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ATI Technologies QC-24MZ1 Manual

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QC‑24MZ1/24TZ1
Custom Tool Changer
Manual
Document #: 9610-20-3727
Engineered Products for Robotic Productivity
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com

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Summary of Contents for ATI Technologies QC-24MZ1

  • Page 1 QC‑24MZ1/24TZ1 Custom Tool Changer Manual Document #: 9610-20-3727 Engineered Products for Robotic Productivity Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...

  • Page 2: Foreword

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 Foreword This manual contains basic information applicable to all ATI robotic Tool Changers. Certain models have their own manuals that contain more detailed information. Also, additional information about electrical, pneumatic, fluid, high‑power, and high‑current modules and other options are available in other manuals and documents. Please contact ATI Industrial Automation with any questions concerning your particular model.

  • Page 3: Table Of Contents

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 Table of Contents Foreword ............................2 Glossary ............................5 Safety ............................6 1.1 Explanation of Notifications ......................6 General Safety Guidelines ......................6 Safety Precautions ........................7 Product Overview ........................8 Master Plate Assembly ......................... 8 Tool Plate Assembly ........................
  • Page 4 Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 Troubleshooting .......................... 25 Service Procedures ........................26 6.2.1 Lock and Unlock Sensor Replacement ................26 6.2.2 V‑ring Seal Inspection and Replacement ................. 28 Serviceable Parts ........................29 Master Plate ..........................29 Tool Plate ............................. 29 8. Specifications .........................

  • Page 5: Glossary

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 Glossary Definition Term A steel ring in the Tool plate that is engaged by the locking balls during the Bearing Race coupling of the Tool Changer. A multi tapered sliding cylinder attached to the piston that forces the locking balls outward during the locking process.

  • Page 6: Safety

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 1. Safety The safety section describes general safety guidelines to be followed with this product, explanations of the notifications found in this manual, and safety precautions that apply to the product. Product specific notifications are imbedded within the sections of this manual (where they apply).

  • Page 7: Safety Precautions

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 1.3 Safety Precautions WARNING: Remove the all temporary protective materials (caps, plugs, tape, etc.) on the locking face of the Tool Changer and modules prior to operation. Failure to do so will result in damage to Tool Changers, modules, and end‑of‑arm tooling and could cause injury to personnel.

  • Page 8: Product Overview

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 2. 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. The Tool Changer consists of a Master plate, which is attached to the robot arm, and a Tool plate, which is attached to customer tooling.

  • Page 9: Tool Plate Assembly

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 2.2 Tool Plate Assembly The Tool plate includes a stainless steel body and a hardened stainless steel bearing race (refer to Figure 2.2). Alignment bushings are integrated in the bearing race to ensure proper, repeatable orientation with the Master plate.

  • Page 10: Master Interface

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 3.1 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 11: Master Plate Installation

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 3.2 Master Plate Installation Tools required: 2.5 mm hex key, torque wrench ® Supplies required: Clean rag, Loctite 7649 and 222 1. Wipe down the mounting surfaces with a clean rag. 2. Install the interface plate to the robot arm. Align using the dowel pin(s) and secure with customer supplied fasteners.

  • Page 12: Tool Interface

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 3.4 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 13: Tool Plate Installation

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 3.5 Tool Plate Installation Tools required: hex keys, torque wrench Supplies required: Clean rag, Loctite 7649 and 222 1. Wipe down the mounting surfaces with a clean rag. 2. If required, install the tooling interface plate to the customer tooling, align using the boss and dowel pin(s).

  • Page 14: Optional Module

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 3.7 Optional Module The optional modules are typically installed on the Tool Changers by ATI prior to shipment. The following steps outline field installation or removal as required. Tool Changers are compatible with many different types of modules.

  • Page 15: Optional Module Removal

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 3.7.2 Optional Module Removal Refer to Figure 3.3 Tools required: hex keys 1. Place the Tool in a secure location. 2. Uncouple the Master and Tool plates. 3. Turn off and de‑energize all energized circuits (for example: electrical, pneumatic, and hydraulic circuits).

  • Page 16: Electrical Connections

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 3.9 Electrical Connections Integrated lock/unlock sensors are available. 3.9.1 PNP Type Lock and Unlock Sensors (-SM sensor designation) Table 3.1—PNP (Current Sourcing) Description Value Voltage Supply Range 10‑30VDC Output Circuit PNP make function (NO) Figure 3.5—PNP Type Lock, Unlock and RTL Sensors PNP (Current Sourcing) Connector...

  • Page 17: Operation

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 4. 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 the maintaining an air pressure of 60 to 100 psi (4.1–6.9 bar).

  • Page 18: Conditions For Coupling

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 4.1 Conditions for Coupling CAUTION: The locking mechanism must be in the unlock position when attempting to couple the Tool Changer. Failure to adhere to this condition may result in damage to the unit and/or the robot. 1.

  • Page 19: Fail-Safe Operation

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

  • Page 20: Tool Storage Considerations

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 4.5 Tool Storage Considerations NOTICE: Tool stand design is critical to 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. ATI provides compatible tool stands designed for durability, longevity, and maximum adaptability to fit most customers’...

  • Page 21: Maintenance

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 5. 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 the circuits in accordance with the customer specific safety practices and policies.

  • Page 22: Cleaning And Lubrication Of The Locking Mechanism And Alignment Pins

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 5.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins Supplies required: Clean rag, food grade grease 1. Place the Tool in a secure location. 2. Uncouple the Master and Tool plates. 3.
  • Page 23 Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 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 5.3—Check Ball Bearing Movement 7.

  • Page 24: Pin Block Inspection And Cleaning

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 5.3 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 (for example: electrical, pneumatic, and hydraulic circuits).

  • Page 25: Troubleshooting And Service Procedures

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 6. Troubleshooting and Service Procedures The following section provides troubleshooting and service information to help diagnose conditions and repair the Tool Changer. 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 26: Service Procedures

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 6.2 Service Procedures Component replacement and adjustment procedures are provided in following section. 6.2.1 Lock and Unlock Sensor Replacement The proximity sensors are dependable and normally do not need to be replaced. Exhaust all other possible solutions, before choosing to replace the proximity sensors, including: checking continuity, air supply, lubrication, and pneumatic components prior to replacing the sensor.
  • Page 27 Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 11. Route the new lock and/or unlock sensor cable through the cord grip on the sensor cover. 12. Insert the lock and/or unlock sensor assembly into the Tool Changer body as shown in Ensure that new O‑ring is in place before inserting sensor.

  • Page 28: V-Ring Seal Inspection And Replacement

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 6.2.2 V-ring Seal Inspection and Replacement The seal protects the electrical connection between the Master and Tool module. If the seal becomes worn or damaged, replace the seal. 1. Place the Tool in a secure location. 2.

  • Page 29: Serviceable Parts

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 7. Serviceable Parts 7.1 Master Plate Table 7.1—QC-24MZ1 Master Plate Item No. Qty Part Number Description QC‑24Z1 Master, Lock Mech with Corrosion Resistant Plating, 304 SS 9120‑024MZ1‑000‑SM Body, PNP Sensing QC‑24Z1 Master, Lock Mech with Corrosion Resistant Plating, 304 SS 9120‑024MZ1‑000‑SP...

  • Page 30: Specifications

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 8. Specifications Table 8.1—QC‑24Z1 Specifications Specification Value Description Recommended Max Payload 55 lb (25 kg) The mass attached to the Tool Changer. ‑20–150°F Operating Temperature Range Operational temperature (‑30–66°C) Locking mechanism supply pressure operating 60–100 psi range.

  • Page 31: Drawings

    Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03 9. Drawings Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 32 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...
  • Page 33 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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Qc-24tz1

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