Manual, Passive Compliant Force Control
Document #9610-50-1036-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com
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2. Product Overview
ATI's PCFC device is a robust, stand‑alone, passive compliance device to be used with an end‑effector.
Figure 2.1—Product Overview
Rear Cover Plate
Sensor Cable
Connection (M12)
LEDs
Extend Compliance Fitting
Retract Compliance Fitting
Purge Air Fitting
Compliance Slide
Sensor
Block
Note: Tool shown with
blank cover plates. Customer
will machine bolt pattern
for tooling and mounting.
2.1 Features and Benefits of the PCFC
•
Floating axial compliance
Remotely‑adjusted air pressure controls and maintains the constant axial force on the device. The
axially‑compliant motion of the device allows the customer's tool to compensate for deviations in
the part profile along the robot path and provide constant contact force with the workpiece.
•
Mounting options
The PCFC provides a rear cover plate that can be machined for axial mounting of its housing and a
flat on the side of the housing for side mounting.
•
Easy programming of the robot
The axial motion of the PCFC allows fast and simple programming of the robot. This movement
also compensates for changes in part tolerances, part misalignment, and robot path variation.
•
Gravity Compensation
This feature allows the tool to automatically adjust the compliance force as the tool’s orientation
changes with respect to gravity.
