22 operational life span. Larger distances will result in additional wear to the tool changer and degrade its overall life expectancy. Optional Ready-to-Couple (RTC) switches can be used to ensure that the distance between the Robot Adaptor and Tool Adaptor is within an acceptable range. Once the Robot and Tool Adaptors are in close proximity, all electrical and/or pneumatic connections will be functioning, independent of the cam position. 6. De-energize the solenoid that controls the air pressure to the couple port. This will couple the robot adaptor assembly with the tool adaptor assembly. Any electrical or pneumatic connections will also be made at this time, through the use of available modules. 7. Energize and de-energize the coupling solenoid several times to verify that the tool adaptor assembly is properly connected and released from the robot adaptor assembly. 8. Record the position from Step 3 as the "pick-up" & "replacement" coordinates for this tool adaptor assembly. 9. Repeat entire procedure for each tool adaptor assembly used in conjunction with this robot adaptor assembly. 5.3 TOOL DROP PREVENTION The prevention of accidental uncoupling is of utmost importance when setting up your Sigma NextGen system for operation. Various system options are available to ensure that Sigma NextGen Tool Changer cams can only be moved into the uncouple position when it is safe to do so, i.e., when the tool adaptor is not coupled to the robot adaptor OR when the tool is safely positioned in the tool stand. Tool drop prevention can be prevented by using either a programmable safety controller or optional safety control modules that attach to the robot and tool adaptors. For further information, please consult the user guide for your particular system or contact ARI Applications Engineering.

23 Sigma NextGen Tool Change System Manual No , Rev 04 Page ARI RECOMMENDED SEQUENCE OF OPERATION The following is a standard sequence of operation for a robot, tool changer, and tool combination. chart on page 26 for a graphical depiction of this sequence. 1. The robot and Sigma robot adaptor are undocked from the stand or storage location and the Sigma is in the uncoupled state. The tool (weld gun, geo-fixture, etc.) and Sigma tool adaptor are resting in the Tool Stand. The tool stand cover is also closed, covering the Sigma tool adaptor and side modules. (OUTPUT) The Uncouple Command is HIGH. (INPUT) The Uncouple Present signal is HIGH. (INPUT) The Couple Present signal is LOW. (OUTPUT) The Tool Cover Closed Command is OFF. (INPUT) The Tool Cover Open signal is OFF. (INPUT) The Tool Cover Closed signal is ON. (INPUT) The Ready to Couple signal is OFF SCM OK is ON. Tool Present is OFF. Tool Stand Present is ON. 2. The tool stand cover is opened. The Uncouple Command is ON. The Uncouple Present signal is ON. The Couple Present signal is OFF. The Tool Cover Closed Command is OFF. The Tool Cover Open signal is ON. The Tool Cover Closed signal is OFF. The Ready to Couple signal is OFF. Tool Stand Present is ON. THE SIGMA NEXTGEN SYSTEM SHOULD NEVER BE UNCOUPLED UNLESS THE ATTACHED TOOL IS FULLY SUPPORTED/DOCKED, PREFERABLY IN ITS TOOL STAND. 3. The robot and Sigma robot adaptor move to dock to the Sigma tool adaptor and tool. Once robot and tool adaptors are within range (2.5mm or closer), the Ready to Couple signal will activate, but the tool changer will remain uncoupled. The Uncouple Command is ON. The Uncouple Present signal is ON. The Couple Present signal is OFF. The Tool Cover Closed Command is OFF. The Tool Cover Open signal is ON. The Tool Cover Closed signal is OFF. The Ready to Couple signal is ON. Tool Stand Present is ON. 4. The robot and Sigma robot adaptor are within coupling range of the Sigma tool adaptor, and the uncouple command is set to OFF, thereby coupling the robot and tool adaptors. The Uncouple Command is OFF. The Uncouple Present signal is OFF. The Couple Present signal is ON.

24 Sigma NextGen Tool Change System Manual No , Rev 04 Page 24 The Tool Cover Closed Command is OFF. The Tool Cover Open signal is ON. The Tool Cover Closed signal is OFF. The Ready to Couple signal is ON. Tool Stand Present is ON. 5. The robot, Sigma robot adaptor, Sigma tool adaptor, and the tool are removed from the tool stand. The Uncouple Command is OFF. The Uncouple Present signal is OFF. The Couple Present signal is ON. The Tool Cover Closed Command is OFF. The Tool Cover Open signal is ON. The Tool Cover Closed signal is OFF. The Ready to Couple signal is ON. Tool Stand Present is OFF. 6. The robot, Sigma robot adaptor, Sigma tool adaptor, and the tool perform the specified task. The Uncouple Command is OFF. The Uncouple Present signal is OFF. The Couple Present signal is ON. The Tool Cover Closed Command is OFF. The Tool Cover Open signal is ON. The Tool Cover Closed signal is OFF. The Ready to Couple signal is ON. Tool Stand Present is OFF. 7. The robot, Sigma robot adaptor, Sigma tool adaptor, and the tool are returned to the tool stand. The Uncouple Command is OFF. The Uncouple Present signal is OFF. The Couple Present signal is ON. The Tool Cover Closed Command is OFF. The Tool Cover Open signal is ON. The Tool Cover Closed signal is OFF. The Ready to Couple signal is ON. Tool Stand Present is ON. 8. The tool stand is supporting the weight of the Sigma tool adaptor and the tool, and the uncouple command is set to ON, thereby uncoupling the tool changer. The Uncouple Command is ON. The Uncouple Present signal is ON. The Couple Present signal is OFF. The Tool Cover Closed Command is OFF. The Tool Cover Open signal is ON. The Tool Cover Closed signal is OFF. The Ready to Couple signal is ON. Tool Stand Present is ON. 9. The robot and Sigma robot adaptor move away from the tool and Sigma tool adaptor. Once robot and tool adaptors are out of range (2.5mm or greater), the Ready to Couple signal will deactivate, and the Sigma robot adaptor will remain uncoupled. The Uncouple Command is ON.

25 Sigma NextGen Tool Change System Manual No , Rev 04 Page 25 The Uncouple Present signal is ON. The Couple Present signal is OFF. The Tool Cover Closed Command is OFF. The Tool Cover Open signal is ON. The Tool Cover Closed signal is OFF. The Ready to Couple signal is OFF. Tool Stand Present is ON. 10. The robot and Sigma robot adaptor are undocked from the stand or storage location and the tool changer is uncoupled. The tool (weld gun, fixture, etc.) and Sigma tool adaptor are resting in the Tool Stand. The Uncouple Command is ON. The Uncouple Present signal is ON. The Couple Present signal is OFF. The Tool Cover Closed Command is OFF. The Tool Cover Open signal is ON. The Tool Cover Closed signal is OFF. The Ready to Couple signal is OFF. Tool Stand Present is ON. 11. The tool stand cover is closed. The Uncouple Command is ON. The Uncouple Present signal is ON. The Couple Present signal is OFF. The Tool Cover Closed Command is ON. The Tool Cover Open signal is OFF. The Tool Cover Closed signal is ON. The Ready to Couple signal is OFF. Tool Stand Present is ON.

26 Sigma NextGen Tool Change System Manual No , Rev 04 Page 26 Sequence of Operation Diagram

27 Sigma NextGen Tool Change System Manual No , Rev 04 Page 27 6 TROUBLESHOOTING 6.1 TROUBLESHOOTING GUIDE Symptom Possible Causes Resolution Tool Changer not within required distance for coupling Adjust robot program to move within the required distance Tool Changer will not couple Tool Changer will not uncouple Air Supply to tool changer has been lost Electrical Connection to actuation valve has been lost Air Supply to tool changer has been lost Electrical Connection to actuation valve has been lost Tool not in Tool Stand RTC (Ready to Couple) sensors are not actuated Verify all air connections are in place and air supplied to robot cell Verify all connections are in place and that valve is not damaged and operating correctly Verify all air connections are in place and air supplied to robot cell Verify all connections are in place and that valve is not damaged and operating correctly Verify the Tool Stand present switch is activated Verify Signal is being received from RTC sensors Spring failure Replace spring Tool Changer Couples but no Coupled signal is being received Coupled sensing has failed Cable/Connections supplying signal failed Air supply to tool changer has been lost Replace sensor puck ( 9.2) Inspect cables/connections and replace if necessary Verify all air connections are in place and air supplied to robot cell Tool Changer Uncouples but no Uncoupled signal is being received Uncoupled sensing has failed Cable/Connections supplying signal failed Replace sensor puck ( 9.2) Inspect cables/connections and replace if necessary

28 Sigma NextGen Tool Change System Manual No , Rev 04 Page TROUBLESHOOTING FAULT TREE The fault tree provides guidance for troubleshooting a Tool Changer Couple/Uncouple fault. Tool Changer Couple/Uncouple Fault (No Couple/Uncouple Signal) NOTE: Ensure that the robot is in a safe condition before continuing (i.e., Tool supported in Tool Stand) and keep all personnel clear. NO Is Power Applied to the Tool Changer? (Armor Block Status (if applicable) and All Cables Are Connected) YES Supply Power Ensure All Cables are Connected and Undamaged. Ensure Power is ON. Is Air Supplied to the TC? NO Is Couple/Uncouple Signal Active (Cycle Cams)? DONE! YES NO YES NO Apply Air to the Robot and Cycle Cams (Couple/Uncouple) Is Couple/ Uncouple Signal Active? YES DONE! Disconnect I/O Block From Tool Changer Remove the I/O Block From the Tool Changer and Inspect the Spring Probes. NO Are the Spring Probes Corroded or Damaged on Either the I/O Block or the QUICK CONN? YES Is There Power on the I/O Block Spring Probes? Using a Multi-Meter, Verify Power on Pins 1 & 4 Replace Damaged Spring Probes. Reinstall I/O Block. YES/NO NO Is Couple/ Uncouple Signal Active? Replace Unit with Known Working Unit YES DONE! If Malfunction Still Exists Position the Robot in a Safe Condition and CALL ARI Technical Support Record Findings and Call Technical Support at (518) or techsupport@appliedrobotics.com

29 Sigma NextGen Tool Change System Manual No , Rev 04 Page METHOD TO MANUALLY UNCOUPLE THE SIGMA NEXTGEN SYSTEM SHOULD NEVER BE MANUALLY UNCOUPLED UNLESSS THE ATTACHED TOOL IS FULLY SUPPORTED/DOCKED, PREFERABLY IN ITS TOOL STAND. If damage occurs to the Sigma NextGen system that prevents the system from uncoupling by normal means, we have incorporated a feature in our design that allows the system to be manually uncoupled. We have also designed a special tool that is listed in our recommended spare parts list ( 8) to aid in this process if needed. The following steps must be followed to ensure the Sigma NextGen system is manually uncoupled in a safe manner: 1. Ensure the attached tooling is safely supported, preferably in its tool stand, so that no damage or personal injury occurs when the tool is released. 2. Ensure all unnecessary personnel are clear of the tooling before going further in this procedure. 3. Shut off the air supply to the actuating cylinder. The cylinder must not be pressurized for this operation to be performed successfully. 4. Insert manual release tool (ARI # 1205-C80A) into the oblong opening in the tool adaptor housing with the tapered point oriented as pictured below. (This tool allows for the tool changer to be manually uncoupled when there is no access directly below the manual release button due to the tool design. If access to the manual release button is designed into the end of arm tool it can simply be pushed in by hand or using a punch if needed.) 5. Tap on the end of the manual release tool with a hammer until the manual release button in the robot adaptor assembly is driven up to a point where the cams retract and the tool is released.

30 Sigma NextGen Tool Change System Manual No , Rev 04 7 MAINTENANCE 7.1 MAINTENANCE SCHEDULE Page 30 FAILURE TO FOLLOW THE MAINTENANCE SCHEDULE DESCRIBED BELOW COULD ALTER OR VOID THE WARRANTY PROVIDEDD BY APPLIED ROBOTICS, INC. The following table provides a schedule for preventative maintenance procedures to be performed for the Sigma NextGen Tool Changer. Frequency of Maintenance COMPONENT Robot Adaptor Tool Adaptor Every 2 Weeks Visual Checks ( ) Visual Checks ( ) 250,000 Cycles ,000 Cycles ,000 Cycles ,000,000 Cycles Frequency of Maintenance COMPONENT Robot Adaptor Tool Adaptor 1,250,000 Cycles ,500,000 Cycles ,750,000 Cycles ,000,000 Cycles ,250,000 Cycles Frequency of Maintenance COMPONENT Robot Adaptor Tool Adaptor 2,500,000 Cycles ,750,000 Cycles ,000,000 Cycles

31 Sigma NextGen Tool Change System Manual No , Rev 04 Page ,000 Cycles Robot Adaptor: Tool Adaptor: ,000 Cycles Robot Adaptor: Tool Adaptor: ,000 Cycles Robot Adaptor: Tool Adaptor: ,000,000 Cycles Robot Adaptor: Tool Adaptor: ,250,000 Cycles Robot Adaptor: Tool Adaptor: ,500,000 Cycles Robot Adaptor: Tool Adaptor: ( ). Lubrication ( ). Continue all visual checks ( ). ( ). ( ). ( ). ( ). ( ). ( ). At this number of cycles, start looking for wear on the locating pins. Replace if worn or damaged. Inspect piston spring functionality and replace if necessary. ( ). At this number of cycles, start looking for wear on the locating bushings. Replace if worn or damaged. ( ). Replace if worn or damaged parts. ( ). Replace if worn or damaged parts. ( ). Replace if worn or damaged parts. ( ). Replace if worn or damaged parts.

32 Sigma NextGen Tool Change System Manual No , Rev 04 Page ,500,000 Cycles Robot Adaptor: Tool Adaptor: ,000,000 Cycles Robot Adaptor: Tool Adaptor: ,250,000 Cycles Robot Adaptor: Tool Adaptor: ,500,000 Cycles Robot Adaptor: Tool Adaptor: ,750,000 Cycles Robot Adaptor: Tool Adaptor: ( ). Replace if worn or damaged parts. ( ). Replace if worn or damaged parts. ( ). Check the following parts for wear or damage; locating pins, piston head, O-ring, cam shaft, cams, etc. If any part is worn or damaged, they should be replaced. Inspect piston spring functionality and replace if necessary. Continue all visual checks. ( ). Check locating bushings. Tool adaptor should be evaluated for wear to loading areas. ( ). Replace if worn or damaged parts. ( ). Replace if worn or damaged parts. ( ). Check the following parts for wear or damage; locating pins, piston head, O-ring, cam shaft, cams, etc. If any part is worn or damaged, they should be replaced. Continue all visual checks. ( ). Replace locating bushings if worn or damaged. Continue all visual checks. ( ). Replace if worn or damaged parts. ( ). Replace if worn or damaged parts.

33 Sigma NextGen Tool Change System Manual No , Rev 04 Page ,000,000 Cycles Robot Adaptor: Tool Adaptor: ( ). Check the following parts for wear or damage; locating pins, piston head, O-ring, cam shaft, cams, etc. If any part is worn or damaged, they should be replaced. Inspect piston spring functionality and replace if necessary. Continue all visual checks. ( ). Replace locating bushings. Tool adaptor should be evaluated for wear to loading areas. Continue all visual checks. 7.2 PREVENTATIVE MAINTENANCE Lubrication Robot Adaptor 1. Clean the cam cover, alignment pins, and latching cams to ensure all existing grease, dirt, and debris is removed. 2. Apply a liberal coating of white lithium grease to the contact surface on the latching cams, and to the all cylindrical surfaces of the locating pins. White Lithium Grease

34 Sigma NextGen Tool Change System Manual No , Rev 04 Page Tool Adaptor 1. Clean the inner surface of the tool ring, the alignment bushings, and the 3 or 6 latching surfaces to ensure all existing grease, dirt, and debris is removed. 2. Apply a liberal coating of white lithium grease to the latching pad dowels, and to the inner surface of the locating bushings. White Lithium Grease Lubrication Specifications Lubricant ARI Part # Manufacturer Manufacturer s Part # Lube A Cyl Parker White Lithium Grease Staburags NBU 30 Grease or White EP Bearing Grease Visual Checks P1037 Century Lubricants ST P11N or P1018 Kluber or Dow Corning NBU 30 or White EP Bearing Grease Robot Adaptor 1. The latching cams and alignment dowels should be inspected for proper lubrication. Proper lubrication is defined in of this manual. 2. Inspect locating pins for rust, breakage, or wear Inspect latching cams for rust, breakage, or wear. 4. Inspect robot face plate for raised material 2 or dings that could prevent proper mating to Tool Adaptor. 5. Uncouple the Robot Adaptor from the Tool Adaptor and cycle the coupling mechanism 10 times and verify the latching cams are operating smoothly. The cycling of the coupling mechanism will also ensure that the operating cylinder remains properly lubricated. 1 If excessive wear is found on the alignment dowels, latching cams, or face plate, the robot program should be adjusted as necessary to meet these conditions. 2 All raised material should be filed smooth.

35 Sigma NextGen Tool Change System Manual No , Rev 04 Page 35 Robot Face Plate Pneumatic Port (2) Ready to Couple Position Sensor (3) Manual Release Button Latching Cams (3) [SNG 200(6) contains Qty. 6 cams] Cam Cover Alignment Dowel (2) Sensor Puck

36 Sigma NextGen Tool Change System Manual No , Rev 04 Page Tool Adaptor 1. The alignment pin bores and the 3 latching surfaces on the tool ring should be inspected for proper lubrication. Proper lubrication is defined in section of this manual. 2. Inspect the latching surfaces for rust, breakage, or wear Inspect pin bores for rust, breakage, or wear. 4. Inspect interface surface for raised material 2 or dings that could prevent proper mating to Robot Adaptor. Tool Ring Manual Release Pocket Alignment Pin Bores (2) Latching Surfaces (3)[ SNG 200(6) contains Qty. 6 surfaces] 1 If excessive wear is found on the alignment pin bushings, latching surfaces, or tool ring, the robot program should be adjusted as necessary to meet these conditions. 2 All raised material should be filed smooth.

37 Sigma NextGen Tool Change System Manual No , Rev 04 Page 37 8 SPARE PARTS The spare parts listed below are recommended to be maintained in stock for the life of the unit. These quantities are based on a single unit. If higher quantities are purchased please contact our Technical Support Department at (518) or techsupport@appliedrobotics.com to determine the quantity of spares we recommend for the size of your installation. Dependent on the configuration supplied, different modules with different pass-thru requirements may have more or fewer spring pins. Please contact our Technical Support Department at (518) or techsupport@appliedrobotics.com to determine the quantity of spares we recommend for your installation. Recommended Spares for: SNGR125/160 Description Part Number Quantity CAP, CAM COVER, SNG 125/160R (Cam Cover) 1201-C49N 1 SUBASSY, SNG PRESSURE SENSING (Sensor Puck) 1406-D81A 1 PIN DIAMOND LOCATING S3 (Diamond Locating Pin) 0201-B68N 1 PIN ROUND LOCATING S3 (Round Locating Pin) 0201-B67N 1 MANUAL RELEASE TOOL (Only 1 required per installation) 1205-C80A 1 SPRING, COMPRESSION SNG 0810-P34N 1 Recommended Spares for: SNGR200 SNGR200(6) Description Part Number Quantity CAP, CAM COVER, SNG 200R 1201-C69N 1 CAP, CAM COVER, SNG 200(6)R 1201-C79N 1 SUBASSY, SNG PRESSURE SENSING (Sensor Puck) NA 1 PIN DIAMOND LOCATING S5R &S8R 0108-B06N 1 PIN ROUND LOCATING S5R & S8R 0108-B05N 1 MANUAL RELEASE TOOL (Only 1 required per installation) 1205-C80A 1 SPRING, COMPRESSION SNG 0810-P34N 1

38 Sigma NextGen Tool Change System Manual No , Rev 04 Page 38 9 SPARE PARTS REPLACEMENT The following procedures will explain the correct method for removing and replacing the recommended spare parts listed in 8 of this manual. With the exception of the locating pins, all of these procedures can be performed without removing the Robot and Tool Adaptors from their respective robot or tooling. 9.1 CAP, CAM COVER SNG 125/160R, SNG 200, & SNG 200(6) 1. Loosen and remove the M6 x 40 socket head cap screws in the outer face of the cam cover. 2. Remove existing alignment cap and discard. 3. Ensure the mating surfaces on the face plate and the cam cover are clean. Remove any dirt or debris. 4. Place new cam cover in position ensuring that it is aligned to the pin in the face plate. 5. Apply Loctite 242 to the M6 x 40 socket head cap screws removed in step Insert and tighten these screws to a torque value of 15 N-m (11 ft-lb). Cam Cover M6 x 40mm screws (3)

39 Sigma NextGen Tool Change System Manual No , Rev 04 Page SUBASSY, PRESSURE SENSING SNG 125/160, SNG 200, & SNG 200(6) 1. Remove the module located in position 3 prior to completing the remainder of this procedure. 2. Loosen the captivated M5 x 20 mm socket head cap screws holding down the Subassy, Pressure Sensing assembly. 3. Remove the Pressure Sensing assembly (sensor puck), and either discard or send back for repair. 4. Replace with another Pressure Sensing assembly. 5. Apply Loctite 242 to the M5 socket head cap screws, and tighten down the sensor puck. Tighten to a torque value of 5.5 N-m (4 in-lb). 6. Re-install any modules removed in step Prior to coupling the tool changer, cycle the actuating cylinder for the robot adaptor multiple times to ensure the sensors are working correctly and the correct inputs are being received by the robot controller. Sensor Puck M5 captivated screws (4) MAKING CONNECTIONS WHILE UNDER POWER COULD RESULT IN DAMAGE TO THE EQUIPMENT. TO AVOID DAMAGING EQUIPMENT, ENSURE THAT ALL CABLES ARE CONNECTED BEFORE SUPPLYING POWER TO THE EQUIPMENT.

40 Sigma NextGen Tool Change System Manual No , Rev 04 Page LOCATING PIN, ROUND/DIAMOND SNG 125/160, SNG 200, & SNG 200(6) 1. Remove the Robot Adaptor from the Robot. 2. Remove the M8 x 30mm socket head cap screw (ARI P/N: 49045). 3. Remove the diamond locating pin (or the round locating pin). Locating pins may need to be pressed out. 4. Place the new locating pin into the appropriate mounting hole. Check the orientation of the diamond locating pin, in accordance with the picture below (Diagram 1). Torque screw to 21.5 N-m (190 in-lb). 5. Apply Loctite 242 to the M8 x 30mm and thread it into the locating pin from the top side of the robot adaptor housing. Torque screw to 21.5 N-m (190 in-lb). 6. Lubricate the locating pin per the lubrication procedure in section Diagram 1 Diagram 2 Diamond Locating Pin Round Locating Pin Robot Adaptor M8 x 30 mm (2)