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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 •

www.ati‑ia.com

B-5

US Patent No.: 8,132,816 B2

1.3 Servo Motor Module

The 9005‑20‑2387 servo motor module has an integrated motor controller and a 24VDC brushless
servo motor with sensor feedback. The module is equipped with a 12‑pin connector to interface with a
customer cable.

Figure 1.4—Servo Motor Module

QC- 18 Master Base Assembly
(9120-018M-0-0-0-0-SG2)

9005-20-2387 - 24 VDC Series

Servo Motor with Integrated Controller

Mounted on Flat A

12-Pin Motor Control
and Power Connector

1.4 Optional Modules

There are (3) Flats available for mounting of the optional modules for support of various utility pass
through, such as signal and power.

For assistance in choosing the right modules for your particular application, contact an ATI
Sales Representative.

Figure 1.5—Optional Modules

QC-18 Master Assembly

(9120-018M-2387 Shown)

QC-18 Tool Assembly

(9120-018T Shown)

Optional Module

(9120-R19-M Shown)

Optional Module

(9120-R19-T Shown)

(4) M4 Socket Flat Head Cap Screws

(4) M4 Socket Flat

Head Cap Screws

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Summary of Contents for QC-18

Page 1: ...8 2 3 Master Plate Removal B 8 2 4 Tool Interface B 9 2 5 Tool Plate Installation B 10 2 6 Tool Plate Removal B 10 2 7 Optional Module Installation B 11 2 7 1 K Series Module Installation B 11 2 7 2 K Series Module Removal B 11 2 7 3 J16 Series Module Installation B 12 2 7 4 J16 Series Module Removal B 12 2 8 Electrical Connections B 13 3 Operation B 14 3 1 Power Loss During Operation B 15 3 2 Pro...

Page 2: ...vice Procedures B 22 5 1 Troubleshooting Procedures B 22 5 2 Manual Actuaion B 23 5 3 Service Procedures B 24 5 3 1 V ring Seal Replacement B 24 5 3 2 Alignment Pin Replacement B 25 5 3 3 Servo Motor Module Replacement B 26 6 Serviceable Parts B 28 6 1 Master Plate Model 9120 018M 2387 0 0 0 SG2 Serviceable Parts B 28 6 2 Tool Plate Serviceable Parts B 28 6 3 Accessories B 28 7 Specifications B 29...

Page 3: ...terns The servo motor module has an integrated controller and high torque motor refer to Section 1 3 Servo Motor Module for more details A PNP DC proximity sensor is designed into the body of the Master plate to verify Tool plate presence when coupled The sensors provide a ready to lock RTL signal through the control module Figure 1 1 Master Plate Assembly with Servo Motor Module 12 Pin Motor Cont...

Page 4: ...m Lock and Unlock Proximity Sensors RTL Proximity Sensor Hardened Stainless Steel Cam Hardened Chrome Steel Ball Bearings 1 2 Tool Plate Assembly The Tool plate assembly includes an anodized aluminum body a hardened stainless steel bearing race and hardened steel alignment bushings A sensor target is built into the Tool body so the RTL proximity sensor in the Master body can sense the Tool presenc...

Page 5: ...QC 18 Master Base Assembly 9120 018M 0 0 0 0 SG2 9005 20 2387 24 VDC Series Servo Motor with Integrated Controller Mounted on Flat A 12 Pin Motor Control and Power Connector 1 4 Optional Modules There are 3 Flats available for mounting of the optional modules for support of various utility pass through such as signal and power For assistance in choosing the right modules for your particular applic...

Page 6: ...gized circuits for example electrical air water etc are turned off pressurized connections are purged and power is discharged from circuits in accordance with the customer specific 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 ...

Page 7: ...proper size dowel pins that will not extend further than allowed by the Master body Master Plate Interface Plate Dowel pins which are proper size allowing interface plate and Master Plate to mount flush Two dowel pins or a single dowel pin along with a boss recess being used as alignment features Flush Correct Mounting of Master Plate Master Plate Interface Plate Dowel pins which are too long can ...

Page 8: ...o motor module and connect cable to customer interface as prescribed in Section 2 8 Electrical Connections 6 Connect any electrical connection to optional modules 7 If installation is complete the Master plate may be put into normal operations Figure 2 1 Typical Master Plate Installation Robot ATI or Customer Supplied Interface Plate If Required Customer Supplied Mounting Fasteners Customer Suppli...

Page 9: ...late Dowel pins which are too long and cause a gap between interface plate and Tool Boss and two dowel pins as alignment features can be difficult to align and can cause damage to equipment Gap Incorrect Mounting of Tool Plate single dowel pin along with a The interface plate should be designed to include bolt holes for mounting and either two dowel pins or a dowel pin and a boss for accurate posi...

Page 10: ...l hanger refer to the tool stand installation and operation manual 4 After Tool base is secured connect any electrical connection to optional modules 5 If installation is complete the Tool plate may be put into normal operations Figure 2 2 Typical Tool Installation Electrical Connection Tool Base Assembly Tool or Interface Plate Supplied by Customer Mounting fasteners Supplied by Customer 2 6 Tool...

Page 11: ...al module on flat A of Master or Tool plate assembly 4 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 mm or 2 5 mm hex key refer to Table 2 1 for proper torque for your specific mounting fasteners 5 Remove all protective caps plugs tape etc from the module prior to operation 6 Safely resume normal ope...

Page 12: ...y Loctite 222 to 4 M4 socket head cap screws or 4 M4 socket flat head cap screws Secure module with 4 M4 mounting fasteners using a 2 5 mm or 3 mm hex key refer to Table 2 1 for proper torque for your specific mounting fasteners 5 Remove all protective caps plugs tape etc from the module prior to operation 6 Safely resume normal operation Figure 2 4 J16 Series Module Installation QC 18 Master Asse...

Page 13: ... and secure all cables particularly on the Master side Table 2 2 Customer Cable Pigtail Connections Wire Color Signal Signal description Violet US1 Sensor power to read Locked Unlocked and RTL Sensors Yellow US1 GND Sensor power ground Red US2 Motor power powers motor and controller Green US2 GND Motor power ground Black Latch Output supplied to the ATI Master module to couple the Tool Changer Ora...

Page 14: ...se 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 Se...

Page 15: ...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 Posi...

Page 16: ... 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 4 Procedure for Tool Drop Off 1 Place the tool securely in the tool stand 2 If the Latch command is ON turn it OFF Turn the Unlatch command ON Within 1 second the Master will unlock NOTICE If the QC is in t...

Page 17: ... offsets specified in Section 3 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 positi...

Page 18: ...vided in the following table depending upon the application Detailed assembly drawings are provided in Section 8 Drawings refer to module sections for detailed preventive maintenance steps for all utility modules Table 4 1 Maintenance Application s Tool Change Frequency Inspection Schedule General Usage Material Handling Docking Station 1 per minute Weekly 1 per minute Monthly Welding Servo Deburr...

Page 19: ...rgize all energized circuits for example electrical pneumatic and hydraulic circuits 3 The locking mechanism must be in the unlock state before cleaning 4 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 4 1 Cleaning Ball Bearings and Outer Surfaces of Male Coupling 5 Use a clean cotton swab to tho...

Page 20: ...alignment pins Figure 4 3 Apply Lubricant to Locking Mechanism Apply Lubricant in and Around Ball Bearings Apply Lubricant on Alignment Pins Outer Surface of Male Coupling Apply Lubricant on Alignment Pins Outer Surface of Male Coupling Apply Lubricant on Alignment Pins Outer Surface of Male Coupling 8 Use a clean rag to thoroughly remove the any lubricant and debris from the bearing race and the ...

Page 21: ... only Weld Debris Darkened Pins 5 If debris or darkened pins are present use a vacuum to remove the debris and clean using a nylon brush ATI part number 3690 0000064 60 NOTICE Do not use an abrasive media and or cleaners or solvents to clean the contact pins Using abrasive media and or cleaners or solvents will cause damage to the contact surface or cause pins to stick Clean contact surfaces with ...

Page 22: ...rude above mating surfaces Ball bearings and or cam are not moving freely in male coupling Clean and lubricate as needed to restore smooth operation refer to Section 4 2 Cleaning and Lubrication of Locking Mechanism and Alignment Pins Motor controller is not operating correctly Check cabling to and from motor controller replace cabling if damaged Replace servo motor module Master plate and Tool pl...

Page 23: ...ly unlock the Tool Changer without supporting the tool An unsupported tool could cause damage to equipment or injury to personnel Support the tool before attempting to manually unlock the Tool Changer CAUTION Never couple or uncouple the unit without first disconnecting and discharging the power that passes through the contacts This is especially true if high voltage circuits are involved Arcing a...

Page 24: ...r damaged 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 pneumatic and hydraulic circuits 4 To remove the existing seal pinch the edge of the seal and pull the seal away from the pin block on the Master module 5 To install a new seal stretch the new seal over the shoulder of the pin block 6 Push t...

Page 25: ...zed circuits for example electrical air etc 3 Unscrew the alignment pin from the Master plate using a 2 5 mm hex key see Figure 5 3 NOTICE If for any reason the pin cannot be removed using the hex key in the tip it may be necessary to remove it by other means such as locking pliers Figure 5 3 Replace Alignment Pin Ratchet Wrench 2 5 mm Allen Wrench Socket Alignment Pin Master Plate 4 Apply Loctite...

Page 26: ...ocket head caps screws mounting the servo motor module to Flat A refer to Figure 5 4 6 Remove the servo motor module and disconnect the motor electrical connector from the sensor connector refer to Figure 5 5 Figure 5 4 Replace Servo Motor Module Servo Motor Module Motor Electrical Connector QC 18 Master Plate Keyed Motor Gear 12 Pin Motor Control and Power Connector M4 Socket Head Cap Screws 7 Co...

Page 27: ...te Flat A QC 18 Master Plate Sensor Connector Drive Shaft Flat A Dowel Pin Keyed Slot in Motor Gear Motor Electrical Connector Servo Motor Module 9 If fastener does not have pre applied adhesive apply Loctite 242 to threads of 4 M4 socket head caps screws and install into the servo motor module using a 4 mm hex key Torque to 25 in lbs 2 82 Nm 10 Connect the customer interface cable to the 12 pin c...

Page 28: ...ription 1 1 9120 018M 0 0 0 0 SG2 Complete QC 18 Master Plate Assembly 2 1 9005 20 2387 EQC Motor Sub Assembly 3 2 3700 20 1373 Mono Alignment Pin QC 100 A2 Replaces 9005 20 1074 4 4 3500 1062016 15A M4x16 Socket Head Cap Screw Class 12 9 Blue dyed Magni 565 ND Microspheres Epoxy Yellow 6 2 Tool Plate Serviceable Parts 1 Table 5 2 Standard Tool Plate Item No Qty Part Number Description 1 1 9120 01...

Page 29: ...rating temperature range Operating Voltage 21 30VDC US1 US2 Latch Unlatch Operating Current 200mA continuous 3 5A peak during locking US2 Weight coupled no access 3 93 lbs 1 78 kg Weight of Master and Tool together Master Weight 3 1 lbs 1 4 kg Tool Weight 0 92 lbs 42 kg Max Recommended distance between Master and Tool plate 0 04 in 1 0 mm No Touch locking technology allows the Master and Tool plat...

Page 30: ... is integrated into motor housing 3 Motor is 24V DC Brushless Servo with hall sensor feedback 4 Additional Motor options available 5 TOOL SIDE MOUNTING FACE SIDE VIEW UNCOUPLED MASTER SIDE MOUNTING FACE Rev Description Initiator Date 02 Eco 14784 Changed connector from female 1510 2313028 12 to male 1510 1313031 12 on lower level assembly 9000 20 1378 LJH 8 19 16 ITEM NO QTY PART NUMBER DESCRIPTIO...

Page 31: ...ctor Turck BSFD 12 12 Pin Male Receptacle See Table 1 TABLE 1 Customer Cable Pigtail Connections QC 18 2387 CONTROLLER DETAIL Rev Description Initiator Date See Sheet1 B 1 2 2 4 REVISION NOTES UNLESS OTHERWISE SPECIFIED DO NOT SCALE DRAWING ALL DIMENSIONS ARE IN MILLIMETERS DRAWN BY CHECKED BY Dan Norton 6 12 16 B Kendrick 6 15 16 TITLE SCALE SIZE DRAWING NUMBER PROJECT SHEET OF 9630 20 018 120424...

Page 32: ... NOTES UNLESS OTHERWISE SPECIFIED DO NOT SCALE DRAWING ALL DIMENSIONS ARE IN MILLIMETERS DRAWN BY CHECKED BY Dan Norton 6 12 16 B Kendrick 6 15 16 TITLE SCALE SIZE DRAWING NUMBER PROJECT SHEET OF 9630 20 018 120424 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 1031 Goodworth Drive Apex NC 27539 USA Tel 1...

Page 33: ... NOTES UNLESS OTHERWISE SPECIFIED DO NOT SCALE DRAWING ALL DIMENSIONS ARE IN MILLIMETERS DRAWN BY CHECKED BY Dan Norton 6 12 16 B Kendrick 6 15 16 TITLE SCALE SIZE DRAWING NUMBER PROJECT SHEET OF 9630 20 018 120424 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 1031 Goodworth Drive Apex NC 27539 USA Tel 1...

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