Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com
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8.5 QC-213 Teaching Aid Assembly
3rd ANGLE PROJECTION
Step 3: Mount the Master Side Aid to the QC Master Plate ensuring that the Taper Pins enter the corresponding holes in the Master Side Aid. Orient the Master Side Aid such that the 'A' Flat corresponds to the 'A' Flat on the Master Plate. Energize the Locking Mechanism to secure the Master Side Aid in place.
Master Plate
Master Side Aid
Step 1: Place the Tool Plate in the Tool Stand. Programs should be written with the Tool Plate resting in the Tool Stand.
Step 2: Mount the Tool Side Aid over the Tool Plate by inserting the Locating Pins into the Bushings. Orient the Tool Side Aid such that the 'A' Flat corresponds to the 'A' Flat on the Tool Plate.
Tool Side Aid
Tool Plate
Bushings
Locating Pins
Step 4: Bring the Master Plate Assembly to a position directly over the Tool Plate Assembly. The Master Plate Assembly Face should be parallel to the Tool Plate Assembly Face. Ensure the orientation of the Master and Tool assemblies is such that the Flat ID's correspond (i.e. 'A' Master to 'A' Tool, etc.).
Master and Tool Flat ID's match.
These faces must be parallel.
1mm
Step 5: Move the Master Plate Assembly slowly downward until the Master and Tool Side Aids are approximately 1mm apart.
Step 6: Adjust the position of the robot to correct for any lateral misalignment. Use the Alignment Marks to align the Tool Side and Master Side Aids.
Ensure the Tool Side and master Side Alignment Marks are precisely aligned.
Step 7: Record the robot coordinates from Step 6. A correction must now
be made to the Z coordinate to account for the thickness of the
Master and Tool Side Teaching Aids. Only in this way can the correct "Pick-up" and "Replacement" coordinates be determined.
Perform the following calculation to determine the "Pick-up" an
d
"Replacement" locations:
Z "Pick-up" Coordinate = (Z Coordinate from Step 6) - 55mm
+Z Direction
Rev.
Description
Initiator
Date
01
Initial Drawing
RLR
9/12/2014
B
1:4
1
1
REVISION
NOTES: UNLESS OTHERWISE SPECIFIED.
DO NOT SCALE DRAWING. ALL DIMENSIONS ARE IN MILLIMETERS.
DRAWN BY:
CHECKED BY:
R.Raines 9/11/14
D.Norton 10/30/14
TITLE
SCALE
SIZE
DRAWING NUMBER
PROJECT #
SHEET OF
9230-20-7774
140827-2
01
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCE
D IN ANY
MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF A
TI.
1031 Goodworth Drive, Apex, NC 27539, USA Tel: +1.919.772.0115 Email: [email protected] Fax: +1.919.772.8259 www.ati-ia.com ISO 9001 Registered Company
QC-213 Teaching Aid Customer Drawing