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Robot System Products AB
CiRo S /M/MHD/L/XLM0409-1

CiRo S /M/MHD/L/XLM0409-1

Product catalog summary

Introduction
Robot System Products (RSP) provides peripheral products to enhance robot applications, such as tool changers, swivels, and grippers. The document focuses on the CiRo series, which improves robot flexibility by allowing free selection of cables and hoses, thus enhancing productivity with reliable and cost-effective solutions.

Technical Specifications
The CiRo series (S, M, MHD, L, XL) facilitates the connection of cables and hoses to tools or tool changers, maximizing the robot's working range. It supports rotation of the 6th axis up to 500 degrees, limited by hose and cable flexibility, reducing the footprint and swing of cables for faster and more reliable programming.

Coordinate System Definition
Accurate weight and center of gravity data are essential for correct programming, as the CiRo adds load to the robot. These details are provided in the technical specifications.

Deflection Angle
The document specifies the torque required to achieve a deflection around the x/y-axes of 0.1 degrees.

CiRo Models

CiRo S1 (P5131): Supports ISO 9409-1 50-6-M6 bolt pattern, with a maximum tool load of ±100 N and a weight of 1.2 kg.
CiRo S2 (P5132): Similar to S1 but for ISO 9409-1 40-4-M6 bolt pattern, with the same load and weight.
CiRo S3 (P5133): For ISO 9409-1 50-4-M6 bolt pattern, with the same load and weight.
CiRo S4 (P5134): For ISO 9409-1 31.5-4-M5 bolt pattern, with a maximum tool load of ±50 N and a weight of 1.2 kg.
CiRo M1 (P5121): Supports ISO 9409-1 100-6-M10 and ISO 9409-1 100-6-M8 bolt patterns.

Options for CiRo
Various tool adapter kits and robot adaptation kits are available to enhance the CiRo series' functionality, allowing easy integration with different robot models and applications.

Spare Parts
Detailed part lists for each CiRo model and tool adapter kit are included, ensuring easy maintenance and replacement of components.

Overview
This document provides technical specifications and installation guidelines for various CiRo models, which support and hold cables and hoses, allowing rotation of the 6th axis in robotic systems. Each model is designed for specific bolt patterns and load capacities, requiring specific adaptation kits for mounting.

Specifications

CiRo M1: Supports ±250° rotation, with a maximum tool load of ±400 N (static) and ±400 Nm (dynamic), weighing 3.7 kg, mounted using six M8-screws.
CiRo M2: Similar to M1 but for ISO 9409-1 80-6-M8 bolt pattern, with the same load capacities and weight.
CiRo MHD1: Supports ±250° rotation with higher load capacities of ±800 N (static) and ±800 Nm (dynamic) using M10 screws, weighing 5.2 kg.
CiRo MHD2: Similar to MHD1 but with slightly lower dynamic load capacity for Mz (±450 Nm).
CiRo L1: Designed for heavier loads with a maximum tool load of ±1000 N (static) and ±1000 Nm (dynamic), weighing 8.3 kg.
CiRo XL1 and XL2: Support the highest loads, with a maximum tool load of ±2000 N (static) and up to ±2200 Nm (dynamic), weighing 17.5 kg.

Installation and Adaptation Kits

Each CiRo model requires a specific robot adaptation kit for mounting, including rotation stops and protective hose holders.
Tool adapter kits are available for each CiRo model to facilitate the mounting of tools or tool changers with specific bolt patterns.

Hoses and Cables

Hoses and cables should be designed for high torsional and bending stresses. Complete packages are available from Robot System Products.

Recommendations

Ensure unobstructed space around the CiRo for free movement of cables and hoses.
Contact Robot System Products for configurations not listed in the document.

Specifications
The document provides detailed specifications for various models, including dimensions such as depth, diameter, and width for models S1, S2, S3, S4, M1, M2, MHD1, MHD2, L1, XL1, and XL2. For example, the XL1 and XL2 models have a depth of 90 mm, a diameter of 180 mm, a width of 140 mm, and another diameter of 180 mm.

Limitations
There are potential limitations on the movement of axis 5 for certain robot models. It is advised to contact Robot System Products for more detailed information.

Spare Parts
The document includes comprehensive part lists for various CiRo models and tool adapter kits. Each list specifies the item description, part number, whether it is a wear part, and the quantity required. For instance, the CiRo S models have specific shafts and flange shims for each model (S1, S2, S3, S4), while the tool adapter kits include items like tool adapters, screws, guide pins, and adaptation rings.

Catalog excerpts

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The information in this document is subject to change without prior notice and should not be regarded as an undertaking from Robot System Products AB. Robot System Products AB assumes no responsibility for errors that may occur in this document. Robot System Products AB bears no responsibility for damage that is incurred by the use of this document, or the software or hardware described in this document. The document, or parts of it, may not be reproduced or copied without prior permission from Robot System Products AB. It may neither be imparted to a third party, nor otherwise be used without...

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1 INTRODUCTION Robot System Products is a front-rank provider of peripheral products for high performance robot applications. We provide complete system solutions for your robot installations, aiming to improve your productivity with the most reliable and cost-effective tooling on the market. Continuously we explore emerging technologies, working with leading edge design. Robot System Products has a wide range of standard robot peripheral products: • • • • • • • • • Tool changers Swivels Swivel tool changers CiRo Grippers Hose packages Valve units Tool systems Tool stands Robot System Products’...

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2 TECHNICAL SPECIFICATIONS 2.1 Description of CiRo This document presents the Robot System Products’ CiRo S, M, MHD, L och XL. With the CiRo, cables and hoses can be connected to tools or tool changers similarly to robots with internal dressing. The robots working range and ability to move freely, independent of transferred media, is maximised. Hoses and cables for air, signals and power can be selected according to the requirements of the application. With a CiRo the compressed air, signals and power will be directly available at the tool or tool changer. Axis 6 can rotate up to 500 degrees,...

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2.1.1 Coordinate System Definition A CiRo, and attached tool changer and tools, add load to the robot. If the arm and tool loads are not stated correctly during programming the behaviour of the robot and the wear of the equipment will be affected. Information about weight and centre of gravity can, in accordance with the co-ordinate system stated below, be found in the technical specification tables of each specific CiRo. NOTE! For the CiRo the origo is situated on the surface in the centre of the robot mounting flange. NOTE! Deflection loadxy (0,1°) corresponds the torque applied to obtain an...

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CiRo small S1 supports and holds cables and hoses allowing rotation of 6th axis. To be used on robots with ISO 9409-1 50-6-M6 bolt pattern together with robot adaptation kit (section 2.2.5). Technical data Working temperature Bolt pattern Maximum tool load Weight Centre of gravity Robot side Tool side Fz (static) Mx/My (dynamic) Mz (dynamic) Z-direction Deflection loadxy (0,1°) Hoses and cables +10°C−+60°C ISO 9409-1 50-6-M6 80-5-M5 (see note below) ± 100 N ± 100 Nm ± 100 Nm 1.2 kg +32 mm 33 Nm (see note section 2.1.2) Maximum rotation Maximum bundle size NOTE! Hoses and cables should be specifically...

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CiRo S2 supports and holds cables and hoses allowing rotation of 6th axis. To be used on robots with ISO 9409-1 40-4-M6 bolt pattern together with robot adaptation kit (section 2.2.5). Technical data Working temperature Bolt pattern Maximum tool load Weight Centre of gravity Robot side Tool side Fz (static) Mx/My (dynamic) Mz (dynamic) Z-direction Deflection loadxy (0,1°) Hoses and cables +10°C−+60°C ISO 9409-1 40-4-M6 80-5-M5 (see note below) ± 100 N ± 100 Nm ± 80 Nm 1.2 kg +32 mm 33 Nm (see note section 2.1.2) Maximum rotation Maximum bundle size NOTE! Hoses and cables should be specifically...

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CiRo S3 supports and holds cables and hoses allowing rotation of 6th axis. To be used on robots with ISO 9409-1 50-4-M6 bolt pattern together with robot adaptation kit (section 2.2.5). Technical data Working temperature Bolt pattern Maximum tool load Weight Centre of gravity Robot side Tool side Fz (static) Mx/My (dynamic) Mz (dynamic) Z-direction Deflection loadxy (0,1°) Hoses and cables +10°C−+60°C ISO 9409-1 50-4-M6 80-5-M5 (see note below) ± 100 N ± 100 Nm ± 100 Nm 1.2 kg +32 mm 33 Nm (see note section 2.1.2) Maximum rotation Maximum bundle size NOTE! Hoses and cables should be specifically...

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CiRo S4 supports and holds cables and hoses allowing rotation of 6th axis. To be used on robots with ISO 9409-1 31,5-4-M5 bolt pattern together with robot adaptation kit (section 2.2.5). Technical data Working temperature Bolt pattern Maximum tool load Weight Centre of gravity Robot side Tool side Fz (static) Mx/My (dynamic) Mz (dynamic) Z-direction Deflection loadxy (0,1°) Hoses and cables +10°C−+60°C ISO 9409-1 31,5-4-M5 80-5-M5 (see note below) ± 50 N ± 50 Nm ± 50 Nm 1.2 kg +31 mm 20 Nm (see note section 2.1.2) Maximum rotation Maximum bundle size NOTE! Hoses and cables should be specifically...

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CiRo M1 supports and holds cables and hoses allowing rotation of 6th axis. To be used on robots with ISO 9409-1 100-6-M10 and ISO 9409-1 100-6-M8 bolt pattern together with robot adaptation kit (section 2.2.5). Technical data Working temperature Bolt pattern Maximum tool load Weight Centre of gravity Robot side Tool side Fz (static) Mx/My (dynamic) Mz (dynamic) Z-direction Deflection loadxy (0,1°) Hoses and cables Maximum rotation Maximum bundle size NOTE! Hoses and cables should be specifically designed for applications with high torsional and bending stresses. Hose packages, cables and air...

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CiRo M2 supports and holds cables and hoses allowing ± 250° rotation of 6th axis. To be used on robots with ISO 9409-1 80-6-M8 bolt pattern together with robot adaptation kit (section 2.2.5). Technical data Working temperature Bolt pattern Maximum tool load Weight Centre of gravity Robot side Tool side Fz (static) Mx/My (dynamic) Mz (dynamic) Z-direction Deflection loadxy (0,1°) Hoses and cables Maximum rotation Maximum bundle size NOTE! Hoses and cables should be specifically designed for applications with high torsional and bending stresses. Hose packages, cables and air hoses are available...

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