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
23
8.6 QC-310 Teaching Aid Assembly
3rd ANGLE PROJECTION
Bushings
Alignment Pins
Tool Side Aid
Tool Body
'A' Flat
Master Body
Master Side Aid
'A' Flat
These faces must be parallel.
'A' Flat
'A' Flat
1 mm
1 mm
+Z Direction
Ensure that the Tool Side and Master Side Alignment Marks are precisely aligned.
Step 3: Mount the Master Side Aid to the QC Master Body ensuring that the taper pins enter the corresponsing holes in the Master Side Aid. Orient the Master Side Aid such that the 'A' Flat corresponds to the 'A' Flat on the Master Body. Energize the Locking Mechanism to secure the Master Side Aid in place.
Step 1: Place the Tool Body in the Tool Stand. Programs should be written with the Tool Plate resting in the Tool Stand.
Step 5: Move the Master Body Assembly slowly downward until the Master and Tool Side Aids are approximately 1 mm apart.
Step 4: Bring the Master Body Assembly to a position directly over the Tool Body Assembly. The Master Body Assembly's face should be parallel to the Tool Body Assembly's face. Ensure that the orientation of the Master and Tool assemblies are such that the Flat ID's correspond (i.e. 'A' Master to 'A' Tool, etc.).
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.
Step 7: Record the robot coordinates from Step 6. A correction must no
w
be made to the Z coordinate to account for the thickness of the
Tool and Master Side Teaching Aids. Only in this way can the correct "Pick-up" and "Replacement" coordinates be determined.
Peform the following calculation to determine the "Pick-up" and
"Replacement" location:
Z "Pick-up" Coordinate = (Z Coordinate from Step 6) - (71 mm)
Step 2: Mount the Tool Side Aid over the Tool Body 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 Body.
Rev.
Description
Initiator
Date
02
ECO 16149: Updated customer drawing for removal of engraved 'A' from QC-310 Teaching Aid assemblies.
TBC
10/3/2017
B
1:4
1
1
REVISION
NOTES: UNLESS OTHERWISE SPECIFIED.
DO NOT SCALE DRAWING. ALL DIMENSIONS ARE IN MILLIMETERS.
DRAWN BY:
CHECKED BY:
W. Berrocal, 9/21/07
R. Heavner, 9/21/07
TITLE
SCALE
SIZE
DRAWING NUMBER
PROJECT #
SHEET OF
9230-20-2649
060808-2
02
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-310 Alignment Teaching Aids