ATI Technologies QC-24MZ1 Скачать руководство пользователя страница 19

Manual, Robotic Tool Changer, QC‑24Z1
Document #9610‑20‑3727‑03

Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • 

www.ati‑ia.com

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5.  A sufficient delay must be programmed between locking valve actuation and robot motion so that the 

locking process is complete before moving the robot. If equipped with lock and unlock sensors, the lock 

signal should read “ON” (true) and the unlock signal should read “OFF” (false).

NOTICE: 

If the locking mechanism has been actuated and both the lock and unlock signals are 

OFF, then a “missed tool” condition has occurred (for example, the Tool is not in the stand or is 
not positioned properly). 

in this case an error should be generated and the robot program 

halted. 

The situation requires manual inspection to determine the cause of the problem. Some 

configurations will require a manual unlock of the Master plate before attempting coupling, refer 

to the Control/Signal Module Manual for instructions.

NOTICE: 

The locking mechanism must be in the unlock state before another attempt is made to 

couple or damage could occur to the robot and/or the Tool Changer. 

4.2  Fail-Safe Operation

A fail‑safe condition occurs when there is an unintended 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 that the unit is not locked. ATI’s patented fail‑safe feature 

utilizes a multi‑tapered cam to trap the ball bearings and prevent an unintended release of the Tool plate. 

Positional accuracy of the tooling is not maintained during this fail‑safe condition. Do not operate the Tool 
Changer in the fail‑safe condition. If the source air is lost to the unit, movement should be halted until air 
pressure is restored.

After air pressure is re‑established to the Master plate, the locking mechanism will energize and securely 

lock the Master and Tool plates together. in some cases when the load on the tool changer is significantly off 

center, it may be necessary to position load underneath the tool changer or return the tool to the tool storage 
location to ensure a secure lock condition. If equipped, make sure the lock sensor indicates the Tool Changer 

is in the locked position before resuming normal operations. Consult your Control/Signal Module Manual 

for specific error recovery information.

CAUTION: 

Do not use the Tool Changer in a fail‑safe condition. Damage to the locking 

mechanism could occur. Re‑establish air pressure and ensure the Tool Changer is in a 
secure lock position before returning to normal operations.

4.3  Conditions for Uncoupling

1.  Position Tool plate in the tool stand so that there is little or no contact force between the Tool plate 

and tool stand.

2. 

Release air on the Lock port and apply air to the Unlock Port (If equipped, the Unlock sensor will 

indicate the Tool Changer is in the Unlocked position).

NOTICE: 

The air will cause the locking mechanism to be released and the weight of the Tool 

plate and attached tooling will assist in its removal. The Tool weight assists in the uncoupling If 
the Tool is released in the vertical position only.

3. 

A sufficient delay must be programmed between unlocking valve actuation and robot motion, so that 

unlocking process is complete and the Tool plate is fully released before moving the robot.

4. 

Move the Master plate axially away from the Tool plate.

5. 

In automated Tool change applications, it is recommended that a Tool presence sensor(s) be used in the 
tool stand to verify that the Tool is present and that the Tool remains in place as the robot moves away 
after unlocking process.

4.4 

Tool Identification

When using multiple Tools, it is good practice to implement a Tool‑ID system that identifies each Tool 

with a unique code. Tool‑ID can be used to verify that the robot has picked up the proper Tool. Modules 
with Tool‑ID are available for purchase through the ATI website. Go to 

http://www.ati‑ia.com/products/

toolchanger/tool_changer_modules.aspx

 for products available or contact ATI for assistance.

Содержание QC-24MZ1

Страница 1: ...ineered Products for Robotic Productivity Pinnacle Park 1041 Goodworth Drive Apex NC 27539 Tel 919 772 0115 Fax 919 772 8259 www ati ia com QC 24MZ1 24TZ1 Custom Tool Changer Manual Document 9610 20 3...

Страница 2: ...of ATI The information herein is subject to change without notice This manual is periodically revised to reflect and incorporate changes made to the product The information contained herein is confide...

Страница 3: ...Plate Removal 13 3 7 Optional Module 14 3 7 1 Optional Module Installation 14 3 7 2 Optional Module Removal 15 3 8 Pneumatic Connections 15 3 8 1 Valve Requirements and Connections for the Locking Mec...

Страница 4: ...ex NC 27539 Tel 919 772 0115 Fax 919 772 8259 www ati ia com 4 6 1 Troubleshooting 25 6 2 Service Procedures 26 6 2 1 Lock and Unlock Sensor Replacement 26 6 2 2 V ring Seal Inspection and Replacement...

Страница 5: ...gether Lock Port A pneumatic port on the Master plate through which air pressure is supplied to lock the Master plate to the Tool plate Lock Sensor A proximity sensor that detects the position of the...

Страница 6: ...e but is not limited to specific grease types best operating practices and maintenance tips 1 2 General Safety Guidelines Prior to purchase and installation the customer should verify that the Tool Ch...

Страница 7: ...an 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 connections and verify all circuits are...

Страница 8: ...ng the Master plate to the Tool plate Electricity fluid and other forces of energy transfer to the customer tooling through optional modules that are attached to the Master and Tool plates Refer to th...

Страница 9: ...Changer to the robot and customer s tooling should be tightened to the torque values indicated Additionally Loctite 7649 primer and removable Loctite 222 must be used on these fasteners WARNING Do no...

Страница 10: ...late and boss in the Master plate A boss and 2 dowel pins can be difficult to align and cause damage to the Master Plate Incorrect Mounting of the Master Plate equipment Correct size dowel pin s allow...

Страница 11: ...to the connections on the Master plate For details on the lock and unlock air refer to Section 3 8 1 Valve Requirements and Connections for the Locking Mechanism 7 Connect the lock and unlock sensor...

Страница 12: ...ss 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 chooses to design and...

Страница 13: ...the Tool plate 4 First apply Loctite 7649 then apply Loctite 222 to the threads of the customer supplied fasteners 4 M6 screws 5 Secure the Tool plate to the tool interface plate or customer tooling...

Страница 14: ...e energize all energized circuits for example electrical pneumatic and hydraulic circuits 4 Align the 2 dowel pins if equipped on the each module to corresponding holes on Flat of the Master or Tool p...

Страница 15: ...on Possible damage to the locking mechanism could occur Re establish air pressure to the Tool Changer before returning to normal operations 3 8 1 Valve Requirements and Connections for the Locking Mec...

Страница 16: ...Value Voltage Supply Range 10 30VDC Output Circuit PNP make function NO Figure 3 5 PNP Type Lock Unlock and RTL Sensors 3 Blue Brown 1 4 Black Brown 1 Black 4 Blue 3 Vs Output 0 V PNP Z Connector PNP...

Страница 17: ...ase Coupling should occur with the Master plate in the No Touch locking zone As coupling occurs the Master plate should pull the Tool plate into the locked position Program the robot to minimize misal...

Страница 18: ...ouch locking technology allows the unit to couple with a separation distance between the Master and Tool Direct contact of the Master and Tool mating surfaces is not suggested or required prior to cou...

Страница 19: ...Tool plates together in some cases when the load on the tool changer is significantly off center it may be necessary to position load underneath the tool changer or return the tool to the tool storage...

Страница 20: ...f the offsets 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 tha...

Страница 21: ...Drawings of this manual Refer to module sections for detailed preventive maintenance steps for all utility modules Table 5 1 Preventive Maintenance Check List Application s Tool Change Frequency Inspe...

Страница 22: ...couple the Master and Tool plates 3 Turn off and de energize all energized circuits for example electrical pneumatic and hydraulic circuits 4 Use a clean rag to thoroughly remove any lubricant and deb...

Страница 23: ...e lubricant to the ball bearings the male coupling inside and out and the alignment pins Figure 5 4 Apply Lubricant to Locking Mechanism Apply lubricant on inner surface of male coupling Apply lubrica...

Страница 24: ...If the 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 solve...

Страница 25: ...e Resolution Unit will not lock or unlock The ball bearings and or cam are not moving freely in the male coupling Clean and lubricate as needed to restore smooth operation see Section 5 2 Cleaning and...

Страница 26: ...provides an exit for the sensor cables 6 Remove the 2 M4 hex head cap screws that secure the sensor cover to the Master plate using a 7 mm wrench 7 Carefully remove the sensor cover allowing the senso...

Страница 27: ...t head cap screw using a 2 5 mm hex key Tighten to 12 in lbs 0 9 Nm 14 Carefully install the sensor cover allowing the sensor cables to slide through the cord grip until the cover in place Note the O...

Страница 28: ...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...

Страница 29: ...P Sensing 9120 024MZ1 000 SP QC 24Z1 Master Lock Mech with Corrosion Resistant Plating 304 SS Body NPN Sensing 2 2 9005 20 8762 PNP Proximity Sensor 9005 20 8763 NPN Proximity Sensor 3 1 3410 0001152...

Страница 30: ...f in 56 5 Nm Maximum recommended working load for optimum performance of the Tool Changer Recommended Max Torque about Z Mz 690 lbf in 78 Nm Maximum recommended working torque for optimum performance...

Страница 31: ...2 SEE SHEETS 2 AND 3 FOR MATERIALS OF CONSTRUCTION 3 SX IN MASTER PART NUMBER DENOTES SENSOR OPTIONS ARE AVAILABLE 4 CONTACT ATI FOR FULL PART NUMBERS AND LIST OF OPTIONS 5 PART NUMBERS A 9120 024MZ1...

Страница 32: ...HIGH PURITY SILICONE RUBBER FDA LISTED MATERIAL J JET LUBE FMG FOOD MACHINE GREASE K QC 24Z1 MASTER 9120 024MZ1 000 SX ITEM MATERIAL ITEM NO QTY 1 1 2 1 3 1 4 1 5 1 6 2 7 1 8 2 9 4 10 2 11 4 12 1 13...

Страница 33: ...LISTED MATERIAL E ITEM MATERIAL B 1 1 3 3 REVISION NOTES UNLESS OTHERWISE SPECIFIED DO NOT SCALE DRAWING ALL DIMENSIONS ARE IN INCHES DRAWN BY CHECKED BY M GALA 11 16 18 B KENDRICK 11 19 18 TITLE SCAL...

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