Robotic Tool Changer QC-40 through QC-100 · 3.7.2 QC-60 Flat A Optional K Series Module Removal ... The half of the Tool Changer to which various tools or end-effectors are mounted

Engineered Products for Robotic ProductivityPinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]

Robotic Tool Changer QC-40 through QC-100

Manual

Document #: 9610-20-2255

Manual, Robotic Tool Changer, QC-40 through QC-100Document #9610-20-2255-05

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected] 2

ForewordThis manual contains basic information applicable to all ATI robotic Tool Changers. Certain models have their own manuals that contain more detailed information. Also, additional information about electrical, pneumatic, fluid, high-power, and high-current modules and other options are available in other manuals and documents.

Please contact ATI Industrial Automation with any questions concerning your particular model.

CAUTION: This manual describes the function, application, and safety considerations of this product. This manual must be read and understood before any attempt is made to install or operate the product, otherwise damage to the product or unsafe conditions may occur.

Information contained in this document is the property of ATI Industrial Automation, Inc. (ATI) and shall not be reproduced in whole or in part without prior written approval of ATI. The information herein is subject to change without notice. This manual is periodically revised to reflect and incorporate changes made to the product.

The information contained herein is confidential and reserved exclusively for the customers and authorized agents of ATI Industrial Automation and may not be divulged to any third party without prior written consent from ATI. No warranty including implied warranties is made with regard to accuracy of this document or fitness of this device for a particular application. ATI Industrial Automation shall not be liable for any errors contained in this document or for any incidental or consequential damages caused thereby. ATI Industrial Automation also reserves the right to make changes to this manual at any time without prior notice.

ATI assumes no responsibility for any errors or omissions in this document. Users’ critical evaluation of this document is welcomed.

Copyright by ATI Industrial Automation. All rights reserved.

How to Reach Us

Sale, Service and Information about ATI products:

ATI Industrial Automation 1031 Goodworth Drive Apex, NC 27539 USA WWW.ati-ia.com Tel: 919.772.0115 Fax: 919.772.8259 E-mail: [email protected]

Technical support and questions:Application Engineering Tel: 919.772.0115, Option 2, Option 2 Fax: 919.772.8259 E-mail: [email protected]


Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]

3

Table of Contents1. Safety ......................................................................................................................................... 7

1.1 ExplanationofNotifications ......................................................................................................... 7

1.2 General Safety Guidelines ............................................................................................................ 8

1.3 Safety Precautions ........................................................................................................................ 9

2. Product Overview ................................................................................................................... 102.1 Master Plate Assembly ............................................................................................................... 12

2.2 Tool Plate Assembly .................................................................................................................... 13

2.3 Master Plate/Tool Plate locking Mechanism ............................................................................. 13

2.4 Optional Sensor Interface Plate (SIP) ........................................................................................ 14

2.5 Optional Modules ........................................................................................................................ 14

3. Installation .............................................................................................................................. 153.1 Robot Interface Plates (RIP) ....................................................................................................... 17

3.2 Master Plate Installation ............................................................................................................. 18

3.3 Master Plate Removal ................................................................................................................. 19

3.4 Tool Interface Plate ..................................................................................................................... 19

3.5 Tool Plate Installation ................................................................................................................. 20

3.6 Tool Plate Removal ..................................................................................................................... 20

3.7 Optional Module Installation ...................................................................................................... 213.7.1 QC-60 Flat A Optional K Series Module Installation ......................................................... 21

3.7.2 QC-60 Flat A Optional K Series Module Removal ............................................................ 22

3.7.3 QC-40. QC-41, QC-43, QC-71, and QC-100 Optional Module Installation ...................... 22

3.7.4 QC-40, QC-41, QC-43, QC-71, and QC-100 Optional Module Removal ......................... 23

3.7.5 QC-60 Flat B Optional Module Installation ....................................................................... 23

3.7.6 QC-60 Flat B Optional Module Removal .......................................................................... 24

3.8 Installing an Optional (SIP) Sensor Interface Plate Assembly ................................................ 24

3.9 Lock/Unlock Pneumatic Connections and Valving .................................................................. 273.9.1 Air Requirements .............................................................................................................. 27

3.9.2 Valve Requirements and Connections ............................................................................. 27

3.10 Electrical Connections ................................................................................................................ 293.10.1 PNP Type Lock and Unlock Sensors ................................................................................ 29

3.10.2 NPN Type Lock and Unlock Sensors ............................................................................... 29

4. Operation ................................................................................................................................ 304.1 Coupling Sequence ..................................................................................................................... 31

4.2 Fail-Safe Operation ..................................................................................................................... 31

4.3 Uncoupling Sequence ................................................................................................................. 31

4.4 ToolIdentification ........................................................................................................................ 32



4.5 Tool Storage Considerations ..................................................................................................... 32

5. Maintenance ............................................................................................................................ 335.1 Preventive Maintenance ............................................................................................................. 34

5.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins ........................... 35

5.3 Optional Electrical Module Pin Block Inspection and Cleaning ............................................. 37

6. Troubleshooting and Service Procedures ........................................................................... 386.1 Troubleshooting .......................................................................................................................... 38

6.2 Service Procedures ..................................................................................................................... 396.2.1 1/8” and 1/4” Rubber Bushing Inspection & Replacement .............................................. 39

6.2.2 3/8” Rubber Bushing Replacement .................................................................................. 39

6.2.3 Optional Electrical Module Seal Inspection and Replacement ......................................... 40

6.2.4 QC-100 Alignment Pin Replacement ................................................................................ 41

6.2.5 Proximity Sensor Adjustment, Test, or Replacement ....................................................... 41

7. Specifications ......................................................................................................................... 438. Serviceable Parts ................................................................................................................... 44

8.1 Models QC-40 Serviceable Parts ............................................................................................... 44





8.6 Models QC-100 Serviceable Parts ............................................................................................. 49

9. Drawings ................................................................................................................................. 509.1 QC-40 Tool Changer with J16 Module ....................................................................................... 50

9.2 QC-40 Euro Tool Changer ........................................................................................................... 51

9.3 QC-40 R Ported Tool Changer .................................................................................................... 54

9.4 QC-41 Tool Changer with R19 Module ...................................................................................... 55


9.6 QC-43 Tool Changer .................................................................................................................... 59


9.8 QC-60 Tool Changer with K19 Module ...................................................................................... 63


9.10 QC-60 R Ported Tool Changer .................................................................................................... 67

9.11 QC-71 Tool Changer with G19 Module ...................................................................................... 70

9.12 QC-100 Tool Changer with T19 and F02 Modules .................................................................... 71

9.13 QC-100 Euro Tool Changer ......................................................................................................... 73

10. Terms and Conditions of Sale ...................................................................................................



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Glossary of TermsTable 1.1—Tool Changer and Module Glossary

Term Definition

Bearing Race A steel ring in the Tool plate that is engaged by the locking balls during the coupling of the Tool Changer or Utility Coupler.

Cam A multi tapered sliding cylinder attached to the piston that forces the locking balls outward during the locking process.

Coupling The physical action of the locking the Master and Tool plates together. See Lock

Cover Plate A protective closure plate on standard Master assemblies which closes the pneumatic chamber.

Detection Shaft Threaded stem inserted into the robot side of the piston, functions as a target to actuate the Lock/Unlock sensors.

End-effector Interface Plate

Plate between the Tool plate and the customer’s end-effector (tooling). Enables customized mounting to the end-effector.

Electrical Module Any of a wide variety of utility modules that pass electrical power and signals through the Master and Tool modules to the end-effector.

End-Effector Tool used by the robot to perform a particular operation or function.

Fluid Module Any of a wide variety of utility modules that pass fluids through the Master and Tool modules to the end-effector.

High Current Module Any of a wide variety of utility modules that pass electrical power through the Master and Tool modules to the end-effector.

Interface Plate (IP) Optional customized component used to adapt a Tool Changer or Utility Coupler to the user’s robot or tooling.

LockThe lock air pressure provided to the Master plate locking mechanism forcing the cam to press the locking balls against the bearing race. This locks the Master and Tool plates together.

Lock Port Pneumatic port on the Master plate through which air pressure is supplied to Lock the Master plate to the Tool plate.

Lock Sensor A proximity sensor that detects the position of the pneumatically actuated piston when it is in the locked or missed tool position.

Locked An output signal provided by a proximity sensor, indicating that the coupling mechanism is in the Locked position.

Locking BallsHardened steel ball bearings used in the fail-safe locking mechanism. The locking balls are forced outward by the cam against the bearing race to pull the Master and Tool plates together.

Locking Mechanism

Manual, pneumatic or electrical driven device that draws the Master and Tool plates together securing them in a fail-safe locked condition until the mechanism is unlocked. The locking mechanism consists of locking balls, cam, ball cage, bearing race, and either an lever, pneumatic cylinder or an electric motor.

L/U Lock/Unlock sensing capability allows the customer to determine the state of the master assembly locking mechanism.

Master plate The half of the Tool Changer that is mounted to a robot. The Master plate contains the locking mechanism.

Moment The applied force multiplied by the distance it is from a point.

No-Touch™ Design feature of all ATI Tool Changer products that allows coupling the Master plate and Tool plate without physical contact prior to locking.



Table 1.1—Tool Changer and Module GlossaryTerm DefinitionPiston Cylinder located in the Master plate that actuates the locking mechanism.

Pneumatic Module Any of a wide variety of utility modules that pass air or vacuum through the Master and Tool modules to the end-effector.

Robot Interface Plate An interface plate between the robot flange and Master plate.

Sensor Plate Cover plate for the back side of the Master plate, seals the pneumatic chamber and provides mounting points for the Lock/Unlock switches.

Servo ModuleAny of a wide variety of utility modules that pass electrical power and servo signals through the Master and Tool modules to the end-effector equipped with a servo motor.

SIP Sensor Interface Plate used to adapt the Tool Changer Master to the customer-supplied robot. The interface plate contains sensors that determine the state (Locked/Unlocked/No Tool) of the Master plate.

Tool plate The half of the Tool Changer to which various tools or end-effectors are mounted.

Tool Stand Stand that holds Tools not being used by the robot.

Trip Dog A physical device used to activate a mechanical switch, use in the tool stand Interlock circuit.

Uncoupling The physical action of the unlocking the Master and Tool plates. See Unlock Unlatch The output supplied to the ATI Master module to uncouple the Tool Changer.

UnlockThe unlock air pressure provided to the Master plate locking mechanism forcing the cam to release the locking balls from the bearing race. Allowing the Master and Tool plates to be separated.

Unlocked An output signal provided by a proximity sensor, indicating that the coupling mechanism is in the Unlocked position.

Unlock Port Pneumatic port on the Master plate through which air pressure is supplied to Unlock the Master plate from the Tool plate.

Unlock Sensor A proximity sensor that detects the position of the pneumatically actuated piston when it is in the unlocked position.



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1. SafetyThe safety section describes general safety guidelines to be followed with this product, explanations of the notifications found in this manual, and safety precautions that apply to the product. More specific notifications are imbedded within the sections of the manual where they apply.

1.1 ExplanationofNotificationsThe following notifications are specific to the product(s) covered by this manual. It is expected that the user heed all notifications from the robot manufacturer and/or the manufacturers of other components used in the installation.

DANGER: Notification of information or instructions that if not followed will result in death or serious injury. The notification provides information about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.

WARNING: Notification of information or instructions that if not followed could result in death or serious injury. The notification provides information about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.

CAUTION: Notification of information or instructions that if not followed could result in moderate injury or will cause damage to equipment. The notification provides information about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.

NOTICE: Notification of specific information or instructions about maintaining, operating, installing, or setting up the product that if not followed could result in damage to equipment. The notification can emphasize, but is not limited to: specific grease types, best operating practices, and maintenance tips.

1.2 General Safety GuidelinesPrior to purchase and installation, the customer should verify that the Tool Changer selected is rated for the maximum loads and moments expected during operation. Refer to product specifications section in each module of this manual or contact ATI for assistance. Particular attention should be paid to dynamic loads caused by robot acceleration and deceleration. These forces can be many times the value of static forces in high acceleration or deceleration situations.The customer is responsible for ensuring that the area between the Master and Tool sides is clear of foreign objects during mating and subsequent coupling. Failure to do so may result in serious injury to personnel.

DANGER: The gap between the Master and Tool sides is a pinch point. All personnel should be prevented from placing any part of their body or clothing in the gap, especially during actuation of the locking mechanism.

The customer is responsible for understanding the function of the Tool Changer and implementing the proper fasteners and/or software to operate the Tool Changer safely. The Tool Changer should be controlled such that there is no chance of locking or unlocking in a position that would endanger personnel and/or equipment. If the Tool Changer is specified with Lock/Unlock (L/U) and Ready-to-Lock (RTL) sensing capability, the status should be monitored and interlocks applied to prevent injury to personnel and equipment.All pneumatic fittings and tubing must be capable of withstanding the repetitive motions of the application without failing. The routing of electrical and pneumatic lines must minimize the possibility of stress/strain, kinking, rupture, etc. Failure of critical electrical or pneumatic lines to function properly may result in injury to personnel and equipment.All electrical power, pneumatic and fluid circuits should be disconnected during servicing.



1.3 Safety PrecautionsWARNING: Remove all temporary protective materials (caps, plugs, tape, etc.) on locking face of Tool Changer and modules prior to operation. Failure to do so will result in damage to Tool Changers, modules, and end-of-arm tooling and could cause injury to personnel.

WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless the Tool is safely supported or placed in the tool stand, all energized circuits (e.g. electrical, air, water, etc.) are turned off, pressurized connections are purged and power is discharged from circuits in accordance with the customer safety practices and policies. Injury or equipment damage can occur with the Tool not placed and energized circuits on. Place the Tool in the tool stand, turn off and discharge all energized circuits, purge all pressurized connections, and verify all circuits are de-energized before performing maintenance or repair(s) on the Tool Changer or modules.

WARNING: During operation, the area between the Master and Tool must be kept clear. Failure to keep area clear will result in damage to Tool Changer, modules, or end-of-arm tooling and could cause injury to personnel.

WARNING: The Tool Changer is only to be used for intended applications and applications approved by the manufacturer. Using the Tool Changer in applications other than intended will result in damage to Tool Changer, modules, or end-of-arm tooling and could cause injury to personnel.

CAUTION: The Master plate locking mechanism must not be actuated without being mounted to the interface plate. Damage to the Cover Plate and O-ring may result. Always attach the Master plate to the Interface plate prior to attempting any operations.



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2. Product OverviewATI Tool Changers enhance the versatility of a robot by enabling the use of multiple customer tools, such as grippers, vacuum cup tooling, pneumatic and electric motors, weld guns, and more.

The Tool Changer consists of a Master plate, which is attached to the robot arm, and a Tool plate, which is attached to customer tooling. When the robot picks up the customer tooling, a pneumatically-driven locking mechanism couples the two plates. The patented, fail-safe locking mechanism utilizes a multi-tapered cam with ball locking technology to ensure the Tool Changer does not uncouple if air pressure falls below 60 psi (4.1 bar) during operation.

The robot can be programmed to select the desired customer tooling by coupling the Master plate to the Tool plate. Electrical, fluid, and other utilities transfer to the customer tooling through optional modules that are attached to the Master and Tool plates. Refer to the ATI website for compatible modules or contact an ATI sales representative for more details.

Robotic Tool Changer models are available with different anodizing, pneumatic port sizes and quantities, refer to Table 2.1 for specific Part Numbers.



Table 2.1—Standard QC Tool Changer Models and FeaturesModel Payload Flats Plate Pneumatic Ports Part No.

QC-40 110 lbs (2) Flat

Master (8) 1/8” NPT Pass through ports (2) 1/8” NPT Lock/Unlock air ports

9120-040M-000-000 9120-040M-000-000-B

Tool (8) 1/8” NPT Pass through ports 9120-040T-000-000 9120-040T-000-000-B

Master (8) 1/8”-28 BSPP Pass through ports (2) 1/8”-28 BSPP Lock/Unlock air ports

9120-040M-000-000-E

Tool (8) 1/8”-28 BSPP Pass through ports 9120-040T-000-000-E

Master (8) 1/8” BSPT Pass through ports (2) 1/8” BSPT Lock/Unlock air ports

9120-040M-000-000-R

Tool (8) 1/8” BSPT Pass through ports 9120-040T-000-000-R


Master(6) 3/8” NPT Pass through ports (4) 1/8” NPT Pass through ports

(2) 1/8” NPT Lock/Unlock air ports

9120-041M-000-000 9120-041M-000-000-B

Tool (6) 3/8” NPT Pass through ports (4) 1/8” NPT Pass through ports

9120-041T-000-000 9120-041T-000-000-B

Master(6) 3/8”-19 BSPP Pass through ports (4) 1/8”-28 BSPP Pass through ports (2) 1/8”-28 BSPP Pass through ports

9120-041M-000-000-E

Tool (6) 3/8”-19 BSPP Pass through ports (4) 1/8”-28 BSPP Pass through ports

9120-041T-000-000-E



9120-043M-000-000

Tool (8) 1/8” NPT Pass through ports 9120-043T-000-000


9120-043M-000-000-E


QC-60 160 lbs

(2) Flat

(1) J16 pattern and

(1) K series


9120-060M-000-000 9120-060M-000-000-B

Tool (8) 1/8” NPT Pass through ports 9120-060T-000-000 9120-060T-000-000-B


9120-060M-000-000-E


Master (8) 1/8” BSPT Pass through ports (2) 1/8” BSPT Lock/Unlock air ports

9120-060M-000-000-R

Tool (8) 1/8” BSPT Pass through ports 9120-060T-000-000-R

QC-71 180 lbs (2) Flats

Master (8) 1/4 NPT Pass through ports (2) 1/8 NPT Lock/Unlock air ports

9120-071M-000-000 9120-071M-000-000-B

Tool (8) 1/4 NPT Pass through ports 9120-071T-000-000 9120-071T-000-000-B

Master (8) 1/4 BSPP Pass through ports (2) 1/8” BSPP Lock/Unlock air ports

9120-071M-000-000-E

Tool (8) 1/4 BSPP Pass through ports 9120-071T-000-000-E

Master (8) 1/4 BSPT(R) Pass through ports (2) 1/8” BSPT Lock/Unlock air ports

9120-071M-000-000-R

Tool (8) 1/4 BSPT(R) Pass through ports 9120-071T-000-000-R

QC-100 330 lbs (2) Flats

Master (8) 3/8 NPT Pass through ports (2) 1/8 NPT Lock/Unlock air ports

9120-100M-000-000

Tool (8) 3/8 NPT Pass through ports 9120-100T-000-000

Master (8) G 3/8 BSPP Pass through ports (2) G 1/8 BSPP Lock/Unlock air ports

9120-100M-000-000-E

Tool (8) G 3/8 BSPP Pass through ports 9120-100T-000-000-ENotes:

1. QC Tool Changer Master and Tool plate Assemblies with (-B and -E) Part Numbers have black anodized bodies.2. Additional options are available upon request.



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2.1 Master Plate AssemblyThe Master plate assembly includes an anodized aluminum body, a hardened stainless-steel locking mechanism, and hardened steel alignment pins. The locking mechanism consists of a cam, a male coupling, and chrome-steel ball bearings. The Master plate provides one or two flat sides for mounting optional modules, depending on the model. Optional modules can be arranged to suit the application.

Figure 2.1—Master Plate Assemblies

Cover PlateCover Plate

Optional Module Flat A

Master Plate Assembly(QC-40 Shown)


Optional Module Flat B



1/8"NPT Lock, Unlock Air Ports

1/8"NPT Lock, Unlock Air Ports

Male Coupling Ball Bearings

Pass-Through Air Ports

Male CouplingBall Bearings(2) Alignment Bushings

Pass-Through Air Ports

(8) 1/4" NPT Pass-Through Air Ports

(2) Alignment Bushings


The air port provides Lock and Unlock air for the locking mechanism and pass through air for the end of arm tooling. An adapter plate assembly provides a standoff for the air ports and a mounting pattern to attach to the robot arm.Alignment pins mate with bushings to ensure repeatable alignment during the coupling process. An extreme pressure grease is applied to the cam, male coupling, ball bearings, and pins to enhance performance and maximize the life of the Master plate assembly. In some models, the Master plate is equipped with tapered alignment pins, other models such as the QC-43 Master plate have hardened stainless steel alignment bushings. A cover plate is attached to the Master to protect the internal locking mechanism during shipment. This cover plate can be removed during installation if replaced by a robot interface plate or sensor interface plate. Refer to Section 3—Installation for details.



2.2 Tool Plate AssemblyThe Tool plate assembly includes an anodized aluminum body and hardened stainless-steel bearing race. The Tool plate provides one or two flat sides for mounting optional modules, depending on the model. Optional modules can be arranged to suit the application. In some models the bearing race or Tool plate body has integrated alignment holes or bushings, other models such as the QC-43 Tool plate have hardened steel alignment pins. The Tool plate is equipped with pass through air ports to supply end of arm tooling.

Figure 2.2—Tool Plate Assemblies


Harden Stainless Steel Bearing Race

Tool Plate Assembly (QC-71 Shown) Pass Through Air Ports


(2) Integrated Alignment Holes



(2) Integrated Alignment Holes



Pass Through Air Ports

Tool Plate Assembly (QC-40 Shown)

Harden Stainless Steel Bearing Race

2.3 Master Plate/Tool Plate locking MechanismThe coupling of the Master plate and the Tool plate is achieved through a patented, high-strength, high-repeatability, stainless steel mechanism. During locking, steel balls in the Master plate are driven outward by a circular cam attached to a pneumatically actuated piston. The cam profile has three features: a lead-in angle (conical), a fail-safe surface (cylindrical) area, and a secondary angle (conical). The lead-in angle initiates the coupling process, the fail-safe surface assures the coupling will not be compromised in case of air loss (fail-safe feature), and the secondary angle provides rigid coupling during normal operation. The balls engage a bearing race (or “locking ring”) in the Tool plate and lock the Master plate and Tool plate tightly together.

Figure 2.3—Locking Mechanism

Piston

Bearing Race

Circular CamBall Cage

Ball Bearings



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2.4 Optional Sensor Interface Plate (SIP)The Sensor Interface Plate (SIP) system provides locking mechanism position signals to the customer’s process controller. These signals can indicate two possible conditions for the Master plate: Unlocked or Locked.The SIP system utilizes sensors to detect the position of the pneumatically-actuated piston in the Master plate. These sensors are available in PNP, or NPN other option are available, contact ATI for more information.The SIP system consists of an interface plate (which serves as the interface plate between the Master plate and the robot), a detection shaft, a sensor plate, proximity switches, and an O-ring.The sensor plate also replaces the simple cover plate on the backside of the Master. The sensor plate provides mounting locations for the proximity sensors and closes the pneumatic chamber of the Master. The SIP provides mounting holes for attaching the Master to the customer’s application and retains the sensor plate.

Figure 2.4—Optional Sensor Interface Plate

Detection Shaft (Sensor Target)

Unlock SensorLock Sensor

Sensor Interface Plate (SIP)O-ring Sensor Plate

2.5 Optional ModulesTool Changers have one or two flats depending on the model. Optional modules support the pass through of utilities such as signal, fluid/air, and power, etc. Refer to Table 2.2 for more information. Some modules require an adapter plate.For assistance in choosing the right modules for your particular application, visit the specific QC model webpages by clicking on the links in Table 2.2, or contact an ATI Sales Representative.

Table 2.2—Tool Changer Models and Features

Model Forthemostcurrentlist,information,andspecificationsforcompatibleOptional Modules, click the following links:

QC-40 QC-40 Web Page and select the Compatible modules tabQC-41 QC-41 Web Page and select the Compatible modules tabQC-43 QC-43 Web Page and select the Compatible modules tabQC-60 QC-60 Web Page and select the Compatible modules tabQC-71 QC-71 Web Page and select the Compatible modules tabQC-100 QC-100 Web Page and select the Compatible modules tab

Note: The ATI website provides information on the standard compatible modules additional custom modules are available, contact an ATI Sales Representative directly

http://www.ati-ia.com/products/toolchanger/QC.aspx?ID=QC-40








3. InstallationThe Master plate of the Tool Changer mounts to the robot arm using a robot interface plate (RIP) or a sensor interface plate (SIP). Custom interface plates are available from ATI upon request. Refer to Section 3.1—Robot Interface Plates (RIP) or Section 2.4—Optional Sensor Interface Plate (SIP) for more information.

The end-effector is typically attached to the Tool plate with a tool interface plate, standard and custom tool interface plates are available from ATI upon request. Refer to Section 3.4—Tool Interface Plate for more information.

All fasteners used to mount the Tool Changer to the robot and to customer’s tooling should be tightened to a torque value as indicated. Refer to Table 3.1. Furthermore, fasteners should have pre-applied adhesive or be applied with removable (blue) Loctite® 222. Table 3.1 contains recommended values based on engineering standards.

Pneumatic lines and electrical cables are attached, bundled, and must be strain-relieved in a manner that allows for freedom of movement during operation.

WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless the Tool is safely supported or placed in the tool stand, all energized circuits (e.g. electrical, air, water, etc.) are turned off, pressurized connections are purged and power is discharged from circuits in accordance with the customer’s safety practices and policies. Injury or equipment damage can occur with the Tool not placed and energized circuits on. Place the Tool in the tool stand, turn off and discharge all energized circuits, purge all pressurized connections, and verify all circuits are de-energized before performing maintenance or repair(s) on the Tool Changer or modules.

WARNING: All pneumatic fittings and tubing must be capable of withstanding the repetitive motions of the application without failing. The routing of electrical and pneumatic lines must minimize the possibility of over stressing, pullout, or kinking the lines. Failure to do so can cause critical electrical and/or pneumatic lines to malfunction and might result in injury to personnel or damage to equipment.

WARNING: Do not use lock washers under the head of the mounting fasteners or allow the mounting fasteners to protrude above the mating surfaces of the Master and Tool plates. Allowing fasteners to protrude above the mating surface will create a gap between the Master and Tool plates and not allow the locking mechanism to fully engage, this can cause damage to equipment or personal injury. The mounting fasteners must be flush or below the mating surfaces of the Master and Tool plates.

Head of Mounting Fastener Must Be Flush orBelow Mating Surface. (Do Not Use Lock

Washer under Head of Mounting Fastener.)

Mating Surface

CAUTION: Do not apply Lock or Unlock air pressure to the Tool Changer prior to installing a robot interface plate (RIP) or sensor interface plate (SIP). Applying air pressure can damage the cover plate, O-ring or may cause injury to personnel from flying debris. Always install an appropriate RIP or SIP and have the Tool Changer mounted securely to the robot before applying air pressure. Refer to Section 3.1—Robot Interface Plates (RIP) and Section 3.2—Master Plate Installation for more information.

CAUTION: Failure to follow the Robot Interface Plate or tool interface plate design consideration in Section 3.1—Robot Interface Plates (RIP) and Section 3.4—Tool Interface Plate may result in cover plate O-ring damage or loosening of the interface during operation. Follow the guidelines provided when designing a RIP, TIP for the Tool Changer.



15

CAUTION: Do not use fasteners that exceed the thread depth in the Tool Changer. Refer to Section 9—Drawings for details on mounting hole thread depth. Secure the Tool Changer with the proper length fasteners. This is true for both robot and tool interfaces.

CAUTION: Thread locker applied to fasteners must not be used more than once. Fasteners might become loose and cause equipment damage. Always apply new thread locker when reusing fasteners.

Table 3.1—FastenerSize,Class,andTorqueSpecifications

Mounting ConditionsFastener Size and Property Class

Recommended Torque

Thread Locker

QC-40, QC-41, and QC-43 Master plate to Robot Interface Plate or Sensor Interface plate, Supplied Fasteners

M5 x 0.8 Class 12.9 Pre-applied Adhesive or Loctite 222Socket head cap 45 in-lbs (5.08 Nm)

QC-60 and QC-71 Master plate to Robot Interface Plate or Sensor Interface plate, Supplied Fasteners

M6 x 1.0 Class 12.9

Pre-applied Adhesive or Loctite 242

Socket head cap 90 in-lbs (10.2 Nm)Socket flat head cap 60 in-lbs (6.78 Nm)

QC-100 Master plate to Robot Interface Plate or Sensor Interface plate, Supplied Fasteners

M8 x 1.25 Class 12.9Socket head cap 140 in-lbs (15.82 Nm)

Tool Interface Plate to QC-40, QC-41, QC-43, QC-60 and QC-71 Tool plate Minimum thread engagement of 12 mm [1.5X fastener Ø]. Do not exceed maximum available thread depth of 14 mm as shown in Section 9—Drawings

M8 x 1.25 Class 12.9Socket head cap 140 in-lbs (15.82 Nm)

Socket flat head cap 85 in-lbs (9.6 Nm)

Tool Interface Plate to QC-100 Tool plate Minimum thread engagement of 15 mm [1.5X fastener Ø]. Do not exceed maximum available thread depth as shown in Section 9—Drawings

M10 x 1.5 Class 12.9

Socket head cap 55 ft-lbs (75 Nm)

Optional Module or adapter plate to Master or Tool plate, Supplied Fasteners

M3 x 0.5 Class 12.9

Pre-applied Adhesive or Loctite 222

Socket head cap 10 in-lbs (1.13 Nm)Socket flat head cap 8 in-lbs (0.9 Nm)M4 x 0.7 Class 12.9

Socket head cap 15 in-lbs (1.69 Nm)Socket flat head cap 10 in-lbs (1.13 Nm)



3.1 Master Interface PlatesThe Master plate is typically attached to the robot arm. An interface plate can adapt the Master plate to a specific robot arm. Alignment features (dowel holes and bosses) accurately position and bolt holes secure the Master plate to the robot arm or an interface plate. Custom interface plates are available from ATI upon request. (Refer to the Drawing Section for technical information on mounting features.)

CAUTION: Do not use more than two alignment features when securing a Master plate to an interface plate. Using more than two alignment features can cause damage to equipment. Use either two dowel pins or a single dowel pin along with a boss/recess feature to align the Master plate with the interface plate.

CAUTION: Do not use dowel pins that are too long or do not allow the interface plate and Master body to mate flush. Using dowel pins that are too long will cause a gap between the interface plate and Master body and damage to the equipment. Use dowel pins that will not extend further than allowed by the Master body.

Master Plate

Interface Plate

Correct size dowelpins allow the interface

plate and Masterplate to mount flush.

Two dowel pins(or a single dowel pin along

with a boss/recess)used as alignment features.

Flush

Correct Mounting of Master Plate

Master Plate

Interface Plate

Dowel pins that aretoo long can cause a

plate and Master Plate.gap between interface

Optional Boss

GapGap

A boss and two dowel pins canbe difficult to align and can

cause damage to equipment.

Incorrect Mounting of Master Plate

If the customer chooses to design and build an interface plate, consider the following points:• The interface plate should include bolt holes for mounting and either two dowel pins or a dowel

pin and a boss for accurate positioning on the robot and Master plate. The dowel and boss features prevent unwanted rotation. Refer to the robot manual for robot mounting features.

• The thickness of the interface plate must be sufficient to provide the necessary thread engagement for the mounting bolts.

• Dowel pins must not extend out from the surface of the interface plate farther than the depth of the dowel holes in the Master plate.

• If a boss is used on the Master plate, a recess of proper depth and diameter must be machined into the interface plate to correspond with the boss on the Master plate.

• Mounting bolts that are too long can create a gap between the interface plate and the Master plate, which can damage equipment.

• The interface plate must provide rigid mounting to the Master plate.

• The interface plate design must account for clearances required for Tool Changer module attachments and accessories.



17

Figure 3.1—RobotInterfacePlateandSensorInterfacePlatewithMasterPlateConfigurations

Robot Interface Plate(RIP)

Master Plate Boss

Master Plate Body

Maintain a Gap

Cover Plate Left in PlaceO-ring

Dowel PinRIP Boss

Mounting Fasteners(Supplied by Customer)

Sensor Interface plate (SIP)

Master Plate Body

Master Plate Boss

Sensor Plate (Cover Plate Removed)O-ring

Detection shaftO-ring

Dowel Pin Mounting Fasteners(Supplied by Customer)

Cover Plate Left In Place

Sensor Plate

Robot Interface Plate(RIP)

Master Plate Body

Master Plate Boss

O-ring

Maintain a Gap

RIP BossDowel PinMounting Fasteners

(Supplied by Customer)

Cover Plate Removed

3.2 Master Plate InstallationThe Tool Changer Master plate is mounted to the robot flange using a SIP or RIP. A cover plate is attached to the Master plate to protect the internal locking mechanism during shipment. The cover plate will have to be removed if a SIP is being used and may have to be removed if a RIP is being used. The RIP can be designed to accommodate the cover plate.Tools required: 2 mm and 4 mm, 5 mm, or 6 mm Allen® wrenches (hex key), torque wrenchSupplies required: Clean rag, Loctite 222 or 242

1. Place the Tool in a secure location.2. Uncouple the Master and Tool plates.3. Turn off and de-energize all energized circuits; for example: electrical, air ,water, etc.4. Clean the mounting surfaces.5. Using the alignment features, position the interface plate to the robot arm and secure with ATI supplied

or customer supplied fasteners, refer to Figure 3.1. Refer to Table 3.1 for proper fasteners and torque.6. Depending on the type of interface plate that you are installing, choose from the following options:

• If installing an interface plate that is replacing the cover plate, go to step 4.

• If installing a sensor interface plate or an interface plate that incorporates the cover plate, go to step 6.

7. Remove the (2) M3 socket Flat head screws that secure the cover plate to the Master plate using a 2 mm Allen wrench.

8. Remove the cover plate.

CAUTION: Make sure the O-ring is properly seated in the groove in the Master plate. If the O-ring is not properly seated in the groove it can be cut or damaged, resulting in a leaking seal. Properly seat O-ring into groove in Master body.

9. If equipped, connect the Lock and Unlock sensor cables.10. Using the alignment features, position the interface plate to the Master plate and secure with supplied

fasteners, refer to Figure 3.2. Refer to Table 3.1 for proper fasteners and torque.11. Connect all Lock / Unlock and pass-through air utilities to the Master plate. For lock and unlock air,

refer to Section 3.9—Lock/Unlock Pneumatic Connections and Valving.12. If equipped, connect other utilities to the optional modules on the Master plate.13. After the procedure is complete, resume normal operation.



Figure 3.2—Typical Master Plate Installation

Sensor Interface Plate

Master Plate Assembly(QC-60 with K19 and FR4 modules Shown)

Socket Head Cap Screw(Customer Supplied)

(6) M6 Socket Flat Head Cap Screw

Dowel Pin(Customer Supplied)

Sensor Plate(Replaces Cover Plate)

Robot Arm

(6) M5 Socket Head Cap Screw

Robot Arm

Robot Interface Plate(Customer Supplied)

Master Plate Assembly(QC-41 with FN2 module Shown)

If the interface plate can accommodate the cover plate, it can remain in place

(2) M3 Socket Flat Head Screws to temporaraly hold cover plate in place


Socket Head Cap Screw(Customer Supplied)

3.3 Master Plate RemovalRefer to Figure 3.2 for Master module removal instruction.

Tools required: 4 mm, 5mm, or 6 mm Allen wrenches (hex key), torque wrench

1. Place the Tool in a secure location.2. Uncouple the Master and Tool plates.3. Turn off and de-energize all energized circuits; for example: electrical, air ,water, etc.4. If equipped, disconnect the lock and unlock sensor cables.5. Remove the fasteners that secure the Master plate to the interface plate. Refer to Figure 3.2.6. Remove the Master plate. Note: Removal of the interface plate is not required.



19

3.4 Tool Interface PlateThe Tool plate is attached to the customer’s tooling. An interface plate can adapt the Tool plate to customer tooling. Alignment features (dowel holes and a recess) accurately position and bolt holes secure the Tool plate to customer tooling. Custom interface plates can be supplied by ATI (Refer to the application drawing).

CAUTION: Do not use more than two alignment features when securing a Tool plate to an interface plate. Using more than two alignment features can cause damage to equipment. Use either two dowel pins or a single dowel pin along with a boss/recess feature to align the Tool plate with the interface plate.

CAUTION: Do not use dowel pins that are too long or do not allow the interface plate and Tool body to mate flush. Using dowel pins that are too long will cause a gap between the interface plate and Tool body and damage to the equipment. Use dowel pins that will not extend further than allowed by the Tool body.

Tool Plate

Interface Plate

Dowel pins areproper size allowing

interface plate and ToolPlate to mount flush.

Two dowel pins (or a

boss/recess) used asalignment features.

Correct Mounting of Tool Plate

Tool Plate

Interface Plate

Dowel pinsare too long and

cause a gap betweeninterface plate and Tool.

Boss and two dowel pinsas alignment features can be

difficult to align and candamage equipment.

Gap

Incorrect Mounting of Tool Plate

single dowel pin along with a

If the customer chooses to design and build a tool interface plate, consider the following points:• The interface plate should include bolt holes for mounting and either two dowel pins or a dowel

pin and a boss for accurate positioning on the customer tooling and Tool plate. The dowel and boss features prevent unwanted rotation.

• Dowel pins must not extend out from the surface of the interface plate farther than the depth of the dowel holes in the Tool plate.

• The thickness of the interface plate must be sufficient to provide the necessary thread engagement for the mounting bolts. Fasteners should meet minimum recommended engagement lengths while not exceeding the maximum available thread depth. Use of bolts that are too long can cause damage to the tool side changer.

• The plate design must account for clearances required for Tool Changer module attachments and accessories.

• If a boss is to be used on the interface plate, a boss of proper height and diameter must be machined into the interface plate to correspond with the recess in the Tool plate.

• The interface plate must have a hole in its center for manually returning the locking mechanism to the unlocked position under adverse conditions (i.e. unintended loss of power and/or air pressure). The center access hole with a minimum diameter of 1” (25.4 mm) prevents debris from contaminating the locking mechanism. Greater protection is provided by leaving the race cover and grommet in place.



3.5 Tool Plate InstallationThe end-effector is typically attached to the Tool plate with an interface plate designed refer to Section 3.4—Tool Interface Plate for specific requirements for your application.Tools required: 5 mm, 6 mm, or 8 mm Allen wrenches (hex key), torque wrenchSupplies required: Clean rag, Loctite 242

1. Place the Tool in a secure location.2. Uncouple the Master and Tool plates.3. Turn off and de-energize all energized circuits; for example: electrical, air ,water, etc.4. Clean the mounting surfaces.5. Using the alignment features position the tool interface plate or customer tooling to the Tool plate and

secure with customer supplied mounting fasteners. Apply Loctite 242 to threads or use fasteners with pre-applied adhesive, refer to Table 3.1 for proper thread engagement and torque. (Note: Mounting fasteners are supplied with ATI custom tool interface plates).

6. Connect utilities to the appropriate module and Tool plate connections.7. After the procedure is complete, resume normal operation.

Figure 3.3—Typical Tool Plate Installation

(6) M8 Socket Head Cap Screws(Customer Supplied)

Interface Plate(Customer Supplied)

Tool Plate Assembly(QC-41 with FN2 Module Shown)

Tool Plate Assembly(QC-60 with FR4 and K19

Modules Shown)

Interface Plate (Customer Supplied)

(6) M8 Socket Head Cap Screws(Customer Supplied)



Note: Mounting Fasteners and Dowel Pins included with ATI Interface Plates

3.6 Tool Plate RemovalTools required: 5 mm, 6 mm, or 8 mm Allen wrenches (hex key)

1. Place the Tool safely in the tool stand and uncouple the Tool Changer to allow clear access to the Tool plate.

2. If equipped disconnect all utilities (e.g. electrical, air, water, etc.).3. Remove the fasteners securing the Tool plate to the tool interface plate or customer tooling. Refer to

Figure 3.3.4. Remove the Tool plate.



21

3.7 Optional Module InstallationThe optional modules are typically installed on Tool Changers by ATI prior to shipment. The following steps outline field installation or removal as required. Tool Changers are compatible with many different types of modules. Some modules will require an adapter plate to be installed to the Tool Changer.

3.7.1 QC-60 Flat A Optional K Series Module InstallationTools required: 2.5 mm Allen wrench (hex key), torque wrench

Supplies required: Clean rag, Loctite 222

1. Place the Tool in a secure location.2. Uncouple the Master and Tool plates.3. Turn off and de-energize all energized circuits; for example: electrical, air ,water, etc.4. Clean the mounting surfaces. 5. Align the optional module on flat A of the Master or Tool plate.6. If not using fasteners with pre-applied adhesive, apply Loctite 222 to M3 mounting fasteners.

Secure module with (2) M3 mounting fasteners using a 2.5 mm Allen wrench. Refer to Table 3.1 for proper torque for your specific mounting fasteners.

7. Remove all protective caps, plugs, tape, etc from the module prior to operation.8. After the procedure is complete, resume normal operation.

Figure 3.4—QC-60 Flat A Optional K Series Module Installation


Tool Plate Assembly(QC-60 Shown)



Electrical Module(9120-K19-M Shown)

Electrical Module(9120-K19-T Shown)



3.7.2 QC-60 Flat A Optional K Series Module RemovalTools required: 2.5 mm Allen wrench (hex key)

1. Place the Tool in a secure location.2. Uncouple the Master and Tool plates.3. Turn off and de-energize all energized circuits; for example: electrical, air ,water, etc.4. Remove the (2) M3 socket head cap screws using a 2.5 mm Allen wrench. Note: For the module

on the master, the Master plate may have to be removed refer to Section 3.3—Master Plate Removal.

5. Remove the module from the Master or Tool plate.

3.7.3 QC-40. QC-41, QC-43, QC-71, and QC-100 Optional Module InstallationTools required: 3 mm Allen wrench (hex key), torque wrench


1. Place the Tool in a secure location.2. Uncouple the Master and Tool plates.3. Turn off and de-energize all energized circuits; for example: electrical, air ,water, etc.4. Clean the mounting surfaces.5. Align the optional module on the Master or Tool plate as shown in Figure 3.5.6. If not using fasteners with pre-applied adhesive, apply Loctite 222 to (4) M4 socket head cap

screws. Secure module with (4) M4 mounting fasteners using a 3 mm Allen wrench. Refer to Table 3.1 for proper torque for your specific mounting fasteners.


Figure 3.5—Optional Module Installation




Fluid/Air Module(9120-FR2-T Shown)




23

3.7.4 QC-40, QC-41, QC-43, QC-71, and QC-100 Optional Module RemovalTools required: 3 mm Allen wrench (hex key)

1. Place the Tool in a secure location.2. Uncouple the Master and Tool plates.3. Turn off and de-energize all energized circuits; for example: electrical, air ,water, etc.4. Disconnect any cables, air line, etc. if required.5. Remove the (4) M4 socket head cap screws, and lift the module from the Master or Tool plate.

3.7.5 QC-60 Flat B Optional Module InstallationTools required: 3 mm Allen wrench (hex key), torque wrench


1. Place the Tool in a secure location.2. Uncouple the Master and Tool plates.3. Turn off and de-energize all energized circuits; for example: electrical, air ,water, etc.4. Clean the mounting surfaces. 5. Align the adapter plate to Flat B of the QC-60 Master or Tool plate as shown in Figure 3.6.6. If not using fasteners with pre-applied adhesive, apply Loctite 222 to M4 socket flat head cap

screws. Secure adapter plate to the Tool Changer with (2) M4 socket head cap screws using a 3 mm Allen wrench. Tighten to 10 in-lbs (1.13 Nm).

7. Align the optional module on the adapter plate.8. If not using fasteners with pre-applied adhesive, apply Loctite 222 to (4) M4 mounting

fasteners. Secure module with (4) M4 mounting fasteners using a 3 mm Allen wrench. Refer to Table 3.1 for proper torque for your specific mounting fasteners.


Figure 3.6—QC-60 Flat B Optional Module Installation



(4) M4 Socket Head Cap Screws


Fluid/Air Module(9120-FR2-M Shown)

Fluid/Air Module(9120-FR2-T Shown)

Adapter Plate (9005-20-1388 Shown)

Adapter Plate (9005-20-1389 Shown)





3.7.6 QC-60 Flat B Optional Module RemovalTools required: 3 mm Allen wrench (hex key)

1. Place the Tool in a secure location.2. Uncouple the Master and Tool plates.3. Turn off and de-energize all energized circuits; for example: electrical, air ,water, etc.4. Disconnect any cables, air line, etc. if required.5. Remove the (4) M4 socket head cap screws using a 3 mm Allen wrench and remove the module

from the adapter plate.6. Remove the (2) M4 socket head cap screws that secure the adapter plate to the Master or Tool

plate and remove the adapter plate.

3.8 Installing an Optional Sensor Interface PlateThe optional sensor interface plate is typically installed on Tool Changers by ATI prior to shipment. The following steps outline installation. The sensor interface plate assembly typically includes a custom interface plate. This may replace the existing interface plate. For interface plate installation refer to Section 3.2—Master Plate Installation.The SIP assembly comes partially assembled, the Lock and Unlock sensors are assembled to the proper position in the sensor plate. There is no need to remove the sensors or adjust the position. The small detection shaft O-ring is lubricated and installed in the sensor plate.Part required: 9120-040M-SIP-yyyy, 9120-041M-SIP-yyyy, 9120-060M-SIP-yyyy, 9120-071M-SIP-yyyy, or 9120-100M-SIP-yyyy (where xxxx is the custom SIP interface plate)Tools required: 2 mm, 2.5 mm, and 3 mm Allen wrenches (hex key), torque wrench

Supplies required: Loctite 222 and Loctite Primer 7649 (if fasteners do not have pre-applied adhesive)

1. If the Tool Changer is in service, place the Tool safely in the tool stand and uncouple the Tool Changer to allow clear access to the Master and Tool plates.

2. Turn off discharge all energized circuits (e.g. electrical, air, water, etc.).3. Remove the Tool Changer Master plate from the robot and the robot interface plate (RIP) , refer to

Section 3.3—Master Plate Removal.4. If the Tool Changer has a cover plate, remove the (2) M3 socket flat head screws securing the cover plate

to the Tool Changer Master plate using a 2 mm Allen wrench. Refer to Figure 3.7.5. Lift the cover plate off of the Tool Changer Master plate.6. Make sure the O-ring in the Master plate is present and in good condition, lubricate with Magnalube if

needed.



25

Figure 3.7—Cover Plate Removal

Cover Plate

O-ring Tool Changer Master Plate(QC-60 Shown)

(2) M3 Socket Flat Head Screws

NOTICE: The sensor plate assembly comes assembled with the lock and unlock sensor installed. Do not remove the sensors, the sensors have been position properly from the factory. The sensor plate assembly has the detection shaft O-ring installed and lubricated, make sure it is present as shown in Figure 3.8.

Figure 3.8— Sensor Plate Assembly with Lock/Unlock sensors and O-ring

O-ringSensor Plate Assembly

7. Apply tape over the threads of the detection shaft to protect the threads from grease contamination during assembly.

8. Lightly lubricate the detection shaft with Magnalube.9. Carefully insert the taped detection shaft through the sensor plate assembly pushing it all the way

through until it stops.10. Remove the tape from the detection shaft and apply Loctite primer 7649 to the threads of the detection

shaft and the internal threads of the piston. Allow the primer to dry.11. Apply Loctite 242 to the threads of the detection shaft and the internal threads of the piston.12. Assemble the sensor plate assembly to the Tool Changer Master plate using the dowel pin to align the

sensor plate assembly. 13. Attach the sensor plate to the Tool Changer Master plate with the (2) M3 socket flat head screws using a

2 mm Allen wrench. Tighten to 6 in lbs (0.68 Nm).



Figure 3.9—Sensor Interface Plate Installation

Sensor Plate Assembly

Tool Changer Master Plate(QC-60 Shown)

Dowel Pin

Detection Shaft

PistonO-ring

M3 Socket Flat Head Screws

14. For a QC-40, QC-41, or QC-43, insert a 4 mm Allen wrench into the cam of the Tool Changer plate locking mechanism to hold the piston. For a QC-60 or QC-71, insert a 5 mm Allen wrench into the cam of the Tool Changer plate locking mechanism to hold the piston. For a QC-100 insert a 6 mm Allen wrench into the cam of the Tool Changer plate locking mechanism to hold the piston.

15. Using a 3 mm Allen wrench tighten the detection shaft. For QC-40, QC-41, QC-43, QC-60, or QC-71 tighten to 15 in lbs. (1.69 Nm). For QC-100 tighten to 60 in lbs. (6.78 Nm).

Figure 3.10—QC-11 Sensor Interface Plate Installation


5 mm Allen Wrench

3 mm Allen Wrench

Unlock Sensor Cable

Lock Sensor Cable



27

16. Look straight into the sensor plate assembly and verify the detection shaft does not touch the Lock and Unlock sensors, if sensors touch adjust the sensor position. Refer to Section 6.2.5—Proximity Sensor Adjustment, Test, or Replacement.

Figure 3.11—Verify Sensor and Detection Shaft Clearance


Clearance Between the Lock/Unlock Sensors and Detection Shaft

Sensor Plate Assembly

CAUTION: Do not apply Lock or Unlock air pressure to the Tool Changer prior to installing a robot interface plate (RIP) or sensor interface plate (SIP). Applying air pressure can damage the cover plate, O-ring or may cause injury to personnel from flying debris. Always install an appropriate RIP or SIP and have the Tool Changer mounted securely to the robot before applying air pressure. Refer to Section 3.1—Robot Interface Plates (RIP) and Section 3.2—Master Plate Installation for more information.

17. Connect the Lock and Unlock sensor cables and manually move the Tool Changer piston to the locked and unlocked positions. Turn the power on to the sensor, verify that the Locked signal turns ON and the sensor LED is illuminated when the Tool Changer is in the Locked position. Verify that the Unlocked signal turns ON and the sensor LED is illuminated when the Tool Changer is in the Unlocked position. If not adjust and test the sensors, refer to Section 6.2.5—Proximity Sensor Adjustment, Test, or Replacement.

18. Install the new Interface Plate to the robot and the Tool Changer Master plate to the interface plate, refer to Section 3.2—Master Plate Installation.

19. After installation is complete, Tool Changer may be put into normal operation.

3.9 Lock/Unlock Pneumatic Connections and ValvingWARNING: The locking mechanism will not function properly when connected to a single 3-way valve as this type of valve is incapable of venting trapped air pressure from within the Tool Changer.

Air must be supplied to the “Lock” air port on the Master plate (robot-side) to move the internal piston, which moves the cam, and forces the locking balls outward. The locking balls move outward until they contact the bearing race on the mating Tool plate. This will rigidly engage the Master plate and Tool plate providing high load capacity and positional accuracy. The patented cam profile prevents the Tool plate from becoming disengaged in the event that there is a loss of air in the locked state.To unlock the Tool plate from the Master plate, lock air must be vented and air supplied to the “Unlock” air port on the Master plate.

3.9.1 Air RequirementsFor proper operation of the locking mechanism, the Master plate must be supplied with clean, dry, non-lubricated air supplied between 60 and 100 psi (4.1–6.9 Bar) and filtered at 20 microns or better. Flow requirements are negligible, typically no more than 1/3 CFM at 70 PSI (4.8 Bar) when cycled continuously.

CAUTION: Do not use the Tool Changer in the fail-safe condition for extended periods of time. Do not transport the Tool Changer in the fail-safe condition. Possible damage to the locking mechanism could occur.



3.9.2 Valve Requirements and ConnectionsAs with all pneumatic piston arrangements, smooth operation requires proper porting of the supplied and vented air. It is recommended that a single 4-way valve be used to actuate the locking mechanism in the Master plate. The valve may be of either 4-port or 5-port configuration. It is imperative that when air is supplied to the Lock or Unlock Port on the Master plate, that the opposite port be vented to atmosphere (i.e., when air is supplied to the Lock Port, the Unlock Port must be open to the atmosphere.) Failure to vent trapped air or vacuum on the inactive port will negate the locking force of the mechanism.

CAUTION: The locking mechanism will not function properly when connected to a single 3-way valve as this type of valve is incapable of venting trapped air pressure from within the Tool Changer. Connect the Lock and Unlock supply air to a single 2-position 4-way or 5-way valve with either 4-port or 5-port configuration. This could result in damage to the product, attached tooling, or personnel.

Figure 3.12—QC-40, QC-43 and QC-71 Lock and Unlock Pneumatic Connections

4 or 5 -way Valve

Supply Clean, Dry, Non-lubricated Air 60 – 100 psi (4.1 – 6.9 Bar)Exhaust

Open to Atmosphere

Lock Port

Unlock Port

Figure 3.13—QC-41 Lock and Unlock Pneumatic Connections

4 or 5 -way Valve


Open to Atmosphere

Lock Port

Unlock Port

Figure 3.14—QC-60 Lock and Unlock Pneumatic Connections

4 or 5 -way Valve


Open to AtmosphereLock Port

Unlock Port



29

Figure 3.15—QC-100 Lock and Unlock Pneumatic Connections4 or 5 -way Valve


Open to Atmosphere

Lock Port

Unlock Port



3.10 Electrical ConnectionsThe Optional Lock and Unlock sensors are available in PNP and NPN type.

3.10.1 PNP Type Lock and Unlock SensorsThe PNP Lock and Unlock sensors are 8 mm cylindrical inductive proximity sensor.

Table 3.2—PNP (Current Sourcing)Description ValueVoltage Supply Range 10-30 VDCOutput Current < 100 mANominal Sensing Distance Sn 0.8 mmOutput Circuit PNP make function (NO)

Figure 3.16—PNP Type Lock and Unlock Sensors

(3) BlueBrown (1)

(4) BlackBrown (1)

Black (4)

Blue (3)

+Vs

Output

0 V

PNPZ

ConnectorPNP (Current Sourcing)

3.10.2 NPN Type Lock and Unlock SensorsThe NPN Lock and Unlock sensors are 8 mm cylindrical inductive proximity sensor.

Table 3.3—NPN (Current Sinking)Description ValueVoltage Supply Range 10-30 VDCOutput Current < 100 mANominal Sensing Distance Sn 0.8 mmOutput Circuit NPN make function (NO)

Figure 3.17—NPN Type Lock and Unlock Sensors

(3) BlueBrown (1)

(4) BlackBrown (1)

Black (4)

Blue (3)

+Vs

Output

0 V

NPNZ

ConnectorNPN (Current Sinking)



31

4. OperationThe Master locking mechanism is pneumatically driven to couple and uncouple with the bearing race on the Tool plate. The Master plate utilizes air ports to provide lock and unlock pressure to the locking mechanism.

CAUTION: Safe, reliable operation of the Tool Changer is dependent on a continuous supply of compressed air at a pressure of 60 to 100 psi (4.1 - 6.9 Bar). Robot motion should be halted if the air supply pressure drops below 60 psi (4.1 Bar) for any reason.

NOTICE: All Tool Changers are initially lubricated using MobilGrease XHP222 Special grease. The end user must apply additional lubricant to the locking mechanism components and alignment pins prior to start of service (See Section 5.2—Cleaning and Lubrication of the Locking Mechanism and Alignment Pins). Tubes of lubricant for this purpose are shipped with every Tool Changer. Note: MobilGrease XHP222 Special is a NLGI #2 lithium complex grease with molybdenum disulfide.

The robot should be programmed to minimize misalignment during coupling and uncoupling. Additionally, the tool stand should be durable and not allow deflection, under uncoupled Tool weight that will take alignment of the Tool Changer plates outside of accepted offsets. See Figure 4.1 and Table 4.1 for recommended maximum allowable offsets prior to coupling. In some cases, greater offsets than shown in Table 4.1 can be accommodated by the Master and Tool plates but will increase wear.

Lock-up should occur with the Master plate in the No-Touch™ locking zone (see Table 4.1) but not touching the Tool plate. As locking occurs, the Master plate should draw the Tool plate into the locked position.

Figure 4.1—OffsetDefinitions

Master Plate

Tool Plate

Cocking Offset(About X and Y)

Twisting Offset (About Z)

Z

Y

XX, Y, and Z Offset

Table 4.1—Maximum Recommended Offsets Prior to Coupling

ModelNo-Touch™ Zone Z

Offset (Max)1

(mm)

X and Y Offset (Max)2

(mm)

Cocking Offset (Max)

(degrees)

Twisting Offset (Max)

(degrees)

QC-40, QC-41, QC-43 +3 ±2 ±1.0 ±2

QC-60, QC-71 +3 ±2 ±0.6 ±1QC-100 +3 ±2 ±0.7 ±1Notes:

1. Maximum values shown. Decreasing actual values will minimize wear during coupling/uncoupling.2. Actual allowable values may be higher in some cases but higher offsets will increase wear during coupling.



4.1 Coupling SequenceCAUTION: The locking mechanism must be in the unlock position when attempting to couple the Tool Changer. Failure to adhere to this condition may result in damage to the unit and/or the robot.

1. Prior to coupling and with air supplied to the Unlock Port (if equipped the Unlock sensor will indicate the Tool Changer is Unlocked), position the Master plate above the Tool plate.

2. Move the Master plate toward the Tool plate so that the (2) Master plate alignment pins enter the alignment holes on the Tool plate. Take care to program the robot so that the Master plate and Tool plate are aligned axially and are parallel to each other as closely as possible, refer to Table 4.1. This will minimize Tool movement and subsequent wear during lock-up.

CAUTION: No-Touch™ locking technology allows the unit to couple with a separation distance between the Master and Tool. Direct contact of the Master and Tool mating surfaces is not suggested or required just prior to coupling. Contact may result in damage to the unit and/or the robot.

3. When the (2) faces are within the specified No-Touch™ distance (refer to Table 4.1), release the pressure from the Unlock Port and supply air to the Lock Port. The Tool plate will be drawn toward the Master plate and coupled. Air must be maintained on the Lock Port during operation to assure rigid coupling (if equipped the Lock sensor will indicate the Tool Changer is in the Locked position).

4. A sufficient delay must be programmed between locking valve actuation and robot motion so that the locking process is complete before moving the robot.

5. ATI’s patented fail-safe design prevents the Tool plate from being released in the event of air-pressure loss to the Lock port, thereby increasing safety and reliability. Positional accuracy may not be maintained during air loss but will be regained once air pressure is re-established to the Lock port.

4.2 Fail-Safe OperationA fail-safe condition occurs when there is an unintended loss of lock air pressure to the Master plate. When air pressure is lost, the Tool Changer relaxes and there may be a slight separation between the Master and Tool plates. The lock sensor may indicate that the unit is not locked. ATI’s patented fail-safe feature utilizes a multi-tapered cam to trap the ball bearings and prevent an unintended release of the Tool plate. Positional accuracy of the tooling is not maintained during this fail-safe condition. Do not operate the Tool Changer in the fail-safe condition. If source air is lost to the unit, movement should be halted until air pressure is restored. After air pressure is re-established to the Master plate, the locking mechanism will energize and securely lock the Master and Tool plates together. In some cases when the load on the tool changer is significantly off center, it may be necessary to position the load underneath the tool changer or return the tool to the tool storage location to ensure a secure lock condition. If equipped, make sure the lock sensor indicates the Tool Changer is in the locked position before resuming normal operations. Consult your Control/Signal Module Manual for specific error recovery information.

CAUTION: Do not use the Tool Changer in a fail-safe condition. Damage to the locking mechanism could occur. Re-establish air pressure and ensure the Tool Changer is in a secure lock position before returning to normal operations.

4.3 Uncoupling Sequence1. Position the Tool plate in the tool stand such that there is little or no contact force between the Tool plate

and tool stand. 2. Release air on the Lock port and apply air to the Unlock Port (if equipped the Unlock sensor will

indicate the Tool Changer is in the Unlocked position). The air will cause the locking mechanism to be released and the weight of the Tool plate and attached tooling will assist in its removal. (Note: Tool weight assists in uncoupling if the Tool is released in the vertical position only). Move the Master plate axially away from the Tool plate.



33

3. A sufficient delay must be programmed between unlocking valve actuation and robot motion so that the unlocking process is complete and the Tool plate is fully released before moving the robot.

4. In automated Tool change applications, it is recommended that a Tool presence sensor(s) be used in the tool stand to verify that the Tool is present and to verify that the Tool remains in place as the robot moves away after the unlocking process.

4.4 ToolIdentificationWhen using multiple Tools, it is good practice to implement a Tool-ID system that identifies each Tool with a unique code. This can be used to verify that the robot has picked up the proper Tool. This may be accomplished by using an optional electrical module (for power and signal pass through) and uniquely jumpering pins on the Tool side of the module. See electrical module documentation for more information. DeviceNet Tool-ID modules are also available.

4.5 Tool Storage ConsiderationsCAUTION: Tool stand design is critical to proper operation of the Tool Changer. Improperly designed tool stands can cause misalignments that will cause jamming and/or excessive wear of Tool Changer components.

The tools may be stored in a tool stand when not being used by the robot. ATI provides compatible tool stands designed for durability, longevity, and maximum adaptability to fit most customers’ applications. The ATI TSM (Tool Stand Medium) system is compatible with ATI Tool Changer sizes QC-20 to QC-110. The TSM systems can be equipped with horizontal modules, clamp modules, and different types of tool sensing. Visit the ATI Web Site http://www.ati-ia.com/products/toolchanger/toolstand/medium/MediumStand.aspx for products available for your specific application or contact ATI for recommendations and assistance.If the customer is supplying the tool stand, it should be designed to provide a fixed, repeatable, level, and stable positions for tool pick-up and drop-off. The tool stand must support the weight of the Tool Changer Tool plate, tool interface plate, optional modules, cables, hoses, and customer tooling without allowing deflection in excess of the offsets specified in Section 4—Operation.Ideally, the tool should be hanging vertically in the tool stand so that gravity assists to uncouple the Tool plate from the Master plate during unlocking. It is possible to design tool stands that hold tools in the horizontal position but care must be taken that the necessary compliance is provided during coupling and uncoupling. In general, “horizontal-position” tool stands cause more wear on the locking mechanism and locating features of the Tool and tool stand. A variety of methods may be used to position the Tool in the tool stand. A common method is to use tapered alignment pins and bushings. Robot programming and positional repeatability are vital in tool pick-up and drop-off, refer to Section 4—Operation.It is highly recommended that the customer provide a sensor that detects the presence of a properly seated Tool in the tool stand. The sensor may be used prior to coupling to ensure there is a Tool properly seated in the stand. Sensors may also be used as the robot starts to move away after uncoupling. This provides a safety measure in the event that a Tool should become jammed in the stand or if the Tool should fail to release properly from the robot. Proximity sensors should be positioned so that the sensing face is vertical to prevent metal shavings, weld spatter, or other debris from falling on the sensor and creating false readings.Tool stands may also need to incorporate means for covering Tools and modules to protect them in dirty environments, such as grinding or welding. Alternatively, positioning tool stands in areas shielded from weld spatter, fluids, adhesives, or other debris would eliminate the need for tool covers.

http://www.ati-ia.com/products/toolchanger/toolstand/medium/MediumStand.aspx



5. MaintenanceWARNING: Do not perform maintenance or repair on Tool Changer or modules unless the Tool is safely supported or placed in the tool stand, all energized circuits (e.g. electrical, air, water, etc.) are turned off, pressurized connections purged and power discharged from circuits in accordance with the customer’s safety practices and policies. Injury or equipment damage can occur with Tool not placed and energized circuits on. Place the Tool safely in the tool stand, turn off and discharge all energized circuits, purge all pressurized connections, verify all energized circuits are de-energized before performing maintenance or repair on Tool Changer or modules.

NOTICE: The cleanliness of the work environment strongly influences the trouble free operation of the Tool Changer. The dirtier the environment, the greater the need for protection against debris. Protection of the entire EOAT, the Master, the Tool and all of the modules may be necessary. Protective measures include the following: 1) Placement of tool stands away from debris generators.2) Covers incorporated into the tool stands.3) Guards, deflectors, air curtains, and similar devices built into the EOAT and the tool stand.



35

5.1 Preventive MaintenanceThe Tool Changer and optional modules are designed to provide a long life with regular maintenance. A visual inspection and preventive maintenance schedule is provided in the following table depending upon the application. Detailed assembly drawings are provided in Section 9—Drawings of this manual.

Table 5.1—Preventive Maintenance Check ListApplication(s) Tool Change Frequency Inspection Schedule

General Usage Material Handling Docking Station > 1 per minute Weekly< 1 per minute Monthly

Welding/Servo/Deburring, Foundry Operations (Dirty Environments) All WeeklyChecklist

Mounting Fasteners г Inspect fasteners for proper torque, interference or wear. Tighten and correct as required. Refer to Section 3—

Installation.Balls/Alignment Pins/Holes/Bearing Race

г Inspect for lubrication and wear. MobilGrease XHP222 Special a NLGI #2 lithium complex grease with molybdenum disulfide additive is suggested for locking mechanism and alignment pin lubrication. Over time, lubricants can become contaminated with process debris. Therefore, it is recommended to thoroughly clean the existing grease and replace with new as needed. See Section 5.2—Cleaning and Lubrication of the Locking Mechanism and Alignment Pins.

г Inspect for excessive alignment pin/bushing wear may be an indication of poor robot position during pickup/drop-off. Adjust robot position as needed. Check tool stand for wear and alignment problems. The QC-100 model has replaceable alignment pins, refer to Section 6.2.4—QC-100 Alignment Pin Replacement

г Inspect for wear on the balls/bearing race could be an indication of excessive loading.Sensors and Cables

г Inspect sensor cable connectors for tightness, if loose tighten connections.

г Inspect sensor cables for any damage, cuts, and abrasion. Replace as necessary. Hoses

г Inspect hose connection for tightness and leaks. If leaking or loose secure hose connection.

г Inspect hoses for interferences, abrasions, cuts, and leaks. Replace as required.Seals Pass Through Air and Optional Modules

г Inspect for wear, abrasion, and cuts. Replace damaged seals, or rubber bushings as needed. Refer to Section 6.2.1—1/8” and 1/4” Rubber Bushing Inspection & Replacement, Section 6.2.2—3/8” Rubber Bushing Replacement, or Section 6.2.3—Optional Electrical Module Seal Inspection and Replacement

Electrical Contacts/Pin Block (Optional Modules) г Inspect for damage, debris, and stuck/burnt pins. Clean pin blocks as required, refer to Section 5.3—Optional

Electrical Module Pin Block Inspection and Cleaning.



5.2 Cleaning and Lubrication of the Locking Mechanism and Alignment PinsSupplies required: Clean rag, MobilGrease XHP222 Special is a NLGI #2 lithium complex grease with molybdenum disulfide

1. Place the Tool safely in the tool stand and uncouple the Tool Changer to allow clear access to the Master and Tool plates. Leave the locking mechanism in the unlocked.

1. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.).2. The locking mechanism must be in the unlock state before cleaning. 3. Use a clean rag to thoroughly remove the existing lubricant and debris from the ball bearings, the male

coupling, the cam and the alignment pins.

Figure 5.1—Cleaning Ball Bearings and Outer Surfaces of Male Coupling

4. Use a clean rag to thoroughly remove the existing lubricant and debris from the inner surface of the male coupling and the cam.

Figure 5.2—Cleaning Ball Bearings, Cam and Inner Surfaces of Male Coupling



37

5. Check each ball bearing to make sure it moves freely in the male coupling. Additional cleaning may be necessary to free up any ball bearings that are sticking in place.

Figure 5.3—Check Ball Bearing Movement

6. Apply a liberal coating of MobilGrease XHP222 Special grease to the ball bearings, the male coupling (inside and out), and the alignment pins.

Figure 5.4—Apply Lubricant to Locking Mechanism

Apply Lubricant on Inner Surface of Male Coupling

Apply Lubricant on Alignment Pins and Outer Surface

of Male Coupling

7. Use a clean rag to thoroughly remove the any lubricant and debris from the bearing race and the bushings from the Tool plate.

Figure 5.5—Clean Tool Plate Surfaces of locking Mechanism

Clean Bearing Race Surfaces

Clean Bushing Surfaces

8. No application of lubrication is necessary on the Tool plate components.9. After repair is complete, return all circuits to normal operation (e.g. electrical, air, water, etc.).



5.3 Optional Electrical Module Pin Block Inspection and CleaningTools required: Nylon Brush (ATI Part Number 3690-0000064-60)

10. For a Tool Changer, if the Tool Changer is installed place the Tool safely in the tool stand. Uncouple the Tool Changer or Utility Coupler to allow clear access to the Master and Tool plates.

11. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.). 12. Inspect the Master and Tool pin blocks for any debris or darkened pins.

Figure 5.6—Inspect Master and Tool Pin Blocks

Tool Module Pin Block Master Module Pin Block

Note: Pin blocks shown are for illustration purposes only.

Weld Debris

Blackened Pins

13. If debris or darkened pins exist, remove debris using a vacuum, and clean using a nylon brush (ATI Part Number 3690-0000064-60).

NOTICE: Do not use an abrasive media, cleaners, or solvents to clean the contact pins. Using abrasive media, cleaners, or solvents will cause erosion to the contact surface or pins to stick. Clean contact surfaces with a vacuum or non-abrasive media such as a nylon brush (ATI Part Number 3690-0000064-60)

Figure 5.7—Clean Pin Blocks with a Nylon Brush

14. Inspect the Master and Tool pin blocks for stuck pins or severe pin block damage.

Figure 5.8—Stuck Pin and Pin Block Damage

Stuck Pins Severe Pin Block Damage

Note: Pin blocks shown are for illustration purposes only.

15. If stuck pins or severe pin block damage exists, contact ATI for possible pin replacement procedures or module replacement.

16. If repairs are complete, return circuits to normal operation.



39

6. Troubleshooting and Service ProceduresThe following section provides troubleshooting information to help diagnose conditions with the Tool Changer and service procedures to help resolve these conditions.

WARNING: Do not perform maintenance or repair on Tool Changer or modules unless the Tool is safely supported or placed in the tool stand, all energized circuits (e.g. electrical, air, water, etc.) are turned off, pressurized connections purged and power discharged from circuits in accordance with the customer’s safety practices and policies. Injury or equipment damage can occur with Tool not placed and energized circuits on. Place the Tool safely in the tool stand, turn off and discharge all energized circuits, purge all pressurized connections, verify all energized circuits are de-energized before performing maintenance or repair on Tool Changer or modules.

6.1 TroubleshootingThe troubleshooting table is provided to assist in diagnosing issues that may cause the Tool Changer not to function properly.

Table 6.1—TroubleshootingSymptom Cause Resolution

Tool Changer will not lock and/or unlock (or Lock sensor does not indicate Tool Changer is Locked)

Debris caught between the Master and Tool plates.

Clean debris from between Master and Tool plates. Verify mounting fasteners is secure and does not protrude above the mating surfaces.

Insufficient or no air pressure supply to the lock or unlock ports.

Verify proper air pressure and pneumatic valve is supplied. Refer to Section 3.9—Lock/Unlock Pneumatic Connections and Valving.

Air pressure trapped in de-energized Lock or Unlock ports.

Air pressure must be vented to the atmosphere properly, refer to Section 3.9—Lock/Unlock Pneumatic Connections and Valving.

Pneumatic connections loose or damaged.

Inspect hose connection for tightness and leaks. If leaking or loose secure hose connection.

Inspect hoses for interferences, abrasions, cuts, and leaks. Replace as required.

The ball bearings and/or cam are not moving freely in the male coupling.

Clean and lubricate as needed to restore smooth operation (see Section 5.2—Cleaning and Lubrication of the Locking Mechanism and Alignment Pins).

The Master plate and Tool plate are not within the specified No-Touch zone when attempting to lock.

Check that the Tool is properly seated in the tool stand. Refer to Section 4.5—Tool Storage Considerations.

Re-teach the robot to bring the Master plate and Tool plate closer together prior to attempting to lock.

Unit is locked but Lock signal does not read “on” (true).

Lock sensor/cable is out of adjustment or damaged.

Adjust or replace the lock sensor assembly as necessary. Refer to Section 6.2.5—Proximity Sensor Adjustment, Test, or Replacement.

Unit is unlocked but Unlock signal does not read “on” (true).

Unlock sensor/cable is out of adjustment or damaged.

Adjust or replace the unlock sensor assembly as necessary. Refer to Section 6.2.5—Proximity Sensor Adjustment, Test, or Replacement.

Units Equipped with Electrical/Servo/Control/Signal Modules

Loss of Communication

Debris in and around contact pins. Contact Pin worn or damaged.

Inspect V-ring seal for damage, replace damaged seal. Refer to Section 6.2.3—Optional Electrical Module Seal Inspection and Replacement

Cable connections loose or cables damaged

Check that cable connection are secure and cables are not damaged.

6.2 Service ProceduresThe following service procedures provide instructions for inspection, adjustment, test, or replacement of components.



6.2.1 1/8” and 1/4” Rubber Bushing Inspection & ReplacementThe rubber bushings seal the air passage from the Master plate to the Tool plate. If the bushing become cut or damaged they need to be replaced.Parts required: Refer to Section 8—Serviceable Parts for bushing for specific model being repaired


2. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.).3. Remove damaged rubber bushing by grasping with fingers and pulling the bushing out of the

body.4. Dip new bushing in water to aid in installation.5. Insert the beveled (chamfered) end of the rubber bushing into the bore, leaving ribbed end of

the bushing facing outward.6. Press the bushing in by hand until it is seated completely in the bore. If necessary, use a plastic

or rubber soft-faced mallet to tap the bushings into place.7. After maintenance is complete, return all circuits to normal operation (e.g. electrical, air, water,

etc.).

Figure 6.1 —1/8” and 1/4” Rubber Bushing Replacement (QC-41 Shown)

Rubber Bushing

6.2.2 3/8” Rubber Bushing ReplacementThe rubber bushings seal the air passage from the Master plate to the Tool plate. If the bushing become cut or damaged they need to be replaced.Parts required: Refer to Section 8—Serviceable Parts for bushing for specific model being repaired


2. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.).3. Using needle nose pliers grasp the rubber bushing and pull it out of the Master body. Refer to

Figure 6.2.4. If the collar remains in the Master body, remove it.5. Lightly lubricate the new rubber bushing and push into the Master body (refer to Figure 6.2).6. Insert the new collar into the rubber bushing, make sure the bushing is pressed all the way in. 7. After maintenance is complete, return all circuits to normal operation.



41

Figure 6.2— 3/8” Rubber Bushing Replacement (QC-41 Shown)

Rubber Bushing

Collar

6.2.3 Optional Electrical Module Seal Inspection and ReplacementThe seal protects the electrical connection between the Master and Tool module. If the seal becomes worn or damaged it needs to be replaced.

1. For a Tool Changer, place the Tool safely in the tool stand. Uncouple the Tool Changer or Utility Coupler to allow clear access to the Master and Tool plates.

2. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.). 3. To remove the existing seal, pinch edge of seal with fingers and gently pull the seal away from

the pin block on the Master.4. Pull the seal off the pin block.5. To install a new seal, stretch the new seal over the shoulder of the pin block.6. Push the seal’s hub down against the pin block using finger tip.7. If repairs are complete, return circuits to normal operation.

Figure 6.3—V-ring Seal Replacement

V-ring Seal

Stretch seal over shoulder of pin block and push seal hub down against

the pin block with finger tipV-ring Seal

Pinch edge of seal with fingers and gently pull away from pin block



6.2.4 QC-100 Alignment Pin ReplacementExcessive alignment pin/bushing wear may be an indication of poor robot position during pickup/drop-off. Adjust robot position as needed. Check tool stand for wear and alignment problems. If necessary replace the alignment pins.Tools required: 2.5 mm Allen wrenches (hex key), torque wrenchSupplies required: Clean rag, Loctite 242 MobilGrease XHP222 Special is a NLGI #2 lithium complex grease with molybdenum disulfideParts required: Refer to Section 8.6—Models QC-100 Serviceable Parts

1. Place the Tool safely in the tool stand and uncouple the Tool Changer to allow clear access to the Master plate.

2. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.).3. Remove the grease from the alignmnet pin using a clean rag.4. Using a 2.5mm allen wrench remove the alignment pin and discard5. Apply Loctite 242 to the treads of the new alignment pin and thread into the Master plate

assembly. Tighten to 18 in-lbs (2.0 Nm).6. Apply a liberal coating of MobilGrease XHP222 Special grease to the alignment pins.7. After maintenance is complete, return all circuits to normal operation (e.g. electrical, air, water,

etc.).

Figure 6.4—QC-100 Alignment Pin Replacement

Alignment Pin

2.5mm Allen Wrench

6.2.5 Proximity Sensor Adjustment, Test, or ReplacementThe proximity sensors are very reliable and normally do not need to be replaced. Exhaust all other possible solutions, check continuity, air supply, lubrication, and pneumatic components prior to testing or replacing the sensorTools required: 2.5 mm Allen wrenches (hex key), torque wrenchSupplies required: Clean rag, Loctite 222Parts required: Refer to Section 8—Serviceable Parts for sensors and cables for specific model being repaired

1. Place the Tool safely in the tool stand and uncouple the Tool Changer to allow clear access to the Master plate.

2. Check the sensor cables for damage, check cable continuity. If cable is damaged replace.3. If you are testing the Lock sensor make sure the QC is in the locked position, if you are testing

the Unlock sensor make sure the QC is in the unlocked position. Check to see the signal is ON and the sensor LED is illuminated for the senor being tested. If sensor are not functioning replace.



43

4. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.).5. Disconnect any cables, air line, etc. if required.6. Remove the mounting fasteners securing the Master plate assembly to the sensor interface plate.

Refer to Figure 6.57. Disconnect the sensor cable.8. Loosen the hex nut and unscrew the proximity sensor from the Master plate assembly. 9. On the new sensor, back the hex nut to the connector end of the sensor.10. Thread the proximity sensor into the Master plate assembly until it touches the detection shaft,

then back the sensor off 1/2 turn.

CAUTION: Do not operate locking mechanism with sensor touching the detection shaft. Operating the locking mechanism with the sensor touching the detection shaft will damage the sensor. Back off the sensor ½ turn and secure with the hex nut before operating the locking mechanism.

11. Holding the sensor in position apply Loctite 222 to the proximity sensor threads between the hex nut and the Master plate assembly. Tighten the hex nut and torque to 20 in-lbs (2.3 Nm).

12. Connect the sensor cable. When power is turned on to the sensor the LED should be illuminated and the sensor signal should be ON.

13. Attach the Master plate to the sensor interface plate using the mounting fasteners. Refer to Table 3.1 for torque and thread locker specifications.

14. If required, connect other utilities to the optional modules on the Master plate.15. Confirm the operation of the replaced sensor by providing Lock or Unlock air to the Tool

Changer and checking to see corresponding sensor signal is ON and the sensor LED is illuminated.

16. If repairs are complete, return circuits to normal operation.

Figure 6.5—Replace Proximity Sensor

Mounting Fasteners

Unlock Sensor

Lock SensorSensor LED

Sensor Interface Plate (SIP)Master Plate(QC-41 Shown)

Detection Shaft

Sensor Cable

Washer



7. Specifications

Table 7.1—ToolChangerSpecifications

SpecificationTool Changer Model

QC-40 QC-41 QC-43 QC-60 QC-71 QC-100Recommended Max Payload

110 lbs. (50 kg)

110 lbs. (50 kg)

110 lbs. (50 kg)

160 lbs. (75 kg)

180 lbs. (79 kg)

330 lbs. (150 kg)

Operating Temperature Range

-20–150°F

(-30–66°C)

-20–150°F

(-30–66°C)

-20–150°F

(-30–66°C)

-20–150°F

(-30–66°C)

-20–150°F

(-30–66°C)

-20–150°F

(-30–66°C)Operating Pressure Range (filtered to 50 micron or better)

60–100 psi(4.1–6.9 bar)

60–100 psi(4.1–6.9 bar)

60–100 psi(4.1–6.9 bar)

60–100 psi(4.1–6.9 bar)

60–100 psi(4.1–6.9 bar)

60–100 psi(4.1–6.9 bar)

Coupling Force @ 80 psi

1000 lbs

(4500 N)

1000 lbs

(4500 N)

1000 lbs

(4500 N)

1700 lbs

(7400 N)

1800 lbs

(8100 N)

2700 lbs

(12000 N)

Recommended Max Moment X-Y (Mxy)

1390 lbf-in

(157 Nm)

1390 lbf-in

(157 Nm)

1390 lbf-in

(157 Nm)

1740 lbf-in

(197 Nm)

3500 lbf-in

(395 Nm)

6940 lbf-in

(784 Nm)

Recommended Max Torque about Z (Mz)

1910 in-lbs

(216 Nm)

1910 in-lbs

(216 Nm)

1910 in-lbs

(216 Nm)

2600 in-lbs

(294 Nm)

3500 in-lbs

(395 Nm)

6940 lbf-in

(784 Nm)

Positional Repeatability

0.0006”

(0.0152 mm)

0.0006”

(0.0152 mm)

0.0006”

(0.0152 mm)

0.0006”

(0.0152 mm)

0.0006”

(0.0152 mm)

0.0006”

(0.0152 mm)Weight (coupled, no access.)

3.75 lbs. (1.7 kg)

4.7 lbs. (2.13 kg)

3.75 lbs. (1.7 kg)

4.4 lbs. (2.0 kg)

6.3 lbs. (2.86 kg)

11.6 lbs. (5.28 kg)

Master Weight 2.45 lbs. (1.11 kg)

3.0 lbs. (1.36 kg)

2.45 lbs. (1.11 kg)

2.9 lbs. (1.32 kg)

4.0 lbs. (1.81 kg)

7.35 lbs. (3.33 kg)

Tool Weight 1.3 lbs. (0.59 kg)

1.7 lbs. (0.771 kg)

1.3 lbs. (0.59 kg)

1.5 lbs. (0.68 kg)

2.3 lbs. (1.04 kg)

4.3 lbs. (1.95 kg)

Max. Recommended distance between Master and Tool plate

0.12”

(3.05 mm)

0.12”

(3.05 mm)

0.12”

(3.05 mm)

0.12”

(3.05 mm)

0.12”

(3.05 mm)

0.28”

(7.11 mm)

Pass through Port, (Qty) Connection Size (Maximum pressure of 100psi (6.9bar))

(8) 1/8 NPT or (8) Rc 1/8

BSPT or

(8) G 1/8 BSPP

(6) 3/8 NPT & (4) 1/8 NPT

or (6) G 3/8 BSPP & (4) G 1/8

BSPP

(8) 1/8 NPT or (8) G 1/8

BSPP

(8) 1/8 NPT or (8) Rc 1/8

BSPT or

(8) G 1/8 BSPP

(8) 1/4 NPT or (8) Rc 1/4

BSPT or

(8) G 1/4 BSPP

(8) 3/8 NPT or

(8) G 3/8 BSPP

Pneumatic Lock and Unlock Port Connection size

1/8 NPT or Rc 1/8 BSPT

or G 1/8 BSPP

1/8 NPT or

G 1/8 BSPP

1/8 NPT or G 1/8 BSPP


or G 1/8 BSPP


or G 1/8 BSPP

3/8 NPT or

G 3/8 BSPP

Mounting/Customer Interface Refer to Section 9—Drawings



45

8. Serviceable PartsThe following items are commonly used as spare parts for the QC-40 through QC-100 Tool Changers.

8.1 Models QC-40 Serviceable Parts

34

21

56

QC-40 Master plateItem No. Qty Part Number Description

1 1

9120-040M-000-000 QC-40 Master, no options (Orange Anodized)

9120-040M-000-000-E QC-40 Euro Master, no options (Black Anodized)9120-040M-000-000-R QC-40 R Ported Master, no options (Orange Anodized)

9120-040M-000-000-B QC-40 Master, no options (Black Anodized)2 6 3500-1064035-12 SHCS, M5x35, ZN

QC-40 Tool plate

3 1

9120-040T-000-000 QC-40 Tool, no options (Orange Anodized)

9120-040T-000-000-E QC-40 Euro Tool, no options (Black Anodized)9120-040T-000-000-R QC-40 R Ported Tool, no options (Orange Anodized)

9120-040T-000-000-B QC-40 Tool, no options (Black Anodized)4 8 4010-0000013-01 1/8” NPT Rubber Bushing, Nitrile

QC-40 SIP AssembliesPNP Sensors - 9120-040M-SIP-B-yyyy

5 2 8590-9909999-04 PNP Prox Switch Hardwired

PNP Sensors - 9120-040M-SIP-D-yyyy and 9120-040M-SIP-G-yyyy5 2 8590-9909999-08 PNP Prox Switch

61 2 8590-9909999-07 High-flex cable w/ straight snap-on connector, 5M long flying leads (Type-BU)

NPN Sensors - 9120-040-SIP-A-yyyy5 2 8590-9909999-02 NPN Prox Switch Hardwired

NPN Sensors - 9120-040M-SIP-E-yyyy and 9120-040M-SIP-F-yyyy5 2 8590-9909999-14 NPN Proximity Sensor w/ LED


Notes:

1. Sensor cables for 9120-040M-SIP-D-yyyy and 9120-040M-SIP-F-yyyy models.2. The -yyyy specifies the Interface plate model, contact ATI sales representative for custom interface plate available.




6

52

1

78

3

4


1 19120-041M-000-000 QC-41 Master Assembly, No Options (Orange Anodized)

9120-041M-000-000-E QC-41 Euro Master Assembly, No Options (Black Anodized)9120-041M-000-000-B QC-41 Master Assembly, No Options (Black Anodized)

2 6 4010-0000010-01 3/8” Rubber Bushing. Nitrile3 6 3700-20-2000 Collar for 3/8” Bushing4 4 4010-0000013-01 1/8” NPT Rubber Bushing, Nitrile5 6 3500-1064035-12 M5 x 35mm socket head cap screws Zinc

QC-41 Tool plate

6 19120-041T-000-000 QC-41 Tool Assembly, No Options (Orange Anodized)

9120-041T-000-000-E QC-41 Euro Tool Assembly, No Options (Black Anodized)9120-041T-000-000-B QC-41 Tool Assembly, No Options (Black Anodized)

QC-41 SIP AssembliesPNP Sensors - 9120-041M-SIP-D-yyyy and 9120-041M-SIP-G-yyyy

7 2 8590-9909999-08 PNP Prox Switch

81 2 8590-9909999-12 Straight Picofast Cordset, 2 Meter


81 2 8590-9909999-12 Straight Picofast Cordset, 2 Meter

Notes:




47


3

4

21

56


1 19120-043M-000-000 QC-43 Master, no options (Orange Anodized)

9120-043M-000-000-E QC-43 Euro Master, no options (Black Anodized)2 6 3500-1064035-15 M5 x 35mm socket head cap screws, Blue Dyed Magni

QC-43 Tool plate

3 19120-043T-000-000 QC-43 Tool, no options (Orange Anodized)

9120-043T-000-000-E QC-43 Euro Tool, no options (Black Anodized)4 8 4010-0000013-01 1/8” NPT Rubber Bushing, Nitrile

QC-43 SIP Assemblies (uses the QC-40 SIP Assemblies)PNP Sensors - 9120-040M-SIP-B-yyyy







Notes:





3

4

21

56


1 1

9120-060M-000-000 QC-60 Master, no options (Orange Anodized)

9120-060M-000-000-E QC-60 Euro Master, no options (Black Anodized)9120-060M-000-000-R QC-60 R Ported Master, no options (Orange Anodized)

9120-060M-000-000-B QC-60 Master, no options (Black Anodized)2 6 3500-1266040-15 M6 x 40mm SFHCS, Blue Dyed Magni-565

QC-60 Tool plate

3 1

9120-060T-000-000 QC-60 Tool, no options (Orange Anodized)

9120-060T-000-000-E QC-60 Euro Tool, no options (Black Anodized)9120-060T-000-000-R QC-60 R Ported Tool, no options (Orange Anodized)

9120-060T-000-000-B QC-60 Tool, no options (Black Anodized)4 8 4010-0000013-01 1/8” NPT Rubber Bushing, Nitrile


5 2 8590-9909999-08 PNP Prox Switch





Notes:




49


4

3

21

56


1 1

9120-071M-000-000 QC-71 Master Assembly, No Options (Orange Anodized)

9120-071M-000-000-E QC-71 Euro Master Assembly, No Options (Black Anodized)9120-071M-000-000-R QC-71 R Ported Master Assembly, No Options (Orange Anodized)

9120-071M-000-000-B QC-71 Master Assembly, No Options (Black Anodized)2 6 4010-0000021-01 1/4” NPT Rubber Bushing, Nitrile3 6 3500-1066040-12 M6 x 40mm socket head cap screws Zinc

QC-71 Tool plate

4 1

9120-071T-000-000 QC-71 Tool Assembly, No Options (Orange Anodized)

9120-071T-000-000-E QC-71 Euro Tool Assembly, No Options (Black Anodized)9120-071T-000-000-R QC-71 R Ported Tool Assembly, No Options (Orange Anodized)

9120-071T-000-000-B QC-71 Tool Assembly, No Options (Black Anodized)


5 2 8590-9909999-08 PNP Prox Switch


NPN Sensors - 9120-071M-SIP-E-yyyy5 2 8590-9909999-14 NPN Proximity Sensor w/ LED

NPN Sensors - 9120-071M-SIP-F-yyyy5 2 8590-9909999-09 NPN Prox Switch


Notes:





1 2

3

6

54

78


1 19120-100M-000-000 QC-100 Master, no options (Orange Anodized)

9120-100M-000-000-E QC-100 Euro Master, no options (Black Anodized)2 2 3700-20-1373 Monolithic Alignment Pin, QC-100, A23 6 3500-1068055-15 M8 x 55mm socket head cap screws, Blue Dyed Magni-565

QC-100 Tool plate

4 19120-100T-000-000 QC-100 Tool, no options (Orange Anodized)

9120-100T-000-000-E QC-100 Euro Tool, no options (Black Anodized)5 8 4010-0000010-01 3/8” Rubber Bushing. Nitrile6 8 3700-20-2000 Collar for 3/8” Bushing

QC-100 SIP AssembliesPNP Sensors - 9120-100M-SIP-B-yyyy




PNP Sensors - 9120-100M-SIP-L-yyyy7 2 8590-9909999-23 PNP Hall Effect Sensor Switch for QC-100



Notes:

1. Sensor cable for 9120-100M-SIP-D-yyyy and 9120-100M-SIP-F-yyyy modelss.2. The -yyyy specifies the Interface plate model, contact ATI sales representative for custom interface plate available.



51

9. Drawings9.1 QC-40 Tool Changer with J16 Module

50 H

7, 6

Dp.

Cus

tom

er In

terfa

ce

30°

(Typ

.)

115

54.1

J16

Mod

ules

60 J16

Mod

ules

(2)

8 H

7, 8

Dp.

Cus

tom

er In

terfa

ce

B.C

. 80

15°

(Typ

.)20

°(T

yp.)

49 (Typ

.)

(6) T

appe

d M

8 x

1.25

, 8 D

p.Eq

ually

Spa

ced

Cus

tom

er In

terfa

ce

Flat

A

Flat

B8

7

65

43

2

1

Tool

Sid

e(p

roje

ctio

n on

ly)

Pne

umat

icP

ort I

.D.

27 Tool

Pla

te

27M

aste

rP

late

18.1

Mal

eC

oupl

ing

33 J16-

T42

.5J1

6-M

3 B

oss

3.2

Cov

er P

late

Cou

pled

54.2

15.5

10.3

M5

SH

CS

Pro

vide

d15

.1

15.1

10.1

(8) 1

/8 N

PTPn

eum

atic

Thru

Por

ts

(8) 1

/8 N

PTPn

eum

atic

Thru

Por

ts(E

ven

#s10

.1 F

rom

Mat

ing

Surfa

ce)

Amph

enol

Con

nect

orPT

02A-

14-1

9P

Amph

enol

Con

nect

orPT

02A-

14-1

9S

(A)

(B)

(Odd

#s

15.1

From

Mat

ing

Sur

face

)

80 h

7, B

oss

Cus

tom

erIn

terfa

ce

79C

over

Pla

te

(2)

6 H

7, 6

Dp.

Cus

tom

er In

terfa

ce

115

B.C

. 65

10°

12.5

°

12.5

°

(6) T

hru

Hol

e fo

r M5

x 35

SH

CS

Prov

ided

Equa

lly S

pace

dC

usto

mer

Inte

rface

Flat

A

Flat

B

1/8

NPT

Unl

ock

Port

1/8

NPT

Lock

Por

t

Mas

ter S

ide

(pro

ject

ion

only

)

Part

Num

bers

Sho

wn:

(A) M

aste

r: 91

20-0

40M

-000

-J16

(B) T

ool:

9120

-040

T-00

0-J1

6

Not

es:

1. M

aste

r mou

ntin

g ha

rdw

are

prov

ided

.2.

Cov

er p

late

is n

ot n

eces

sary

if ro

bot i

nter

face

pla

te p

rovi

des

s

ealin

g. T

he re

com

men

ded

inte

rface

pla

te b

ore

dept

h w

ithou

t

a c

over

pla

te is

2.5

mm

, with

a c

over

pla

te is

5.6

mm

.3.

Orie

ntat

ion

mar

ks a

re p

rovi

ded

to a

ssis

t in

robo

t tea

chin

g.4.

Sho

wn

with

opt

iona

l J16

Ele

ctric

al M

odul

es. F

or o

ther

mod

ules

s

ee th

e M

odul

es a

nd O

ptio

ns s

ectio

n of

the

cata

log.

War

ning

: D

o no

t app

ly lo

ck/u

nloc

k ai

r pre

ssur

e w

ithou

t mas

ter c

over

pla

te p

rope

rly a

ttach

ed.

If co

ver p

late

is n

ot u

sed,

mas

ter s

houl

d be

p

rope

rly a

ttach

ed to

inte

rface

. Fa

ilure

to d

o so

cou

ld re

sult

in

dam

age

to c

over

pla

te a

nd o

-ring

.

QC

-40

Tool

Cha

nger

9230

-20-

1966

-03

1031

Goo

dwor

th D

rive,

Ape

x, N

C 2

7539

, USA

Tel:

+1.9

19.7

72.0

115

E

mai

l: in

fo@

ati-i

a.co

mFa

x: +

1.91

9.77

2.82

59

w

ww

.ati-

ia.c

omIS

O 9

001

Reg

iste

red

Com

pany



9.2 QC-40 Euro Tool Changer

3rd

AN

GLE

PRO

JEC

TION

8 H

7 1

1C

usto

mer

Inte

rface

50 H

7 5

Cus

tom

er In

terfa

ce

115

Mas

ter &

Too

l

B.C

.80

30°

49 Typ.

6X T

appe

d M

8 x

1.25

1

2Eq

ually

Spa

ced

Cus

tom

er In

terfa

ce

Flat

BFl

at A

18 Mal

eC

oupl

ing

27.1

Mas

ter

3 B

oss

3.2

Cov

er P

late

54.2

Cou

pled

[2.1

3"]

27.1

Tool

10.3

M5

SH

CS

Pro

vide

d 1

5.1

15.

1

8X G

1/8

Pneu

mat

icPa

ss-T

hru

Ports

8X G

1/8

Pneu

mat

icPa

ss-T

hru

Ports

(B)

(A)

2X6

H7

9C

usto

mer

Inte

rface

80 h

7 B

oss

Cus

tom

erIn

terfa

ce

79C

over

Pla

te

B.C

. 65

12°

Typ.

18°

Typ.

18°

Typ. 26

°Ty

p.

12.5

°

12.5

°

10°

6X T

hru

Hol

e fo

rM

5 SH

CS

Prov

ided

Equa

lly S

pace

dC

usto

mer

Inte

rface

1

23

45

6

7

8

G1/

8 Po

rtLo

ck A

ir Su

pply

G1/

8 Po

rtU

nloc

k Ai

r Sup

ply

Flat

BFl

at APne

umat

icP

ort I

.D.

Not

es:

1. M

aste

r sid

e m

ount

ing

hard

war

e pr

ovid

ed.

2. C

over

pla

te is

not

nec

essa

ry if

robo

t int

erfa

ce p

late

pro

vide

s

sea

ling.

The

reco

mm

ende

d in

terfa

ce p

late

bor

e de

pth

with

out

a

cov

er p

late

is 2

.5m

m, w

ith c

over

pla

te is

5.6

mm

.3.

Orie

ntat

ion

mar

ks a

re p

rovi

ded

to a

ssis

t in

robo

t tea

chin

g.

War

ning

: D

o no

t app

ly lo

ck/u

nloc

k ai

r pre

ssur

e w

ithou

t mas

ter c

over

pla

te p

rope

rly a

ttach

ed.

If co

ver p

late

is n

ot u

sed,

mas

ter s

houl

d be

pro

perly

atta

ched

to in

terfa

ce.

Failu

re to

do

so c

ould

resu

lt in

dam

age

to c

over

pla

te a

nd o

-ring

.

Part

Num

bers

:(A

) Mas

ter:

9120

-040

M-0

00-0

00-E

(B) T

ool:

9120

-040

T-00

0-00

0-E To

ol S

ide

(pro

ject

ion

only

)

Mas

ter S

ide

(pro

ject

ion

only

)

Rev.

Des

crip

tion

Initi

ator

Dat

e

01In

itial

Issu

eD

SS11

/5/2

015

B2:

31

3RE

VISI

ON

NO

TES:

UN

LESS

OTH

ERW

ISE

SPEC

IFIE

D.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

ENSI

ON

S A

RE IN

M

ILLIM

ETER

S.

DRA

WN

BY:

CHE

CKE

D B

Y:

D. S

wan

son

11/5

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D. W

agne

r 11/

6/15

TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

R

PRO

JEC

T #

SHEE

T

O

F 96

30-2

0-04

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PRO

PERT

Y O

F A

TI IN

DUS

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L A

UTO

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TION

, IN

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PRO

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ED IN

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AN

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EXC

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ON

ORD

ER O

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.772.0

115

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ail: in

fo@ati

-ia.co

mFa

x: +1

.919.7

72.82

59

www

.ati-ia

.com

ISO

9001

Reg

ister

ed C

ompa

ny

QC

-40

Euro



53

3rd

AN

GLE

PRO

JEC

TION

5

15

6

4

2

12

8

11

3

1

16

9

1

14

7

8

10

QC

-40

Euro

Mas

ter

(912

0-04

0M-0

00-0

00-E

)

13

Rev.

Des

crip

tion

Initi

ator

Dat

e

-Se

e Sh

eet1

--

B2:

32

3RE

VISI

ON

NO

TES:

UN

LESS

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ERW

ISE

SPEC

IFIE

D.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

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ON

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RE IN

M

ILLIM

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WN

BY:

CHE

CKE

D B

Y:

D. S

wan

son

11/5

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30-2

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PRO

PERT

Y O

F A

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TION

, IN

C. N

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TO B

E RE

PRO

DUC

ED IN

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Y M

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ON

ORD

ER O

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RITT

EN A

UTHO

RIZA

TION

OF

ATI.

1031

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dwor

th Dr

ive, A

pex,

NC 27

539,

USA

Tel: +

1.919

.772.0

115

Em

ail: in

fo@ati

-ia.co

mFa

x: +1

.919.7

72.82

59

www

.ati-ia

.com

ISO

9001

Reg

ister

ed C

ompa

ny

QC

-40

Euro



3rd

AN

GLE

PRO

JEC

TION

QC

-40

Euro

Too

l(9

120-

040T

-000

-000

-E)

4

2

3

1

Rev.

Des

crip

tion

Initi

ator

Dat

e

-Se

e Sh

eet1

--

B2:

33

3RE

VISI

ON

NO

TES:

UN

LESS

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ISE

SPEC

IFIE

D.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

ENSI

ON

S A

RE IN

M

ILLIM

ETER

S.

DRA

WN

BY:

CHE

CKE

D B

Y:

D. S

wan

son

11/5

/15

D. W

agne

r 11/

6/15

TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

R

PRO

JEC

T #

SHEE

T

O

F 96

30-2

0-04

0-E

01

PRO

PERT

Y O

F A

TI IN

DUS

TRIA

L A

UTO

MA

TION

, IN

C. N

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TO B

E RE

PRO

DUC

ED IN

AN

Y M

AN

NER

EXC

EPT

ON

ORD

ER O

R W

ITH P

RIO

R W

RITT

EN A

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RIZA

TION

OF

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dwor

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pex,

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539,

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Tel: +

1.919

.772.0

115

Em

ail: in

fo@ati

-ia.co

mFa

x: +1

.919.7

72.82

59

www

.ati-ia

.com

ISO

9001

Reg

ister

ed C

ompa

ny

QC

-40

Euro



55

9.3 QC-40 R Ported Tool Changer

3rd

AN

GLE

PRO

JEC

TION

50 H

7 6

Cus

tom

er In

terfa

ce

30°

Typ.

11

5

B.C

. 80

15°

Typ.

20°

Typ.

49 Typ.

1

2

3

45

6

7

8

Flat

AFl

at B

Pne

umat

icP

ort I

D's

6X M

8 X

1.2

5 8

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ce

2X

8 H

7 8

Cus

tom

er In

terfa

ce27

.1To

ol

27.1

Mas

ter

54.2

Cou

pled

80 h

7 B

oss

Cus

tom

erIn

terfa

ce

3B

oss

3.2

Cov

er P

late

18C

oupl

ing

10.3

M5

SH

CS

Pro

vide

d

15.

1 1

0.1

15.

1

8X R

c 1/

8P

neum

atic

Thru

Por

ts8X

Rc

1/8

Pne

umat

icTh

ru P

orts

Not

e 4

Not

e 4

(A)

(B)

11

5

79C

over

Pla

te

B.C

. 65

10°

1

2.5°

12.

5°

Flat

AFl

at B

6X T

hru

Hol

e fo

r M5

x 35

S

HC

S P

rovi

ded

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ce

2X

6 H

7 6

Cus

tom

er In

terfa

ce

Rc

1/8

Unl

ock

Por

t

Rc

1/8

Lock

Por

t

Not

es:

1. M

aste

r mou

ntin

g ha

rdw

are

prov

ided

.2.

Cov

er p

late

is n

ot n

eces

sary

if ro

bot i

nter

face

pla

te p

rovi

des

s

ealin

g. T

he re

com

men

ded

inte

rface

pla

te b

ore

dept

h w

ithou

t

a c

over

pla

te is

2.5

mm

, with

a c

over

pla

te is

5.6

mm

.3.

Orie

ntat

ion

mar

ks a

re p

rovi

ded

to a

ssis

t in

robo

t tea

chin

g.4.

Eve

n nu

mbe

red

ports

are

10.

1 fro

m m

atin

g su

rface

. Odd

num

bere

d po

rts

are

15.

1 fro

m m

atin

g su

rface

.

Tool

Sid

e(p

roje

ctio

n on

ly)

Mas

ter S

ide

(pro

ject

ion

only

)W

arni

ng:

Do

not a

pply

lock

/unl

ock

air p

ress

ure

with

out m

aste

r cov

er p

late

pro

perly

atta

ched

. If

cove

r pla

te is

not

use

d, m

aste

r sho

uld

be

pro

perly

atta

ched

to in

terfa

ce.

Failu

re to

do

so c

ould

resu

lt in

d

amag

e to

cov

er p

late

and

o-ri

ng.

Par

t Num

bers

:(A

) Mas

ter:

9120

-040

M-0

00-0

00-R

(B) T

ool:

9120

-040

T-00

0-00

0-R

Rev.

Des

crip

tion

Initi

ator

Dat

e

01In

itial

Ver

sion

DA

W9/

20/2

012

B3:

41

1RE

VISI

ON

NO

TES:

UN

LESS

OTH

ERW

ISE

SPEC

IFIE

D.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

ENSI

ON

S A

RE IN

M

ILLIM

ETER

S.

DRA

WN

BY:

CHE

CKE

D B

Y:

D. W

agne

r 9/2

0/12

DSS

9-2

4-12

TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

R

PRO

JEC

T #

SHEE

T

O

F 96

30-2

0-04

0-R

1202

16-1

01

PRO

PERT

Y O

F A

TI IN

DUS

TRIA

L A

UTO

MA

TION

, IN

C. N

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TO B

E RE

PRO

DUC

ED IN

AN

Y M

AN

NER

EXC

EPT

ON

ORD

ER O

R W

ITH P

RIO

R W

RITT

EN A

UTHO

RIZA

TION

OF

ATI.

1031

Goo

dwor

th Dr

ive, A

pex,

NC 27

539,

USA

Tel: +

1.919

.772.0

115

Em

ail: in

fo@ati

-ia.co

mFa

x: +1

.919.7

72.82

59

www

.ati-ia

.com

ISO

9001

Reg

ister

ed C

ompa

ny

QC

-040

Rc

Porte

d Ba

se T

ool C

hang

er (B

SPT)



9.4 QC-41 Tool Changer with R19 Module

60.2

R19

Mod

ules

55.8

R19

Mod

ules

Tapp

ed M

8 x

1.25

8

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ce

13

0

57.6

(Typ

.)

8 H

7 8

Cus

tom

er In

terfa

ce

50 H

7 6

Cus

tom

er In

terfa

ce

B.C

. 80 25

°

25°

30°

30°

1

2

3

4

56

7

8

9

10

Tool

Sid

e(p

roje

ctio

n on

ly)

Pne

umat

ic

Por

t I.D

.

18M

ale

Cou

plin

g

44.9

R19

-M33

.3R

19-T 6.3

27.1

Tool

Pla

te

14.

8

10.3

M5

SH

CS

Pro

vide

d

3.2

Cov

er P

late

30.1

Mas

ter

Pla

te

57.2

Cou

pled

14.

1 1

5.1

15.

1

20.

1

4X 1

/8 N

PTPn

eum

atic

Thru

Por

ts(1

5.1

From

Mat

ing

Surfa

ce)

6X 3

/8 N

PTPn

eum

atic

Thru

Por

ts(1

4.1

From

Mat

ing

Surfa

ce)

4X 1

/8 N

PTPn

eum

atic

Thru

Por

ts

6X 3

/8 N

PTPn

eum

atic

Thru

Por

ts

(A)

(B)

Amph

enol

Con

nect

orPT

02E-

14-1

9PAm

phen

ol C

onne

ctor

PT02

E-14

-19S

40.1

R19

Mod

ules

79C

over

Pla

te

6X T

hru

Hol

e fo

r M5

x 35

S

HC

S P

rovi

ded

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ce

13

0

6 H

7 20

Cus

tom

er In

terfa

ce

6 H

7 6

Cus

tom

er In

terfa

ce

B.C

. 65

12.

5°

12.

5°

10°

1/8

NPT

Lock

Por

t1/

8 N

PTU

nloc

k Po

rt

Mas

ter S

ide

(pro

ject

ion

only

)

Not

es:

1. M

aste

r mou

ntin

g ha

rdw

are

prov

ided

.2.

Cov

er p

late

is n

ot n

eces

sary

if ro

bot i

nter

face

pla

te p

rovi

des

s

ealin

g. T

he re

com

men

ded

inte

rface

pla

te b

ore

dept

h w

ith

a

cov

er p

late

is 2

.5m

m.

3. O

rient

atio

n m

arks

are

pro

vide

d to

ass

ist i

n ro

bot t

each

ing.

4. S

how

n w

ith o

ptio

nal R

19 E

lect

rical

Mod

ules

. Fo

r oth

er m

odul

es

see

the

Mod

ules

and

Opt

ions

sec

tion

of th

e ca

talo

g.

Part

Num

bers

Sho

wn:

(A) M

aste

r: 91

20-0

41M

-R19

-000

(B) T

ool:

9120

-041

T-R

19-0

00

War

ning

: D

o no

t app

ly lo

ck/u

nloc

k ai

r pre

ssur

e w

ithou

t mas

ter c

over

pla

te p

rope

rly a

ttach

ed.

If co

ver p

late

is n

ot u

sed,

mas

ter s

houl

d be

p

rope

rly a

ttach

ed to

inte

rface

. Fa

ilure

to d

o so

cou

ld re

sult

in

dam

age

to c

over

pla

te a

nd o

-ring

.

QC

-41

Tool

Cha

nger

9230

-20-

1967

-03

1031

Goo

dwor

th D

rive,

Ape

x, N

C 2

7539

, USA

Tel:

+1.9

19.7

72.0

115

E

mai

l: in

fo@

ati-i

a.co

mFa

x: +

1.91

9.77

2.82

59

w

ww

.ati-

ia.c

omIS

O 9

001

Reg

iste

red

Com

pany



57


3rd

AN

GLE

PRO

JEC

TION

18 Mal

eC

oupl

ing

32.4

Mas

ter

3.2

Cov

erP

late

27.1

Tool

13M

5 S

HC

SP

rovi

ded

[2.3

4"]

59.5

Cou

pled

13.

6

16.

2

20.

2

4X G

1/8

Pne

umat

icP

ass-

Thru

Por

ts4X

G1/

8P

neum

atic

Pas

s-Th

ruP

orts

6X G

3/8

Pne

umat

icP

ass-

Thru

Por

ts

6X G

3/8

Pne

umat

icP

ass-

Thru

Por

ts(B)

(A)

10°

12.

5°

12.

5°

B.C

.65

6 H

7 10

Cus

tom

erIn

terfa

ce

6 H

7 22

Cus

tom

erIn

terfa

ce 79C

over

Pla

te

G1/

8 P

ort

Unl

ock

Air

Sup

ply

G1/

8 P

ort

Lock

Air

Sup

ply

6X T

hru

Hol

e fo

rM

5 S

HC

S P

rovi

ded

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ceM

aste

r Sid

e(p

roje

ctio

n on

ly)

8 H

7 10

Cus

tom

er In

terfa

ce

50 H

7 6

Cus

tom

er In

terfa

ce

30°

25°

30°

25°

57.6

Typ.

B.C

.80

13

0

6X T

appe

d M

8 x

1.25

14

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ce

1

2

3

4

56

7

8

9

10

Pne

umat

icP

ort I

.D.

Tool

Sid

e(p

roje

ctio

n on

ly)

War

ning

: D

o no

t app

ly lo

ck/u

nloc

k ai

r pre

ssur

e w

ithou

t mas

ter c

over

pla

te p

rope

rly a

ttach

ed.

If co

ver p

late

is n

ot u

sed,

mas

ter s

houl

d be

pro

perly

atta

ched

to in

terfa

ce.

Failu

re to

do

so c

ould

resu

lt in

dam

age

to c

over

pla

te a

nd o

-rin

g.

Not

es:

1. M

aste

r sid

e m

ount

ing

hard

war

e pr

ovid

ed.

2. C

over

pla

te is

not

nec

essa

ry if

robo

t int

erfa

ce p

late

pro

vide

s

sea

ling.

The

reco

mm

ende

d in

terfa

ce p

late

bor

e de

pth

with

a

cov

er p

late

is 2

.5m

m.

3. O

rient

atio

n m

arks

are

pro

vide

d to

ass

ist i

n ro

bot t

each

ing.

Par

t Num

bers

:(A

) Mas

ter:

9120

-041

M-0

00-0

00-E

(B) T

ool:

9120

-041

T-00

0-00

0-E

Rev.

Des

crip

tion

Initi

ator

Dat

e

01In

itial

Issu

eD

SS11

/10/

2015

B2:

31

3RE

VISI

ON

NO

TES:

UN

LESS

OTH

ERW

ISE

SPEC

IFIE

D.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

ENSI

ON

S A

RE IN

M

ILLIM

ETER

S.

DRA

WN

BY:

CHE

CKE

D B

Y:

D. S

wan

son

11/6

/15

D. W

agne

r 11/

10/1

5

TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

R

PRO

JEC

T #

SHEE

T

O

F 96

30-2

0-04

1-E

-01

PRO

PERT

Y O

F A

TI IN

DUS

TRIA

L A

UTO

MA

TION

, IN

C. N

OT

TO B

E RE

PRO

DUC

ED IN

AN

Y M

AN

NER

EXC

EPT

ON

ORD

ER O

R W

ITH P

RIO

R W

RITT

EN A

UTHO

RIZA

TION

OF

ATI.

1031

Goo

dwor

th Dr

ive, A

pex,

NC 27

539,

USA

Tel: +

1.919

.772.0

115

Em

ail: in

fo@ati

-ia.co

mFa

x: +1

.919.7

72.82

59

www

.ati-ia

.com

ISO

9001

Reg

ister

ed C

ompa

ny

QC

-41

Euro



3rd

AN

GLE

PRO

JEC

TION

12

5

16

6

4

9

11

8

2

1014

17

18

15

1

13

8

71

3QC

-41

Euro

Mas

ter

(912

0-04

1M-0

00-0

00-E

)

Rev.

Des

crip

tion

Initi

ator

Dat

e

-Se

e Sh

eet1

--

B1:

22

3RE

VISI

ON

NO

TES:

UN

LESS

OTH

ERW

ISE

SPEC

IFIE

D.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

ENSI

ON

S A

RE IN

M

ILLIM

ETER

S.

DRA

WN

BY:

CHE

CKE

D B

Y:

D. S

wan

son

11/6

/15

D. W

agne

r 11/

10/1

5

TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

R

PRO

JEC

T #

SHEE

T

O

F 96

30-2

0-04

1-E

-01

PRO

PERT

Y O

F A

TI IN

DUS

TRIA

L A

UTO

MA

TION

, IN

C. N

OT

TO B

E RE

PRO

DUC

ED IN

AN

Y M

AN

NER

EXC

EPT

ON

ORD

ER O

R W

ITH P

RIO

R W

RITT

EN A

UTHO

RIZA

TION

OF

ATI.

1031

Goo

dwor

th Dr

ive, A

pex,

NC 27

539,

USA

Tel: +

1.919

.772.0

115

Em

ail: in

fo@ati

-ia.co

mFa

x: +1

.919.7

72.82

59

www

.ati-ia

.com

ISO

9001

Reg

ister

ed C

ompa

ny

QC

-41

Euro



59

3rd

AN

GLE

PRO

JEC

TION

4

2

3

1

QC

-41

Euro

Too

l(9

120-

041T

-000

-000

-E)

Rev.

Des

crip

tion

Initi

ator

Dat

e

-Se

e Sh

eet1

--

B1:

23

3RE

VISI

ON

NO

TES:

UN

LESS

OTH

ERW

ISE

SPEC

IFIE

D.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

ENSI

ON

S A

RE IN

M

ILLIM

ETER

S.

DRA

WN

BY:

CHE

CKE

D B

Y:

D. S

wan

son

11/6

/15

D. W

agne

r 11/

10/1

5

TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

R

PRO

JEC

T #

SHEE

T

O

F 96

30-2

0-04

1-E

-01

PRO

PERT

Y O

F A

TI IN

DUS

TRIA

L A

UTO

MA

TION

, IN

C. N

OT

TO B

E RE

PRO

DUC

ED IN

AN

Y M

AN

NER

EXC

EPT

ON

ORD

ER O

R W

ITH P

RIO

R W

RITT

EN A

UTHO

RIZA

TION

OF

ATI.

1031

Goo

dwor

th Dr

ive, A

pex,

NC 27

539,

USA

Tel: +

1.919

.772.0

115

Em

ail: in

fo@ati

-ia.co

mFa

x: +1

.919.7

72.82

59

www

.ati-ia

.com

ISO

9001

Reg

ister

ed C

ompa

ny

QC

-41

Euro



9.6 QC-43 Tool Changer

3rd

AN

GLE

PRO

JEC

TION

50 H

7 6

Cus

tom

er In

terfa

ce115

2X

8 H

7 8

Cus

tom

er In

terfa

ce

30°

(Typ

.)

B.C

. 80

15°

(Typ

.)20

°(T

yp.)

49(T

yp.)

6X T

appe

dM

8 x

1.25

8

Equa

lly S

pace

dC

usto

mer

Inte

rface

Flat

A

Flat

B

8

7

65

43

2

1

Tool

Sid

e(p

roje

ctio

n on

ly)

Pne

umat

icP

ort I

.D.

27 Tool

Pla

te

27M

aste

rP

late

18.1

Mal

eC

oupl

ing

3.2

Cov

er P

late

Cou

pled

54.2

10.3

M5

SH

CS

Pro

vide

d

3 B

oss

3X 1

5.5

Alig

nmen

tP

ins

15.1

10.1

15.1

8X 1

/8 N

PTPn

eum

atic

Thru

Por

ts8X

1/8

NPT

Pneu

mat

icTh

ru P

orts

(Eve

n #s

10.

1 Fr

omM

atin

g Su

rface

)

(A)

(B)

(Odd

#s

15.1

From

Mat

ing

Sur

face

)

80 h

7, B

oss

Cus

tom

erIn

terfa

ce

79C

over

Pla

te

2X6

H7

6C

usto

mer

Inte

rface

11

5 B

.C.

65

10°

12.5

°

12.5

°

6X T

hru

Hol

efo

r M5

x 35

SH

CS

Prov

ided

Equa

lly S

pace

dC

usto

mer

Inte

rface

Flat

A

Flat

B

1/8

NPT

Unl

ock

Port

1/8

NPT

Lock

Por

t

Mas

ter S

ide

(pro

ject

ion

only

)

Part

Num

bers

Sho

wn:

(A) M

aste

r: 91

20-0

43M

-000

-000

(B) T

ool:

9120

-043

T-00

0-00

0

Not

es:

1. M

aste

r mou

ntin

g ha

rdw

are

prov

ided

.2.

Cov

er p

late

is n

ot n

eces

sary

if ro

bot i

nter

face

pla

te p

rovi

des

s

ealin

g. T

he re

com

men

ded

inte

rface

pla

te b

ore

dept

h w

ithou

t

a c

over

pla

te is

2.5

mm

, with

a c

over

pla

te is

5.6

mm

.3.

Orie

ntat

ion

mar

ks a

re p

rovi

ded

to a

ssis

t in

robo

t tea

chin

g.

War

ning

: D

o no

t app

ly lo

ck/u

nloc

k ai

r pre

ssur

e w

ithou

t mas

ter c

over

pla

te p

rope

rly a

ttach

ed.

If co

ver p

late

is n

ot u

sed,

mas

ter s

houl

d be

p

rope

rly a

ttach

ed to

inte

rface

. Fa

ilure

to d

o so

cou

ld re

sult

in

dam

age

to c

over

pla

te a

nd o

-ring

.

Rev.

Des

crip

tion

Initi

ator

Dat

e

01In

itial

Dra

win

gD

AW

7/9/

2014

B1:

1.7

11

REVI

SIO

N

NO

TES:

UN

LESS

OTH

ERW

ISE

SPEC

IFIE

D.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

ENSI

ON

S A

RE IN

M

ILLIM

ETER

S.

DRA

WN

BY:

CHE

CKE

D B

Y:

D. W

agne

r 7/9

/14

DSS

7/9

/14

TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

R

PRO

JEC

T #

SHEE

T

O

F 92

30-2

0-45

83-

01

PRO

PERT

Y O

F A

TI IN

DUS

TRIA

L A

UTO

MA

TION

, IN

C. N

OT

TO B

E RE

PRO

DUC

ED IN

AN

Y M

AN

NER

EXC

EPT

ON

ORD

ER O

R W

ITH P

RIO

R W

RITT

EN A

UTHO

RIZA

TION

OF

ATI.

1031

Goo

dwor

th Dr

ive, A

pex,

NC 27

539,

USA

Tel: +

1.919

.772.0

115

Em

ail: in

fo@ati

-ia.co

mFa

x: +1

.919.7

72.82

59

www

.ati-ia

.com

ISO

9001

Reg

ister

ed C

ompa

ny

QC

-43

Tool

Cha

nger



61


3rd

AN

GLE

PRO

JEC

TION

8 H

7 1

1C

usto

mer

Inte

rface

50 H

7 5

Cus

tom

er In

terfa

ce

115

Mas

ter &

Too

l

B.C

.80

30°

49 Typ.

6X T

appe

d M

8 x

1.25

1

2Eq

ually

Spa

ced

Cus

tom

er In

terfa

ce

Flat

BFl

at A

18 Mal

eC

oupl

ing

27.1

Mas

ter

3 B

oss

3.2

Cov

er P

late

54.2

Cou

pled

[2.1

3"]

27.1

Tool

10.3

M5

SH

CS

Pro

vide

d 1

5.1

15.

1

8X G

1/8

Pneu

mat

icPa

ss-T

hru

Ports

8X G

1/8

Pneu

mat

icPa

ss-T

hru

Ports

(B)

(A)

2X6

H7

9C

usto

mer

Inte

rface

80 h

7 B

oss

Cus

tom

erIn

terfa

ce

79C

over

Pla

te

B.C

. 65

12°

Typ.

18°

Typ.

18°

Typ. 26

°Ty

p.

12.5

°

12.5

°

10°

6X T

hru

Hol

e fo

rM

5 SH

CS

Prov

ided

Equa

lly S

pace

dC

usto

mer

Inte

rface

1

23

45

6

7

8

G1/

8 Po

rtLo

ck A

ir Su

pply

G1/

8 Po

rtU

nloc

k Ai

r Sup

ply

Flat

BFl

at APne

umat

icP

ort I

.D.

Not

es:

1. M

aste

r sid

e m

ount

ing

hard

war

e pr

ovid

ed.

2. C

over

pla

te is

not

nec

essa

ry if

robo

t int

erfa

ce p

late

pro

vide

s

sea

ling.

The

reco

mm

ende

d in

terfa

ce p

late

bor

e de

pth

with

out

a

cov

er p

late

is 2

.5m

m, w

ith c

over

pla

te is

5.6

mm

.3.

Orie

ntat

ion

mar

ks a

re p

rovi

ded

to a

ssis

t in

robo

t tea

chin

g.

War

ning

: D

o no

t app

ly lo

ck/u

nloc

k ai

r pre

ssur

e w

ithou

t mas

ter c

over

pla

te p

rope

rly a

ttach

ed.

If co

ver p

late

is n

ot u

sed,

mas

ter s

houl

d be

pro

perly

atta

ched

to in

terfa

ce.

Failu

re to

do

so c

ould

resu

lt in

dam

age

to c

over

pla

te a

nd o

-ring

.

Part

Num

bers

:(A

) Mas

ter:

9120

-043

M-0

00-0

00-E

(B) T

ool:

9120

-043

T-00

0-00

0-E To

ol S

ide

(pro

ject

ion

only

)

Mas

ter S

ide

(pro

ject

ion

only

)

Rev.

Des

crip

tion

Initi

ator

Dat

e

01In

itial

Issu

eD

SS11

/10/

2015

B2:

31

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SIZE

DRA

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9001

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ister

ed C

ompa

ny

QC

-43

Euro



3rd

AN

GLE

PRO

JEC

TION

6

14

7

4

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9

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12

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DRA

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.com

ISO

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ister

ed C

ompa

ny

QC

-43

Euro



63

3rd

AN

GLE

PRO

JEC

TION

QC

-43

Euro

Too

l(9

120-

043T

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1

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.com

ISO

9001

Reg

ister

ed C

ompa

ny

QC

-43

Euro



9.8 QC-60 Tool Changer with K19 Module

.C.

B68 °51

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65


3rd

AN

GLE

PRO

JEC

TION

50 H

7 6

Cus

tom

er In

terfa

ce13

0

B.C

. 80

53 Typ.

8 H

7 16

Cus

tom

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23

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6 7

8

6X T

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Equa

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16 Mal

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Cov

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23.1

Tool

24.1

Mas

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12.9

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CS

Pro

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47.2

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(A)

(B)

2X

6 H

7 6

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terfa

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99.1

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late

130

100

h7 B

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Cus

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55 Typ.

B.C

. 86

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15°

Flat

B

6X T

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Hol

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Prov

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Inte

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Flat

A

G1/

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G1/

8U

nloc

k Po

rt

Mas

ter S

ide

(pro

ject

ion

only

)

Part

Num

bers

:(A

) Mas

ter:

9120

-060

M-0

00-0

00-E

(B) T

ool:

9120

-060

T-00

0-00

0-E

Not

es:

1) M

aste

r sid

e m

ount

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hard

war

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ovid

ed.

2) C

over

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te is

not

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robo

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ce p

late

pro

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s

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The

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out

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cov

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is 5

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m.

3) O

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are

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ass

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n ro

bot t

each

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War

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: D

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mas

ter s

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ld re

sult

in

dam

age

to c

over

pla

te a

nd o

-ring

.

Rev.

Des

crip

tion

Initi

ator

Dat

e

01In

itial

Issu

eD

SS11

/17/

2015

B1:

1.5

13

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TES:

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SIZE

DRA

WIN

G N

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JEC

T #

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539,

USA

Tel: +

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.772.0

115

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ISO

9001

Reg

ister

ed C

ompa

ny

QC

-60

Euro



3rd

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PRO

JEC

TION

QC

-60

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Mas

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539,

USA

Tel: +

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115

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ail: in

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ister

ed C

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ny

QC

-60

Euro



67

3rd

AN

GLE

PRO

JEC

TION

4

2

1

QC

-60

Euro

Too

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Rev.

Des

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Dat

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SIZE

DRA

WIN

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JEC

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1.919

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115

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ail: in

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.com

ISO

9001

Reg

ister

ed C

ompa

ny

QC

-60

Euro



9.10 QC-60 R Ported Tool Changer

3rd

AN

GLE

PRO

JEC

TION

13

0

53

55

B.C

. 80

50 H

7 6

Cus

tom

er In

terfa

ce

2X

20°

2X

20°

2X

20°

2X

20°

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AFlat

B

6X M

8 X

1.2

5 1

6E

qual

ly S

pace

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Inte

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Pne

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Tool

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Pla

te

24.1

Mas

ter

Pla

te

47.2

Cou

pled

12.

1

16 Mal

eC

oupl

ing

100

H7

Bos

sC

usto

mer

Inte

rface

3 B

oss 13

.2M

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FHC

SP

rovi

ded

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erP

late

14.

1

8X R

c 1/

8P

neum

atic

Thru

Por

ts

8X R

c 1/

8P

neum

atic

Thru

Por

ts

(A)

(B)

Par

t num

bers

sho

wn:

(A) M

aste

r: 91

20-0

60M

-000

-000

-R(B

) Too

l: 91

20-0

60T-

000-

000-

R

13

0

B.C

. 86

53

55

99.1

Cov

erP

late 1

5°

Flat

A

Flat

B

2X

6 H

7 6

Cus

tom

er In

terfa

ce

6X T

hru

Hol

es fo

r M6

x 40

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CS

Pro

vide

dE

qual

ly S

pace

dC

usto

mer

Inte

rface

Rc

1/8

Unl

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Por

t

Rc

1/8

Lock

Por

t

Mas

ter S

ide

(Pro

ject

ion

Onl

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War

ning

: D

o no

t app

ly lo

ck/u

nloc

k ai

r pre

ssur

e w

ithou

t mas

ter c

over

pla

te p

rope

rly a

ttach

ed.

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ver p

late

is n

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sed,

mas

ter s

houl

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rope

rly a

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ed to

inte

rface

. Fa

ilure

to d

o so

cou

ld re

sult

in

dam

age

to c

over

pla

te a

nd o

-ring

.

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es:

1. M

aste

r mou

ntin

g ha

rdw

are

prov

ided

.2.

Cov

er p

late

is n

ot n

eces

sary

if ro

bot i

nter

face

pla

te p

rovi

des

s

ealin

g. T

he re

com

men

ded

inte

rface

pla

te b

ore

dept

h w

ithou

t

a c

over

pla

te is

2.5

mm

, with

a c

over

pla

te is

5.6

mm

.3.

Orie

ntat

ion

mar

ks a

re p

rovi

ded

to a

ssis

t in

robo

t tea

chin

g.

Rev.

Des

crip

tion

Initi

ator

Dat

e

01In

itial

Dra

win

gD

AW

7/9/

2013

B3:

41

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VISI

ON

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TES:

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LESS

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D.

DO

NO

T SC

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ON

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WN

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SIZE

DRA

WIN

G N

UMBE

R

PRO

JEC

T #

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71

9.11 QC-71 Tool Changer with G19 Module

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9.12 QC-100 Tool Changer with T19 and F02 Modules

3.2

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21

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SHEE

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9230

-20-

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-04

04

Add

ed F

02 M

ani

fold

on

Flat B

Inte

rface

Adv

ice:

pr

oper

ly a

ttach

ed; o

ther

wise

, dam

age

may

occ

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cov

er p

late

and

o-ri

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The

tool

inte

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pla

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be

desig

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to u

se M

10 sc

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s, 10

dow

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in a

nd

JHS

5/8

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03

Add

ed sh

eet 2

of 2

115

boss

. Re

fere

nce

Not

e 3.

w

ith th

e co

ver p

late

is 5

.6m

m.

With

out C

over

Pla

te

T

he re

com

men

ded

inte

rface

pla

te b

ore

dept

h w

ithou

t the

cov

er p

late

is 2

.5m

m,

Top

Vie

w M

aste

r Pla

te

D

o no

t app

ly lo

ck a

ir pr

essu

re w

ithou

t mas

ter i

nter

face

pla

te

Botto

m V

iew

Too

l Pla

te

War

ning

:

4. O

rient

atio

n m

arks

are

pro

vide

d to

ass

ist in

robo

t tea

chin

g.

6. S

ee sh

eet 2

of 2

for F

lat B

bol

t hol

e pa

ttern

s.

80 re

cess

.

5. M

isalig

nmen

ts a

llow

ed w

hen

coup

ling;

con

sult

spec

ificat

ions

.

7. D

XF a

nd D

WG

im

ages

ava

ilabl

e up

on re

ques

t.

Not

es:

1. O

ptio

nal e

lect

rical

mod

ule

show

n; c

onsu

lt ca

talo

g fo

r oth

er o

ptio

ns.

2. M

ount

ing

hard

war

e is

prov

ided

; cov

er p

late

, o-ri

ng a

nd m

aste

r pla

te sc

rew

s.3.

Cov

er p

late

is n

ot n

eces

sary

if ro

bot i

nter

face

pla

te p

rovi

des s

ealin

g.

Inte

rface

Adv

ice:

The

robo

t int

erfa

ce p

late

shou

ld b

e de

signe

d to

use

M8

scre

ws,

10 d

owel

pin

and

JHS

2/1

1/03

O-ri

ng

AS5

68-0

42pr

ovid

ed

Cus

tom

er In

terfa

ceFla

t B

(6) t

hru

hole

s for

M8

x 55

SHC

Spr

ovid

ed

Flat A

H7

77 C

ylin

der

Bor

e

177

75

10 d

eep

Cus

tom

er In

terfa

ce

60.2

(2)

10-0+0

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60

3

12

Flat A

7

Flat B

65

4

Opt

iona

l Too

l I.D

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8

75

Cus

tom

er In

terfa

ce

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10

dee

p0.

030

177.

01

20 d

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5

Inte

rface

Cus

tom

er

75 H

7

60.2

+ 0-10

80-0+

60

(6) M

10, 2

0 d

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Cus

tom

er In

terfa

ce



73

(8) M

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7,

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lat B

Hol

e Lo

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ts

(8) M

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7 10

83.6

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5

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50±0

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85.6

0

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(4)

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5

85.6

050

9

13.5

0±0.

05 18

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5

±0.1

0

16.9

9

189

17 20

13.5

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9

B92

30-2

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QC

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With

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ATE

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Fax:

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BY:

CHE

CKE

D B

Y:

WEI

GHT

LBS

:

ASS

EMBL

Y RE

F:

J.Sn

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TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

R

PRO

DUC

T RE

LEA

SE #

ISO

9001

Reg

ister

ed C

ompa

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NO

TES:

UN

LESS

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ERW

ISE

SPEC

IFIE

D

DO

NO

T SC

ALE

DRA

WIN

G.

DRA

WN

IN S

OLID

WO

RKS.

Tel:

+1.91

9.772

.0115

E

mail

: inf

o@at

i-ia.c

om

ORD

ER O

R W

ITH P

RIO

R W

RITT

EN A

UTHO

RIZA

TION

OF

ATI.

REV

ISIO

ND

ESC

RIPT

ION

INITI

ATO

R

1031

Goo

dwor

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rive,

Apex

, NC

2750

2, US

A

PRO

PERT

Y O

F A

TI IN

DUS

TRIA

L A

UTO

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TION

, IN

C.

NO

T TO

BE

REPR

OD

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IN A

NY

MA

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3rd

AN

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PRO

JEC

TION

35.1

Tool

41.6

Mas

ter

24.4

Mal

eC

oupl

ing

22.

1 2

7.1

3B

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3.2

Cov

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[3.0

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Cus

tom

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114

Cov

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late

Flat

A

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1

2

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Por

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7 10

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7

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A

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10 x

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20

Equ

ally

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Cus

tom

er In

terfa

ce

Flat

B

Par

t Num

bers

:(A

) Mas

ter:

9120

-100

M-0

00-0

00-E

(B) T

ool:

9120

-100

T-00

0-00

0-E

War

ning

: D

o no

t app

ly lo

ck/u

nloc

k ai

r pre

ssur

e w

ithou

t mas

ter c

over

pla

te p

rope

rly a

ttach

ed.

If co

ver p

late

is n

ot u

sed,

mas

ter s

houl

d be

p

rope

rly a

ttach

ed to

inte

rface

. Fa

ilure

to d

o so

cou

ld re

sult

in

dam

age

to c

over

pla

te a

nd o

-rin

g.

Not

es:

1. M

aste

r sid

e m

ount

ing

hard

war

e pr

ovid

ed.

2. C

over

pla

te is

not

nec

essa

ry if

robo

t int

erfa

ce p

late

pro

vide

s

sea

ling.

The

reco

mm

ende

d in

terfa

ce p

late

bor

e de

pth

with

out

th

e co

ver p

late

is 2

.5m

m, w

ith th

e co

ver p

late

is 5

.6m

m.

3. O

rient

atio

n m

arks

are

pro

vide

d to

ass

ist i

n ro

bot t

each

ing.

Rev.

Des

crip

tion

Initi

ator

Dat

e

01In

itial

Issu

eD

SS1/

25/2

016

B1:

21

3RE

VISI

ON

NO

TES:

UN

LESS

OTH

ERW

ISE

SPEC

IFIE

D.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

ENSI

ON

S A

RE IN

M

ILLIM

ETER

S.

DRA

WN

BY:

CHE

CKE

D B

Y:

D. S

wan

son

1/25

/16

D. W

agne

r 1/2

6/16

TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

R

PRO

JEC

T #

SHEE

T

O

F 96

30-2

0-10

0-E

-01

PRO

PERT

Y O

F A

TI IN

DUS

TRIA

L A

UTO

MA

TION

, IN

C. N

OT

TO B

E RE

PRO

DUC

ED IN

AN

Y M

AN

NER

EXC

EPT

ON

ORD

ER O

R W

ITH P

RIO

R W

RITT

EN A

UTHO

RIZA

TION

OF

ATI.

1031

Goo

dwor

th Dr

ive, A

pex,

NC 27

539,

USA

Tel: +

1.919

.772.0

115

Em

ail: in

fo@ati

-ia.co

mFa

x: +1

.919.7

72.82

59

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.com

ISO

9001

Reg

ister

ed C

ompa

ny

QC

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o



75

3rd

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QC

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8

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Dat

e

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23

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77

10. Terms and Conditions of SaleThe following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and Conditions, which are on file at ATI and available upon request.

ATI warrants to Purchaser that robotic Tool Changer products purchased hereunder will be free from defects in material and workmanship under normal use for a period of three (3) years from the date of shipment. This warranty does not cover components subject to wear and tear under normal usage or those requiring periodic replacement. ATI will have no liability under this warranty unless: (a) ATI is given written notice of the claimed defect and a Description thereof within thirty (30) days after Purchaser discovers the defect and in any event not later than the last day of the warranty period; and (b) the defective item is received by ATI not later ten (10) days after the last day of the warranty period. ATI’s entire liability and Purchaser’s sole remedy under this warranty is limited to repair or replacement, at ATI’s election, of the defective part or item or, at ATI’s election, refund of the price paid for the item. The foregoing warranty does not apply to any defect or failure resulting from improper installation, operation, maintenance or repair by anyone other than ATI.

ATI will in no event be liable for incidental, consequential or special damages of any kind, even if ATI has been advised of the possibility of such damages. ATI’s aggregate liability will in no event exceed the amount paid by purchaser for the item which is the subject of claim or dispute. ATI will have no liability of any kind for failure of any equipment or other items not supplied by ATI.

No action against ATI, regardless of form, arising out of or in any way connected with products or services supplied hereunder may be brought more than one (1) year after the cause of action accrued.

No representation or agreement varying or extending the warranty and limitation of remedy provisions contained herein is authorized by ATI, and may not be relied upon as having been authorized by ATI, unless in writing and signed by an executive officer of ATI.

Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software and other technology made or developed by ATI in the course of providing products and services hereunder, and all rights therein under any patent, copyright or other law protecting intellectual property, shall be and remain ATI’s property. The sale of products or services hereunder does not convey any express or implied license under any patent, copyright or other intellectual property right owned or controlled by ATI, whether relating to the products sold or any other matter except for the license expressly granted below.

In the course of supplying products and services hereunder, ATI may provide or disclose to Purchaser confidential and proprietary information of ATI relating to the design, operation or other aspects of ATI’s products. As between ATI and Purchaser, ownership of such information, including without limitation any computer software provided to Purchaser by ATI, shall remain in ATI and such information is licensed to Purchaser only for Purchaser’s use in operating the products supplied by ATI hereunder in Purchaser’s internal business operations.

Without ATI’s prior written permission, Purchaser will not use such information for any other purpose or provide or otherwise make such information available to any third party. Purchaser agrees to take all reasonable precautions to prevent any unauthorized use or disclosure of such information.

Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is in the public domain when received from ATI; (b) is thereafter published or otherwise enters the public domain through no fault of Purchaser; (c) is in Purchaser’s possession prior to receipt from ATI; (d) is lawfully obtained by Purchaser from a third party entitled to disclose it; or (f) is required to be disclosed by judicial order or other governmental authority, provided that, with respect to such required disclosures, Purchaser gives ATI prior notice thereof and uses all legally

available means to maintain the confidentiality of such information.

Documents

Robotic Tool Changer QC-40 through QC-100 · 3.7.2 QC-60 Flat A Optional K Series Module Removal ... The half of the Tool Changer to which various tools or end-effectors are mounted