New

Compliance Module

model

W RC

Correct Misalignment during Robot Transfer

for Factory Automation

Compliance Module
Mode lWRC

Larger sizes added : mo de l W R C0 5 0 0 /0 7 5 0

Ultra-Smooth Action
High Lock Holding Force
Directly Mounted on

Quick Mount

KOSMEK Robotic Hand Changer model SWR

Compliance Module for

Misalignment Correction during Robot Transfer
Robot Side

Misalignment
Correcting

RoboticHand Changer

Loading/
Unloading,
Assemblyand others
Workpiece

Master Cylinder
Tool Adapter

Compliance
ModuleWhen detachedEasy to Correct
the Misalignment of Robot Transfer

Directly Mounted on Robotic Hand Changer

Correct the misalignment between a robotic hand andCompliance Module can be directly mounted on the tool adapter

a workpiece, or a hole and a part during transfer andof Robotic Hand Changer, model SWR (Payload 7kg ~ 75kg).

assembly process with a robot.

Using with the Robotic Hand Changer enables to change

Program correction with a force sensor is not required.

highly flexible hands equipped with the Compliance Module andMechanical floating function allows for easy setup.

high-accuracy tools not equipped with the Compliance Module,
allowing for various operations.

1Features

Cross Section
Action Description

Model No.
Indication

Specifications

Performance
Curve

External
Dimensions

Cautions

Cross Section・Action Description
PistonSpringLock
Air Port(Floating Direction)

ＹＸθMagnetTop Plate

Misalignment of Workpiece is Corrected by the Floating Top Plate※ Please keep the top plate horizontal during misalignment correction.

Top Plate

OffsetCenteredLoad

Floating StateAir
ＯＦＦCenter Locking StateAirＯＮ

The top plate can be floated when not supplying

The top plate is centered and locked by supplying

lock air pressure. When not receiving a load,

lock air pressure.

the top plate returns to the center with the magnet.

2Com p l i a n c e M o d u lem od e l WRCModel No. Indication

WR C 012 0 - 2 T１234

1 Directly-Mounted Robotic Hand Changer SWR Model No.
007 ：SWR0070-T-□
012 ：SWR0120-T-□

Robotic Hand Changer
Tool Adapter

025 ：SWR0250-T-□

SWR□-T-□050 ：SWR0500-T-□
075 ：SWR0750-T-□
Compliance Module
WRC□-□T(ex.) In case of using WRC0070-2T with Robotic Hand Changer :WRC0070-2T can be directly mounted on the tool adapter
of Robotic Hand Changer : SWR0070-T-□.

2 Design No.
0 ：Revision Number

3 Offset Stroke
2 ：±2ｍｍ（WRC0070 , WRC0120 , WRC0250）
4 ：±4ｍｍ（WRC0500 , WRC0750）

4 Floating Direction
T ：Misalignment Correction in θ-direction(Floating Direction)
ＹＸ

3θFeatures

Cross Section
Action Description

Model No.
Indication

Performance
Curve

Specifications

External
Dimensions

Cautions

Specifications
WRC0070-2T

Model No.
Oﬀset Stroke (X , Y)※1

【At 0MPa】

At Maximum Oﬀset

Allowable Load (Z)Floatable StateN
AllowableMoment

N・mCenter Lock State

OperatingAir Pressure0°147

245

539

Compressive147245

539

Bending (α)

0.6

1.01.6Twisting (θ)

152545

2.1 or less

3.6 or less

7.5 or less

NX,Y

Repeatability

mm0.1

N

Refer to P.5

1°θAllowable Load (X , Y)※2
Allowable

Bending (α)

Refer to P.5

Moment ※2

Twisting (θ)

Refer to P.5

N・m

Maximum Pressure

MPa

0.6

Minimum Pressure

MPa

0.3

Withstanding Pressure

MPa

0.9

Cylinder Capacity

cm3

Operating Temperature

1.0

Dry Air

Product WeightgOﬀset Stroke (X , Y)※1(θ)※1

At Maximum Oﬀset

Allowable Load (Z)N
AllowableMoment

N・m1470

Compressive980

1470

Bending (α)

9.0

36.7

Twisting (θ)

8085Cylinder Capacity
Operating Temperature

NN・m0.1

N

Refer to P.6

1°

Bending (α)

Refer to P.6

Twisting (θ)

Refer to P.6

Maximum Pressure

MPa

0.6

Minimum Pressure

MPa

0.3

Withstanding Pressure

MPa
cm3

0.9
10.2

8.80 ~ 70℃

Usable Fluid
Product Weight

22.5 or less15 or lessmm

θAllowable Load (X , Y)※2
Moment ※2

Air Pressure

0°
980

X,Y

Allowable±6°

Stretching

Starting Resistance
Repeatability

About 520
WRC0750-4T±9°

At Original Position

Floatable State

Operating

About 300

±4.0mmTop Plate Rotation
Angle

Center Lock State

About 200WRC0500-4T

Model No.

【At Air Lock】

2.2

1.30 ~ 70℃

Usable Fluid【At 0MPa】

±6°

±8°

Stretching

Starting Resistance【At Air Lock】±9°

At Original Position

Angle (θ)※1WRC0250-2T±2.0mmTop Plate Rotation

WRC0120-2T

Dry Airg

About 1880

About 3300

Notes :※1. Exceeding the operating ranges will lead to a damage to the product.

Z※2. The top plate may be moved when excessive load more than the maximum value is applied.

Offset Stroke (X , Y)
αＹＸθ4Com p l i a n c e M o d u lem od e l WRC

Allowable Load, Allowable Moment

Z

Offset Stroke (X , Y)
αＹＸθWRC0070-2T
Allowable Load

Allowable Moment
3.0
Allowable Moment (N・m)Allowable Load (N)300( X，Y )
200(Z)

100

00.3

0.4

0.5

Bending (α)
2.01.000.6

Air Pressure (MPa)Twisting (θ)

0.3

0.4

0.5

0.6

Air Pressure (MPa)WRC0120-2T
Allowable Load
4.0(Z)

200

Allowable Moment (N・m)Allowable Load (N)300

Allowable Moment( X，Y )

10000.30.40.5

Bending (α)
3.02.0Twisting (θ)
1.000.60.30.40.50.6

Air Pressure (MPa)Air Pressure (MPa)WRC0250-2T
Allowable Load

Allowable Moment
8.0
Allowable Moment (N・m)Allowable Load (N)

600(Z)
400( X，Y )
20000.3

0.40.5

Air Pressure (MPa)50.6

6.0 Bending (α)
4.0Twisting (θ)
2.0
0

0.3

0.40.5

Air Pressure (MPa)0.6

Cross Section
Action Description

Features

Model No.
Indication

Specifications

External
Dimensions

Performance
Curve

Cautions

WRC0500-4T
Allowable Load

Allowable Moment

1000
Allowable Moment (N・m)30

Allowable Load (N)(Z)
750( X，Y )
500
250
00.30.40.5

Bending (α)
20

10Twisting (θ)
00.6

Air Pressure (MPa)

0.3

0.4

0.5

0.6

Air Pressure (MPa)WRC0750-4T
Allowable Load

Allowable Moment
40
Allowable Moment (N・m)Allowable Load (N)2000
1500(Z)
1000( X，Y )
500
00.3

0.4

0.5

Air Pressure (MPa)

0.6

30

Bending (α)

20100Twisting (θ)

0.3

0.4

0.5

0.6

Air Pressure (MPa)6Com p l i a n c e M o d u lem od e l WRC

External Dimensions：WRC0070-2T

19.8

45°

45°

39.d.

13.5

p.c

19.5 ±0.03

13.5

19.5 ±0.03

19.8

Lock Air Port
M3×0.52-φ4H7 + 0.012
Depth 5.5
022.5°

5.5

4.5

35

24.5

(SWR0070-T)- 0.025

φ34f7 - 0.050

Top Plate

φ47

φ4H7 + 0.012
Depth 30p.c.d.25

12.5 ±0.03

4-Mounting Bolt (Included)
M4×0.7×30

4-M4×0.7 Thread Depth 5.5

72 (Offset Stroke)Features

Cross Section
Action Description

Model No.
Indication

Specifications

Performance
Curve

ExternalDimensions

Cautions

External Dimensions：WRC0120-2T
23.3

45°

45°

22.5 ±0.03

23.3

45.d.

13.5
22.5 ±0.03

13.5p.cLock Air Port
M3×0.522.5°

2-φ4H7 + 00.012 Depth 5.5

6.5

4.5

38

26.5(SWR0120-T)- 0.025

φ40f7 - 0.050
φ54Top Plate

2 (Offset Stroke)

φ4H7 + 00.012 Depth 3

p.c.d.30

15 ±0.03

4-Mounting Bolt (Included)
M4×0.7×35

4-M4×0.7 Thread Depth 6.58

Com p l i a n c e M o d u lem od e l WRC

External Dimensions：WRC0250-2T
32.3

45°

45°

32 ±0.03

32.3

62.d.

13.5
32 ±0.03

13.5p.cLock Air Port
M5×0.822.5°

2-φ4H7 + 0.012
Depth 5.507

5.54027(SWR0250-T)

2 (Offset Stroke)- 0.030

φ52f7 - 0.060

Top Plate

φ73+ 0.012

φ5H7 0Depth 5p.c.

d.40

20 ±0.03

4-Mounting Bolt (Included)
M5×0.8×35

4-M5×0.8 Thread Depth 7

Note :
1. When using SWR Robotic Hand Changer Tool Adapter (SWR0250-T) and Compliance Module (WRC0250-2T) together,external option Waterproof Electrode (V□/VX□ type) and Ground Electrode (T type) cannot be mounted.

9L

Features

Cross Section
Action Description

Model No.
Indication

Specifications

PerformanceCurve

ExternalDimensions

Cautions

External Dimensions：WRC0500-4T
45.5

45°

45°

42 ±0.03

45.5

84.d.

13.5
42 ±0.03

13.5

p.c

Lock Air Port
M5×0.822.5°+ 0.0122-φ5H7 0

Depth 6

116.5

6749

(SWR0500-T）

4 (Offset Stroke)- 0.030

φ73f7 - 0.060
Top Plate

φ98

2-φ5H7+ 0.012
Depth 50

30 ±0.03

30 ±0.03

4-Mounting Bolt (Included)
M6×1×60

0.d.6

p.c

4-M6×1 Thread Depth 119R

Com p l i a n c e M o d u lem od e l WRC

External Dimensions：WRC0750-4T

58.5

58.5
60°

30°

60°

.109

41 ±0.03

13.5

13.5

p.c.d

41 ±0.03+ 0.012

2-φ6H7 0Lock Air Port
Rc1/8

Depth 622.5°

126.57051(SWR0750-T)- 0.036

4 (Offset Stroke)

φ98f7 - 0.071

Top Plate

φ123+ 0.012

2-φ6H7 0

Depth 5.80

p.c.d

40 ±0.03

40 ±0.03

6-Mounting Bolt (Included)
M6×1×60

4-M8×1.25 Thread Depth 1210L

Features

Cross Section
Action Description

Model No.
Indication

Specifications

Performance
Curve

External
Dimensions

Cautions

MEMO10R

Compliance Module

m od e l WRCCautions

Cautions● Notes for Design● Installation Notes
1) Check the Usable Fluid

1) Check Speciﬁcations● Please use each product according to the speciﬁcations.
● Maximum Operating Pressure : 0.6MPa
Minimum Operating Pressure : 0.3MPa● Please supply ﬁltered clean dry air. (Install a drain removing device.)● Oil supply with a lubricator, etc. is unnecessary.
2) Preparation for Piping● The pipes, piping connectors and ﬁxture circuits should be cleaned

2) Air Pressure Circuit Referenceand ﬂushed thoroughly. Dust and cutting chips in the circuit can● WRC locks at the center with air pressure supply.

lead to ﬂuid leakage and malfunction.

Air pressure must be released at air zero state.

● There is no ﬁlter provided with this product for prevention ofPlease use a three-way valve.

contaminants in air circuits.
5μm3) Applying Sealing Tape
● Wrap with tape 1 to 2 times following the screwing direction.
Air Source

Wrapping in the wrong direction will cause ﬂuid leakage andmalfunction. Pieces of the sealing tape can lead to ﬂuid leakage
and malfunction.

WRC4) Installation and Setting● For installation, tighten mounting bolts evenly to keep3) Operating Environment● Do not use the product in the environment with cutting chips,
coolant and others.

the compliance module level.
Also, the product must be parallel to the mounting surface.
Tighten the mounting bolt with the following torque.
● After the installation, make sure there is no gap between4) Center Lock Function● Top plate may be slightly misaligned at air lock state (locked at
the center by air supply) and at 0MPa state (returned to the center

the mounting surface and the product before use.
Model No.

Thread SizeNumber ofBolts

Tightening Torque(N・m)

WRC0070-2T

M4×0.743.2

WRC0120-2T

M4×0.743.25) Magnetic Force

WRC0250-2T

M5×0.846.3● This product is equipped with a magnet. Please be careful with

WRC0500-4T

M6×1.0410

WRC0750-4T

M6×1.0610by magnet). Also, please contact us for a long-time use (lockingmore than 24 hours).

the inﬂuence of the magnet.

5) Test Run Method

6) Position when in Use● This product is not designed for misalignment correction in a

● Supplying high pressure just after installation may damage

vertical position. (The top plate in a ﬂoating state does not

the product severely. Adjust the pressure to be within

return to the center when used in a vertical position.) Please

the operating pressure range before test run.

keep the top plate horizontal during misalignment correction.
Top Plate6) Product State when Moving

Top Plate● The product should be in a center locking state when moving.
Moving in a ﬂoating state may cause damage to the product.
Use it in a ﬂoating state only when correcting misalignment.
● The product should be centered and locked when not moving
and within the allowable oﬀset. Locking in a state exceeding

Vertical Position(Facing to the Side)

Tilted Position

allowable oﬀset, such as swaying, may cause damage to theproduct.

Top Plate

Top Plate

Horizontal Position(Facing Down)

11

Horizontal Position(Facing Up)

Moving in a Floating State

Features

Cross Section
Action Description

Model No.
Indication

Specifications

Performance
Curve

External
Dimensions

Cautions● Notes on Handling● Maintenance・Inspection1) It should be operated by qualiﬁed personnel.

1) Removal of the Product and Shut-oﬀ of Pressure Source● Hydraulic and pneumatic devices should be operated and● Before removing the product, make sure that the safety devices

maintained by qualiﬁed personnel.

are in place. Shut oﬀ the pressure and power source and make sureno pressure exists in the air and hydraulic circuits.

2) Do not operate or remove the product unless the safety protocols
are ensured.

● Make sure there is no trouble/issue in the bolts and respective parts
before restarting.

① The machine and equipment can only be inspected or preparedwhen it is conﬁrmed that the safety devices are in place.
② Before removing the product, make sure that the above-mentioned

2) Clean the Product on a Regular Basis● Using the compliance module top plate or other parts with dirt orsafety devices are in place. Shut oﬀ the pressure and power source,

contaminants may lead to locating accuracy failure, malfunction andand make sure no pressure exists in the hydraulic and air circuits.

air leakage. (Do not apply grease on the product as this product is③ After stopping the product, do not remove until the temperaturedrops.
④ Make sure there is no trouble/issue in the bolts and respective
parts before restarting the machine or equipment.
3) Do not touch the compliance module while it is working.
Your hands may be caught in the compliance module or othersurrounding devices leading to injury.
4) Do not disassemble or modify.
● If the equipment is taken apart or modiﬁed, the warranty will bevoided even within the warranty period.

recommended to be used with no oil supply.)3) Regularly examine and retighten pipes, mounting bolts and others
to ensure proper use.
4) Make sure to supply ﬁltered clean dry air.
5) Make sure there is a smooth action without air leakage.
● Especially when it is restarted after left unused for a long period,
make sure it can be operated properly.
6) The products should be stored in the cool and dark place without
direct sunshine or moisture.
7) Please contact us for overhaul and repair.

12

Compliance Module

Cautions

Cautions● Warranty1) Warranty Period● The product warranty period is 18 months from shipment fromour factory or 12 months from initial use, whichever is earlier.
2) Warranty Scope● If the product is damaged or malfunctions during the warranty
period due to faulty design, materials or workmanship, we willreplace or repair the defective part at our expense.
Defects or failures caused by the following are not covered.
① If the stipulated maintenance and inspection are not carried out.
② Failure caused by the use of the non-conﬁrming state at the userʼs
discretion.
③ If it is used or operated in an inappropriate way by the operator.
(Including damage caused by the misconduct of the third party.)④ If the defect is caused by reasons other than our responsibility.
⑤ If repair or modiﬁcations are carried out by anyone other than Kosmek,
or without our approval and conﬁrmation, it will void warranty.
⑥ Other caused by natural disasters or calamities not attributable toour company.
⑦ Parts or replacement expenses due to parts consumption anddeterioration.
(Such as rubber, plastic, seal material and some electric components.)
Damages excluding from direct result of a product defect shall be
excluded from the warranty.

13m od e l WRC

Features

Cross Section
Action Description

Model No.
Indication

Specifications

Performance
Curve

ExternalDimensions

Cautions

MEMO14KOSMEK LTD.
HEAD OFFICE

United States of America
SUBSIDIARYKOSMEK (USA) LTD.
650 Springer Drive, Lombard, IL 60148 USA
TEL. +1-630-620-7650
FAX. +1-630-620-9015

MEXICOREPRESENTATIVE OFFICEKOSMEK USA Mexico Office
Av. Santa Fe 103, Int. 59, col. Santa Fe Juriquilla, Queretaro,
QRO, 76230, Mexico
TEL. +52-1-55-3044-9983

EUROPESUBSIDIARYKOSMEK EUROPE GmbH
Schleppeplatz 2 9020 Klagenfurt am Wörthersee Austria
TEL. +43-463-287587
FAX. +43-463-287587-20

CHINA
SUBSIDIARYKOSMEK (CHINA) LTD.
Room601, RIVERSIDE PYRAMID No.55, Lane21, Pusan Rd, Pudong
Shanghai 200125, China
TEL. +86-21-54253000

INDIA
BRANCH OFFICEKOSMEK LTD. - INDIA
4A/Old No:649, Ground Floor, 4th D cross, MM Layout, Kavalbyrasandra,
RT Nagar, Bangalore -560032 India TEL.+91-9880561695

THAILANDREPRESENTATIVE OFFICEKOSMEK Thailand Representation Office
67 Soi 58, RAMA 9 Rd., Phatthanakan, Suanluang, Bangkok 10250, Thailand
TEL. +66-2-300-5132
FAX. +66-2-300-5133

CAT.NO. SBR-WRC002-02-G1B
Printed in Japan▶ http: //w w w .k o s me k .co m/

1-5, 2-chome, Murotani, Nishi-ku, Kobe-city, Hyogo, Japan 651-2241
TEL.+81-78-991-5162
FAX.+81-78-991-8787■ For Further Information on Unlisted Specifications and Sizes, Please call us.
■ Specifications in this Leaflet are Subject to Change without Notice.

2020/22021/2First 1Ry
2nd 1Ry