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Manual,Robotic Tool Changer, QC‑310
Document #9620‑20‑B‑310 Series Base Tool Changer‑27

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • 

www.ati‑ia.com

B-1

Table of Contents

B. Tool Changer  ...........................................................................................................................B-3

QC-310 Series—Robotic Tool Changer ......................................................................................B-3

1.  Product Overview ..................................................................................................................B-3

1.1 

Master Plate Assembly ............................................................................................................. B-4

1.2 

Tool Plate Assembly .................................................................................................................. B-5

1.3 

Optional Modules ...................................................................................................................... B-5

2. Installation .............................................................................................................................B-6

2.1 

Master Interface ......................................................................................................................... B-7

2.2 

Master Plate Installation ........................................................................................................... B-8

2.3 

Master Plate Removal ............................................................................................................... B-9

2.4 

Tool Interface ........................................................................................................................... B-10

2.5 

Tool Plate Installation ..............................................................................................................B-11

2.6 

Tool Plate Removal ..................................................................................................................B-11

2.7 

Pneumatic Requirements ....................................................................................................... B-12

2.7.1 

Valve Requirements for Air Adapter Modules ................................................................B-12

2.8 

Electrical Connections ............................................................................................................ B-13

2.8.1 

PNP Type Lock, Unlock and RTL Sensors (-SM, -SMA, -SL, -SG, -ST sensor 
designations) .................................................................................................................B-13

2.8.2 

NPN Type Lock, Unlock and RTL Sensors (-SP, -SE sensor designations) ..................B-13

2.8.3 

Namur Type Lock and Unlock Sensors (-SV sensor designation) ................................B-14

3. Operation .............................................................................................................................B-15

3.1 

Conditions for Coupling ......................................................................................................... B-16

3.2 

Fail-Safe Operation ................................................................................................................. B-17

3.3 

Conditions for Uncoupling ..................................................................................................... B-18

3.4  Tool Identification

 .................................................................................................................... B-18

3.5 

Tool Storage Considerations ................................................................................................. B-19

4. Maintenance .........................................................................................................................B-20

4.1 

Preventive Maintenance ......................................................................................................... B-20

4.2 

Cleaning and Lubrication of the Locking Mechanism and Alignment Pins ....................... B-21

4.3 

Pin Block Inspection and Cleaning ....................................................................................... B-23

5.  Troubleshooting and Service Procedures ........................................................................B-24

5.1 

Troubleshooting Procedures ................................................................................................. B-24

Summary of Contents for QC-310 Series

Page 1: ...matic Requirements B 12 2 7 1 Valve Requirements for Air Adapter Modules B 12 2 8 Electrical Connections B 13 2 8 1 PNP Type Lock Unlock and RTL Sensors SM SMA SL SG ST sensor designations B 13 2 8 2...

Page 2: ...ck Sensor Assemblies Replacement B 26 5 2 1 2 RTL Sensor Cable Replacement Procedure B 28 5 2 1 3 RTL Sensor Replacement Procedure B 30 5 2 2 V ring Seal Replacement B 31 5 2 3 Alignment Pin Replaceme...

Page 3: ...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...

Page 4: ...re for optional modules Proximity sensor assemblies used to verify the lock unlock position of the piston and cam Proximity sensors used to verify Tool plate presence when coupled A mounting pattern f...

Page 5: ...roximity sensor targets A mounting pattern for customer tooling or a tooling interface plate Figure 1 2 Tool Plate Assembly Alignment Pin Bushing 2 Bearing Race Proximity Sensor Assembly Target RTL Pr...

Page 6: ...eners must not be used more than once Fasteners might become loose and cause equipment damage Always apply new thread locker when reusing fasteners CAUTION Do not use fasteners that exceed the thread...

Page 7: ...r plate 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 are...

Page 8: ...late with customer supplied fasteners 4 For first time installation of fasteners with pre applied adhesive no additional Loctite is required If fasteners are being reused apply Loctite to threads see...

Page 9: ...Figure 2 1 Tools required 10 mm or 12 mm 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 e g electrical air water...

Page 10: ...plate and Tool Boss and two dowel pins as alignment features can be difficult to align and can damage equipment Gap Incorrect Mounting of Tool Plate single dowel pin along with a If the customer choo...

Page 11: ...no additional Loctite is required If fasteners are being reused apply Loctite to threads see Table 2 1 for fastener specifications NOTICE If an ATI interface plate is used fasteners to mount the Tool...

Page 12: ...ter module has an integrated solenoid valve and only requires the customer to supply a single air source to the valve adapter A customer supplied 2 position 4 way or 5 way valve with either 4 port or...

Page 13: ...ed on 9121 310xM 000 000 SM 9121 310xM 000 000 SMA 9121 310xM 000 000 SL 9121 310xM 000 000 SG and 9121 310xM 000 000 ST Table 2 2 PNP Current Sourcing Description Value Voltage Supply Range 10 30 VDC...

Page 14: ...plies to the following part number designator SV Example 9120 310xM 000 000 SV Table 2 4 PNP Current Sourcing Description Lock and Unlock Sensors Value Voltage Supply Range 5 30 VDC Operating Current...

Page 15: ...se XHP222 Special a NLGI 2 lithium complex grease with molybdenum disulfide For custom applications such as food grade or surgical applications specialized lubricants might be required Coupling should...

Page 16: ...t pins should be relatively concentric with the alignment bushings with no contact between the two 3 It is recommended that the mating faces of the Master and Tool not be touching but be within the No...

Page 17: ...ed 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...

Page 18: ...oid valve turn the Unlatch output ON CAUTION This Tool Changer may be equipped with a tool stand Interlock TSI feature that physically breaks the Unlatch solenoid circuit Proper use of the TSI prevent...

Page 19: ...d 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 ho...

Page 20: ...Inspection Schedule General Usage Material Handling Docking Station 1 per minute Weekly 1 per minute Monthly Welding Servo Deburring Foundry Operations Dirty Environments All Weekly Checklist Mounting...

Page 21: ...the Tool in a secure location 2 Uncouple the Master and Tool plates 3 Turn off and de energize all energized circuits e g electrical air water etc 4 Use a clean rag to thoroughly remove any lubricant...

Page 22: ...a liberal coating of lubricant to the ball bearings the male coupling inside and out and the alignment pins Figure 4 4 Apply Lubricant to Locking Mechanism Apply Lubricant on Inner Surface of Male Cou...

Page 23: ...is Blackened 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 cleaners...

Page 24: ...the Master and Tool plates Clean debris from between the Master and Tool plates Verify mounting fasteners are secure and does not protrude above the mating surfaces Insufficient or no air pressure su...

Page 25: ...les are not damaged 5 2 Service Procedures Component replacement procedures are provided in the following section 5 2 1 Sensor Replacement Procedures Figure 5 1 Determine what type of Lock Unlock sens...

Page 26: ...2 5 mm hex key Pull the sensor assembly straight out from the Tool Changer body 8 Remove the Lock and or Unlock sensor assembly from the cable channel of the Tool Changer body There is an O ring aroun...

Page 27: ...242 to the M6 socket head cap screws fasteners 16 Install the 2 M6 socket head screws securing the module to the Tool Changer body using a 5 mm hex key and tighten to 70 in lbs 7 9 Nm 17 Confirm the...

Page 28: ...the sensor cable s from the sensor by pulling back on the locking sleeve Discard the cable s Figure 5 5 RTL Cable Replacement R1 Connector R2 Connector M6 Socket Head Cap Screws M6 Socket Head Cap Sc...

Page 29: ...RTL sensors in series The RTL R2 sensor must be switched before power is supplied to the RTL R1 sensor If this is the case bring a metallic object into close proximity of both the RTL R1 and R2 senso...

Page 30: ...ensor 8 Apply Loctite 222 to new RTL sensor 9 Screw the new RTL sensor into the Tool Changer body until the face of the sensor is flush with the surrounding face of the Master body 10 Tighten the jam...

Page 31: ...ocation 2 Uncouple the Master and Tool plates 3 Turn off and de energize all energized circuits e g electrical air water etc 4 To remove the existing seal pinch the edge of the seal and pull the seal...

Page 32: ...ool in a secure location 2 Uncouple the Master and Tool plates 3 Turn off and de energize all energized circuits e g electrical air water etc 4 Unscrew the alignment pin assembly from the Master plate...

Page 33: ...it clockwise the alignment pin will be removed from the locking side of the Master plate Figure 5 10 3 mm Hex Key Ratchet Wrench 3mm Allen Wrench Socket Alignment Pin Assembly Set Screw Master Plate...

Page 34: ...000 S0 1 2 4 5 3 Table 5 2 QC 310 SO Master Plate Item No Qty Part Number Description 1 1 9121 310AM 0 0 0 0 S0 Complete QC 310 Master plate No Options 2 2 9005 20 1141 7 8 Two Piece Alignment Pin 3...

Page 35: ...9999 69 LED Straight Snap to RA Screw Pico 33 M 8 1 8590 9909999 70 LED Straight Snap to RA Screw Pico 0 4 M 9121 310xM 000 000 SM 9 2 8590 9909999 34 PNP Proximity Sensor RTL 10 2 9005 20 2164 Lock U...

Page 36: ...3 4 Table 5 4 Tool Plate Item No Qty Part Number Description 1 1 9121 310xT 0 0 0 0 QC 310 Base Tool Assembly No Options 125 mm Recess 2 1 9005 20 1334 Race Cover QC 310 Tool Assembly Includes Items 3...

Page 37: ...mum performance of the Tool Changer Maximum recommended working torque for optimum performance of the Tool Changer Positional Repeatability 0 0006 0 015 mm Repeatability tested at rated load at one mi...

Page 38: ...p for M10 SHCS 3 Tool cover must be removed to utilize this customer interface feature 4 Remove plug if necessary to avoid interference with customer tooling A B See Note 4 244 Square Master Tool 12 S...

Page 39: ...2 3 REVISION NOTES UNLESS OTHERWISE SPECIFIED DO NOT SCALE DRAWING ALL DIMENSIONS ARE IN MILLIMETERS DRAWN BY CHECKED BY D Swanson 5 21 09 D Norton 5 22 09 TITLE SCALE SIZE DRAWING NUMBER PROJECT SHEE...

Page 40: ...OTES UNLESS OTHERWISE SPECIFIED DO NOT SCALE DRAWING ALL DIMENSIONS ARE IN MILLIMETERS DRAWN BY CHECKED BY D Swanson 5 21 09 D Norton 5 22 09 TITLE SCALE SIZE DRAWING NUMBER PROJECT SHEET OF 9630 20 3...

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