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Engineered Products for Robotic Productivity

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com

ATI Compliant 

Reciprocating Tool 

 

(Model 9150‑CRT)

Product Manual

Document #: 9610-50-1028

Summary of Contents for 9150-CRT

Page 1: ...ts for Robotic Productivity Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com ATI Compliant Reciprocating Tool Model 9150 CRT Product Manual Document 9610 50 1028 ...

Page 2: ...nfidential 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 contain...

Page 3: ...Unit Performance 9 3 Installation 10 3 1 Protection During Transportation 10 3 2 Inspection of Condition When Delivered 10 3 3 Unpacking and Handling 10 3 4 Storage and Preventive Maintenance During Storage 10 3 5 Axial Mounting Installation 11 3 6 Side Mounting Installation 12 3 7 Pneumatics 13 4 Operation 14 4 1 Safety Precautions 14 4 2 Normal Operation 15 4 2 1 Air Quality 15 4 2 2 Lubrication...

Page 4: ...n 18 5 3 File Inspection 18 5 4 Spindle Boot Inspection 18 6 Troubleshooting and Service Procedures 19 6 1 Troubleshooting 19 6 2 Service Procedures 20 6 2 1 File Replacement 20 6 2 2 Ring Cylinder Assembly Replacement 22 6 2 3 Boot Replacement 24 7 Serviceable Parts 25 7 1 Accessories 25 8 Specifications 26 9 Drawings 27 9 1 CRT 12 5 Drawing 27 9 2 Pneumatic Diagram 29 9 3 Interface Plate 30 10 T...

Page 5: ...on the workpiece Coalescing Filter Device designed to remove liquid aerosols from the supply air lines Compliance The ability of the spindle to passively move in response to deviations of the workpiece CRT Compliant Reciprocating Tool Deburr To remove the burrs from a machined piece of machined work End Effector Tool used by the robot to perform a particular function File a hardened steel tool wit...

Page 6: ...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 Guidelines The customer should first...

Page 7: ... Maintaining the proper orientation of the cutting tool and the part profile requires more skill and effort in robot programming Compliance is supported by air pressure applied to the motor of the unit and is used to perform consistent reciprocating on irregular part patterns The CRT provides a side mounting with 2 dowel pin locations and threaded holes Custom adapter plates for side mounting are ...

Page 8: ... compliance and reciprocating tool XX designates the strokes per minute in thousands X designates the length of stroke in millimeters 2 2 Technical Description A technical overview of the product is provided in the following section For additional technical specifications refer to Section 8 Specifications 2 2 1 Environmental Limitations 2 2 1 1 Operation Table 2 1 Operation Installation Position M...

Page 9: ...e in the vertical orientation with the holder pointed downward toward the ground Measurements may vary from one product to another and should only be regarded as nominal The actual force characteristics are dependent on the mounting orientation and condition of the unit In applications where the CRT is mounted horizontally additional compliance air pressure is required to overcome the weight of th...

Page 10: ...eight documents Packaging is in good condition If there is damage to any of the packaging or if any of the goods have been exposed to improper handling unpack those parts that may have been damaged for a closer inspection Notify ATI for assistance in the evaluation of the product condition if necessary 3 3 Unpacking and Handling The CRT should always be placed inside the accompanying crate while s...

Page 11: ...axial mounting of the rear of the deburring tool housing This plate may be modified by the system integrator or by the owner user ATI can provide custom interface plates and adapters upon request An optional bench mount adapter plate allows the deburring tool to be permanently attached to a bench or other work surface see Figure 3 2 Figure 3 1 Axial Installation Interface Plate 2 M5 Socket Head Ca...

Page 12: ...hread lockers should not be used for the mounting fasteners as this may damage or remove thread inserts during disassembly The side mounting pattern of the CRT consists of 2 dowel pin holes and 4 threaded holes refer to Figure 3 2 and Section 9 Drawings An optional bench mount adapter plate allows the CRT to attach to a bench or other work surface The bench mount adapter may also be used with inte...

Page 13: ...d with equal force a conventional manual pressure regulator can be used for the compliance air supply If the burrs vary from place to place on the work piece and this variation is repeatable for all work pieces of the same type it may be necessary to adjust the force using an analog pressure regulator that is controlled from the robot An analog output port in the robot or logic controller will be ...

Page 14: ...rotection High sound levels can occur during cutting Failure to wear hearing protect can cause hearing impairment Always use hearing protection while working in proximity of the CRT WARNING Never operate the CRT product without wearing eye protection Flying debris can cause injury Always use eye protection while working in the neighborhood of the CRT CAUTION Do not use files that are rated for les...

Page 15: ...rocating applications including steel and aluminum no cooling or lubrication of the rotary file is necessary For some materials and applications the addition of coolants or compressed air may aid the cutting process If it is determined that liquid coolants are required a non oil cutting fluid should be used to prevent premature wear of the tool 4 2 4 Reciprocating Tool Approach Path Should Be Slow...

Page 16: ...that are prone to fracture A fracturing work piece may result in pieces of material damaging surrounding working environment and personnel Material removed correctly should be in the form of chips 4 4 File Operation and File Selection A family of files is available for working with die cast alloys aluminum and plastics these files have fewer teeth and increased relief to minimize chip loading Plas...

Page 17: ...g and Unlocking Single Axis Compliance The CRT can be locked to be compliant in a single axis Tools required Flat headed screwdriver 1 Turn the single axis lockout screw as shown in Figure 4 1 for desired compliance Locked Single axis compliance Unlocked 360 of compliance Figure 4 1 Single Axis Compliance Single Axis Lockout Screw Unlocked Position Single Axis Lockout Screw Locked Position ...

Page 18: ...ion 9 Drawings may be purchased and installed quickly to return a unit to operation 5 1 Pneumatics The air lines to the reciprocating tools should be checked routinely for their general condition and replaced as required The air to the CRT must be filtered and lubricated The air filters should be checked and replaced as required to maintain optimum performance The life of the filter elements is de...

Page 19: ...er grade burr material add coating TiAlN Too heavy a cut Decrease depth of cut make multiple passes Feed rate is too slow Increase feed rate File breakage Too heavy a cut Decrease depth of cut make multiple passes Impacting the part Decrease feed rate at contact enter part at an angle Unequal compliance Regulator is defective Replace regulator Worn ring cylinder Replace ring cylinder Refer to Sect...

Page 20: ...cement The file becomes worn during normal operation If improper feeds and speeds are used the file may become loaded with material In both instances replace the file During initial production the file and the workpiece should be examined often in order to determine when the file should be replaced Refer to the following steps for replacing the file Figure 6 1 on the following page Tools required ...

Page 21: ... Tool CRT Series Document 9610 50 1028 04 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com 21 Figure 6 1 File Replacement File Holder File 2 M5 Set Screw Replace with new file ...

Page 22: ...tite 222 light grease NLGI 2 Magnalube 1 Lock out and remove the reciprocating drive air supply for safety De energize all energized circuits such as air and power 2 Remove the CRT from the robot or work location 3 Disconnect hoses from the fittings on the rear of the CRT 4 Remove the rear housing assembly a Using a 3 mm hex key remove the 6 M4 socket head cap screws that secure the rear housing a...

Page 23: ... housing c Insert the ring cylinder slowly by hand while maintaining the orientation of the alignment marks d Using a 2 5 mm hex key secure the new ring cylinder assembly to the front housing assembly with the 3 M3 socket head cap screws Tighten them to 12 in lbs 1 356 Nm 7 Install the rear housing assembly a Install the rear housing assembly to the main housing assembly b Using a 3 mm hex key sec...

Page 24: ... CRT using compressed air and a clean rag to wipe any grease from the outer surfaces 4 Ease the O ring off the spindle 5 Using a 2 mm hex key remove the 6 M3 socket button head cap screws that secure the boot ring to the housing 6 Remove the boot ring and boot 7 Align the boot ring and boot with the holes in the housing and slide the boot onto the spindle Align the edge of the boot to the edge of ...

Page 25: ...ty Part Number Description 1 1 9150 FRL 4 FRL Filter Regulator Lubricator Unit with Oil Level Switch 2 1 9150 P16 B G Air Pressure Regulator 1 9005 50 6091 Interface Plate Kit Benchmount Style A to 4 M6 2 Dowel 6 75 x 4 5 1 9005 50 6121 Chuck Kit CRT 12 5 6mm 25 1 9005 50 6120 Chuck Kit CRT 12 5 4mm 1 9005 50 6119 Chuck Kit CRT 12 5 3mm 125 1 3710 50 1459 File Rectangular 5mm Shank 1 3710 50 1460 ...

Page 26: ...com 26 8 Specifications Table 8 1 CRT 12 5 Specifications Parameter Rating Motor Pneumatic drive type Idle Speed 12 000 Weight 6 8 lbs 3 08 kg Compensation Radial 32 8 mm recommended Compliance Force Measured at Holder 1 5 12 lb 6 7 53 4 N File Surface Speed Dependent on application Reciprocating Air Pressure 90 psi 6 2 bar Air Consumption Max 6 CFM at load Holder Size 5 mm ...

Page 27: ... 10mm PUSH TO CONNECT 1 OPTIONAL DOVETAIL ATTACHMENT FOR AXIAL MOUNTING 2 QUARTER TURN SINGLE AXIS LOCK OUT TURN 90 TO ENGAGE OR DISENGAGE 3 AIR FILE STROKES PER MINUTE 12000 NO LOAD 4 FILER AIR CONSUMPTION 6 CFM AT LOAD 5 FILER AIR QUALITY 90 PSI FILTERED 30 MICRON OR BETTER LUBRICATION 6 REQUIRED 1 2 DROPS MIN APPROXIMATE WEIGHT 6 8 LBS 3 08 kg 7 COMPLIANCE TRAVEL AT COLLET MAX 1 8 APPROXIMATELY...

Page 28: ... 50 1462 FILE TRIANGULAR 5MM B 1 2 2 2 REVISION NOTES UNLESS OTHERWISE SPECIFIED DO NOT SCALE DRAWING ALL DIMENSIONS ARE IN MILLIMETERS DRAWN BY CHECKED BY D Bohle 4 17 2018 BK 3 12 2018 TITLE SCALE SIZE DRAWING NUMBER PROJECT SHEET OF 9630 50 CRT 12 5 170926 3 02 PROPERTY OF ATI INDUSTRIAL AUTOMATION INC NOT TO BE REPRODUCED IN ANY MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI...

Page 29: ...NE 1 919 772 0115 URL WWW ATI IA COM ISO 9001 REGISTERED COMPANY PROPERTY OF ATI INDUSTRIAL AUTOMATION INC NOT TO BE REPRODUCED IN ANY MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI 9630 50 RCV PNEUMATIC DRAWING NUMBER B SIZE SCALE 2 1 REVISION 01 NOTES UNLESS OTHERWISE SPECIFIED XXXX DECIMALS 001 XXX DECIMALS 005 XX DECIMALS 010 X DECIMALS 025 ANGLES 1 2 DRAWN BY CHECKED BY WEI...

Page 30: ...FOR CLARITY 16 38 215 5 KEEP THIS AREA CLEAR FOR UTILITIES NOTES INCLUDED WITH 9005 50 6143 1 REV DESCRIPTION INITIATOR DATE 01 INITIAL DRAWING DJB 12 23 2019 B 1 2 1 1 REVISION NOTES UNLESS OTHERWISE SPECIFIED DO NOT SCALE DRAWING ALL DIMENSIONS ARE IN MILLIMETERS DRAWN BY CHECKED BY D Bohle 12 23 2019 G Wu 1 7 2020 TITLE SCALE SIZE DRAWING NUMBER PROJECT SHEET OF 9230 50 1090 190916 3 01 PROPERT...

Page 31: ...rm 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 occurred 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 executiv...

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