Mounting the Payload to the Double Rotational Modules

Fasten the gripper to the mounting points at the rotating flange (1):

• Pitch circle diameter DIN ISO 9409-1, 50 mm (1.97 in): 4 x M6 (2), tightening torque: 4.5 Nm (40 lbf-in), strength class of the screw: at least A2-70

• Pitch circle diameter 31 mm (1.22 in): 5 x M4 (3), tightening torque: 1.4 Nm (12.4 lbf-in), strength class of the screw: at least A2-70

• Shaft diameter fifth axis 8 mm (0.315 in): 8 x 20 mm (0.315 x 0.79 in) (4)

For further information, refer to Flange Dimensions for the Double Rotational Module.

Calibrate the Double Rotational Module if this has not been done before mounting the gripper. For further information, refer to Calibrating the Double Rotational Module and the Rotational Tilting Module.

Connect the media line to one of the pneumatic plug-in connections (1.1 or 2.1) of the Double Rotational Module. The plug-in connection has a diameter of 6 mm (0.236 in).

For further information, refer to Supply of the Gripper.

Connect the media line of the gripper to the associated pneumatic plug-in connection (1.2 or 2.2) on the pneumatics rotary union (A). The plug-in connection has a diameter of 4 mm (0.157 in).

Fasten the gripper to the mounting points at the rotating flange (1):

• Pitch circle diameter DIN ISO 9409-1, 56 mm (2.2 in): 4 x M5 (2), tightening torque: 3.5 Nm (31 lbf-in), strength class of the screw: at least A2-70

• Shaft diameter fifth axis 12 mm (0.47 in): 12 x 17 mm (0.47 x 0.67 in) (3)

For further information, refer to Flange Dimensions for the Double Rotational Module HD.

Calibrate the Double Rotational Module HD if this has not been done before mounting the gripper. For further information, refer to Calibrating the Double Rotational Module and the Rotational Tilting Module.