Manual, Robotic Electric Tool Changer, QC‑18
Document #9620‑20‑B‑18 Electric Tool Changer‑06
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 •
B-15
US Patent No.: 8,132,816 B2
3.1 Power Loss During Operation
In the event that the motor and motor controller loses power during operation and if the Tool Changer is
within locked sensing range, immediately stop operation and restore power. The motor controller is designed
to apply a small force with the motor to maintain the Tool Changer in the locked position. When power
is lost, a slight separation between the Master and Tool plates might occur but the Tool Changer will not
uncouple it will remain in a fail‑safe condition but I/O (sensor inputs) will be lost between Master and Tool
(refer to
Section 3.3—Fail‑Safe Condition
for more information).
3.2 Procedure for Tool Pickup
CAUTION:
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
NOTICE:
When the unit powers up, the QC will remain in place until a Latch or Unlatch output
signal is received. A +24V signal on the Latch will make the QC lock. A +24V signal on the
Unlatch wire will make the QC Unlock. Once a signal is received, the QC will move to that
location until the cycle is complete. The unit homes itself during the first unlatch after power-up.
Therefore, the first latching and/or unlatching cycles will be slightly slower but still meet the
transition time of within 1 second.
1. Verify the Unlock signal is ON and the Locked signal is OFF. Indicates the Tool Changer is in the
Unlocked position.
2. Position the Master above the Tool and move the Master into position. The mating surfaces of the Master
and Tool should be parallel and within 0.04” (1 mm) of each other before coupling to minimize wear on
the locking mechanism.
CAUTION:
Make sure that the tapered alignment pins from the Master enter the alignment holes
on the Tool. The alignment pins should be relatively concentric with the alignment holes such
that they do not rub against the edge.
3. (Optional) Verify that the RTL (Ready to Lock) signal is ON. This ensures that the Master is within
1 mm of the Tool.
4. If the Unlatch command is ON, turn it OFF. Turn the Latch command ON. Within 1 second, the
Master will lock.
CAUTION:
If the QC is in the proper position or the same signal is raised a consecutive number
of time, the unit will not respond to the repeated signals. The Unlatch and Latch output signal
must be on for a minimum of 50 ms or the QC will not respond.
5. Verify the Unlocked signal is OFF and the Locked signal is ON. This indicates that the Tool Changer is
in the Locked position.
6. Move the tool away from the tool stand.
