1. Manuals
  2. Brands
  3. ATI Technologies Manuals
  4. Robotics
  5. QC-310 Series
  6. Manual

ATI Technologies QC-310 Series Manual

Robotic tool changer
Hide thumbs Also See for QC-310 Series:
Table of Contents

Quick Links

Manual,Robotic Tool Changer, QC-310
Document #9620-20-B-310 Series Base Tool Changer-27
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
2.8.2
2.8.3
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
3.5
Tool Storage Considerations ................................................................................................. B-19
4.
Maintenance .........................................................................................................................B-20
4.1
Preventive Maintenance ......................................................................................................... B-20
4.2
4.3
Pin Block Inspection and Cleaning ....................................................................................... B-23
5.
Troubleshooting and Service Procedures ........................................................................B-24
5.1
Troubleshooting Procedures ................................................................................................. B-24
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 •

Table of Contents

B-1
www.ati-ia.com
Table of Contents
loading

Related Manuals for ATI Technologies QC-310 Series

Summary of Contents for ATI Technologies QC-310 Series

  • Page 1: Table Of Contents

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 Table of Contents B. Tool Changer ...........................B-3 QC-310 Series—Robotic Tool Changer ..................B-3 Product Overview ........................B-3 Master Plate Assembly ......................B-4 Tool Plate Assembly ........................B-5 Optional Modules ........................B-5 Installation ..........................B-6 Master Interface .........................
  • Page 2 Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 Service Procedures ......................... B-25 5.2.1 Sensor Replacement Procedures .................B-25 5.2.1.1 Individual Lock and Unlock 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...

  • Page 3: Tool Changer

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 B. Tool Changer QC-310 Series—Robotic Tool Changer 1. Product Overview ATI Tool Changers enhance the versatility of a robot by enabling the use of multiple customer tools, such as: grippers, vacuum cup tooling, pneumatic and electric motors, weld guns, and more.

  • Page 4: Master Plate Assembly

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 1.1 Master Plate Assembly The Master plate assembly includes the following features: • An anodized aluminum body. • A hardened stainless steel locking mechanism (a cam, male coupling, and chrome steel ball bearings).

  • Page 5: Tool Plate Assembly

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 1.2 Tool Plate Assembly The Tool plate assembly includes the following features: • An anodized aluminum body. • A hardened stainless steel bearing race. • Alignment bushings that mate with pins on the Master plate. •...

  • Page 6: Installation

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 2. Installation Mounting the Tool Changer requires the following, refer to Table 2.1: WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless the Tool is safely supported or placed in the tool stand, all energized circuits (e.g. 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.

  • Page 7: Master Interface

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 2.1 Master Interface The Master plate is typically attached to the robot arm. An interface plate can adapt the Master plate to a specific robot arm. Alignment features (dowel holes and bosses) accurately position and bolt holes secure the Master plate to the robot arm or an interface plate.

  • Page 8: Master Plate Installation

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 2.2 Master Plate Installation Tools required: 10 mm or 12 mm hex key, torque wrench ® Supplies required: Clean rag, Loctite 1. Clean the mounting surfaces. 2. If required, install the interface plate to the robot arm, align using the boss or dowel pins and secure with customer supplied fasteners.

  • Page 9: Master Plate Removal

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 2.3 Master Plate Removal Refer to 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.

  • Page 10: Tool Interface

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 2.4 Tool Interface The Tool plate is attached to the customer’s tooling. An interface plate can adapt the Tool plate to customer tooling. Alignment features (dowel holes and a recess) accurately position and bolt holes to secure the Tool plate to customer tooling.

  • Page 11: Tool Plate Installation

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 2.5 Tool Plate Installation Tools required: 8 mm, 10 mm, or 12 mm hex key, toque wrench Supplies required: Clean rag, Loctite 242 1. Clean the mounting surfaces.. 2. If required, install the tool interface plate to the customer tooling, align using the boss or dowel pins and secure with customer supplied fasteners.

  • Page 12: Pneumatic Requirements

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 2.7 Pneumatic Requirements Proper operation of the locking mechanism requires a constant supply of clean, dry, non‑lubricated air, with the following conditions: • Pressure range of 60 to 100 psi (4.1 ‑ 6.9 bar) Suggested 80 psi. •...

  • Page 13: Electrical Connections

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 2.8 Electrical Connections The Tool Changer is available with integrated lock/unlock sensors. If sensors are not used, plugs are provided to seal the locking mechanism. If a control/signal module is to be utilized on flat ‘A’ when ordered, the sensors will be connected to the module prior to shipping.

  • Page 14: Namur Type Lock And Unlock Sensors (-Sv Sensor Designation

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 2.8.3 Namur Type Lock and Unlock Sensors (-SV sensor designation) This section applies to the following part number designator: (‑SV). Example: 9120‑310xM‑000‑000‑SV Table 2.4—PNP (Current Sourcing) Lock and Unlock Sensors Description Value Voltage Supply Range...

  • Page 15: Operation

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 3. Operation The Master plate locking mechanism is pneumatically driven to couple and uncouple with the Tool plate bearing race. CAUTION: Operation of the Tool Changer is dependent on maintaining an air pressure of 60 to 100 psi (4.1 - 6.9 bar).

  • Page 16: Conditions For Coupling

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 3.1 Conditions for Coupling The following conditions should be considered when operating the Tool Changer. For more details about programming the robot, refer to the Operation section of the Control/Signal Module Manual. CAUTION: Do not attempt to couple the Tool Changer when in locked position.

  • Page 17: Fail-Safe Operation

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 6. 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”...

  • Page 18: Conditions For Uncoupling

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 3.3 Conditions for Uncoupling Refer to your Air/Valve Adapter and/or Control/Signal Module Manual’s Operation section for operation during coupling/uncoupling. 1. Move the robot to position the Tool plate in the tool stand. The position for coupling and uncoupling are the same.

  • Page 19: Tool Storage Considerations

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 3.5 Tool Storage Considerations NOTICE: Tool stand design is critical to the operation of the Tool Changer. Improperly designed tool stands can cause jamming and excessive wear of the Tool Changer components. Tool plates with customer tooling attached may be stored in a tool stand.

  • Page 20: Maintenance

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 4. Maintenance WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless the Tool is safely supported or placed in the tool stand, all energized circuits (e.g. 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.

  • Page 21: Cleaning And Lubrication Of The Locking Mechanism And Alignment Pins

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 4.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins Supplies required: Clean rag, MobilGrease XHP222 Special Grease 1. Place the Tool in a secure location. 2. Uncouple the Master and Tool plates. 3.
  • Page 22 Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 6. Check each ball bearing to make sure it moves freely in the male coupling. Additional cleaning may be necessary to free up any ball bearings that are sticking in place. Figure 4.3—Check Ball Bearing Movement 7.

  • Page 23: Pin Block Inspection And Cleaning

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 4.3 Pin Block Inspection and Cleaning Tools required: Nylon Brush (ATI Part Number 3690‑0000064‑60) 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, etc.). 4.

  • Page 24: Troubleshooting And Service Procedures

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 5. Troubleshooting and Service Procedures The following section provides troubleshooting and service information to help diagnose conditions and repair the Tool Changer or control/signal module. WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless the Tool is safely supported or placed in the tool stand, all energized circuits (e.g.

  • Page 25: Service Procedures

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 Table 5.1—QC-76 Troubleshooting Symptom Cause Resolution Inspect V-ring seal for damage, and if Debris in and around contact pins. necessary, replace the damaged seal. Refer to Contact pin worn or damaged. Loss of Section 5.2.2—V‑ring Seal Replacement.

  • Page 26: Individual Lock And Unlock Sensor Assemblies Replacement

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 5.2.1.1 Individual Lock and Unlock Sensor Assemblies Replacement Parts required: Refer to Section 6—Serviceable Parts Tools required: 2 mm, 2.5 mm, and 5 mm hex key, torque wrench 1. Place the Tool in a secure location. 2.
  • Page 27 Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 13. Install the (3) cable retaining tabs on Flat D of the Tool Changer body and secure with the (3) M3 socket flat head cap screws using a 2 mm hex key. Tighten to contact.

  • Page 28: Rtl Sensor Cable Replacement Procedure

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 5.2.1.2 RTL Sensor Cable Replacement Procedure Parts required: Refer to Section 6—Serviceable Parts Tools required: 2 mm, 2.5 mm, and 5 mm hex key, torque wrench 1. Place the Tool in a secure location. 2.
  • Page 29 Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 NOTICE: Some control/signal modules supply power to the 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) sensor.

  • Page 30: Rtl Sensor Replacement Procedure

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 5.2.1.3 RTL Sensor Replacement Procedure Parts required: Refer to Section 6—Serviceable Parts Tools required: 13 mm socket wrench, torque wrench 1. Place the Tool in a secure location. 2. Uncouple the Master and Tool plates. 3.

  • Page 31: V-Ring Seal Replacement

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 5.2.2 V-ring Seal Replacement Parts required: Refer to Section 6—Serviceable Parts The seal protects the electrical connection between the Master and Tool module. If the seal becomes worn or damaged, replace the seal. 1.

  • Page 32: Alignment Pin Replacement

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 5.2.3 Alignment Pin Replacement Parts required: Refer to Section 6—Serviceable Parts Tools required: 3 mm or 4 mm hex key, torque wrench Supplies required: Clean rag, Loctite 242, MobilGrease XHP222 1.
  • Page 33 Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 5. Alternately, use the access hole in the back side of the Master plate. If not already removed, remove the Master plate refer to Section 2.3—Master Plate Removal. 6. Use a 3 mm hex key to remove the alignment pin from the back side of the Master plate. Loosen the alignment pin by turning it clockwise, the alignment pin will be removed from the locking side of the Master plate.

  • Page 34: Serviceable Parts

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 6. Serviceable Parts 6.1 Models 9121-310xM-000-000-S0 Table 5.2—QC-310 -SO Master Plate Item No. Part Number Description 9121-310AM-0-0-0-0-S0 Complete QC-310 Master plate, No Options 9005-20-1141 7/8” Two Piece Alignment Pin 3410-0001016-01 O-ring 1/16 x 1/8 I.D.

  • Page 35: Models 9121-310Xm-000-000-Sm, 9121-310Xm-000-000-Sp, 9121-310Xm-000-000-Sma, 9121-310Xm-000-000-St, And 9121-310Xm-000-000-Sv

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 6.2 Models 9121-310xM-000-000-SM, 9121-310xM-000-000-SP, 9121-310xM-000-000-SMA, 9121-310xM-000-000-ST, and 9121-310xM-000-000-SV Table 5.3—QC-310 -SM, -SP, -SMA, -ST, SV Master Plates Item No. Part Number Description 9121-310AM-0-0-0-0-S0 Complete QC-310 Master plate, No Options 9005-20-1141 7/8”...

  • Page 36: Tool Plate

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 6.3 Tool Plate Table 5.4—Tool Plate Item No. Part Number Description 9121-310xT-0-0-0-0 QC-310 Base Tool Assembly, No Options, 125 mm Recess 9005-20-1334 Race Cover QC 310 Tool Assembly (Includes Items 3 and 4) M3x8 Flat Head Socket Cap Screw, Class 10.9, Blue dyed Magni-565, 3500-1258008-15A ND Microspheres Epoxy, Yellow.

  • Page 37: Specifications

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 7. Specifications Table 5.5—Master and Tool Specifications Recommended Max Payload 1120 lbs (500 kg) The mass attached to the Tool Changer. -20–150°F Operating Temperature Range Optimal temperature range for operation. (-30–66°C) Locking mechanism supply air pressure 60–100 psi Operating Air Pressure Range operating range.

  • Page 38: Drawings

    Manual,Robotic Tool Changer, QC‑310 Document #9620‑20‑B‑310 Series Base Tool Changer‑27 8. Drawings 8.1 QC-310 Tool Changer Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com B-38...
  • Page 39 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-39...
  • Page 40 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-40...

Table of Contents