ATI Technologies QC-11HM Manual
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ATI Technologies QC-11HM Manual

Hollow-wrist robotic tool changer
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Hollow-Wrist Robotic Tool Changers
QC-11HM through QC-27HM
Manual
Document #: 9610-20-2253
Engineered Products for Robotic Productivity
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com

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Summary of Contents for ATI Technologies QC-11HM

  • Page 1 Hollow-Wrist Robotic Tool Changers QC-11HM through QC-27HM Manual Document #: 9610-20-2253 Engineered Products for Robotic Productivity Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...
  • Page 2 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 Foreword This manual contains basic information applicable to a variety of ATI robotic Tool Changers. Certain models have their own manuals that contain more detailed information. Also, additional information about electrical, pneumatic, fluid, high-power, high-current modules, and other options is available in other manuals and documents.

  • Page 3: Table Of Contents

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 Table of Contents Safety ............................7 1.1 Explanation of Notifications ......................7 General Safety Guidelines ......................7 Safety Precautions ........................8 Product Overview ........................9 Hollow-Wrist Master Plate Assembly ..................10 Tool Plate Assembly ........................11 Master Plate/Tool Plate Locking Mechanism ................
  • Page 4 Rubber Bushing Inspection and Replacement ..............36 6.2.3 Optional Electrical Module Seal Inspection and Replacement ......... 37 6.2.4 QC-11HM Lock and Unlock Sensor Adjustment, Test, or Replacement ......37 6.2.5 QC-20HM and QC-21HM Lock and Unlock Sensor Adjustment, Test, or Replacement .. 39 6.2.6 QC-27HM Lock and Unlock Sensor Adjustment, Test, or Replacement ......
  • Page 5 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 Glossary Table 1.1—Tool Changer and Module Glossary Term Definition A steel ring in the Tool plate that is engaged by the locking balls during the Bearing Race coupling of the Tool Changer or Utility Coupler.
  • Page 6 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 Table 1.1—Tool Changer and Module Glossary Term Definition Any of a wide variety of utility modules that pass air or vacuum through the Pneumatic Module Master and Tool modules to the end-effector.

  • Page 7: Safety

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 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. More specific notifications are imbedded within the sections of the manual where they apply.

  • Page 8: Safety Precautions

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 1.3 Safety Precautions WARNING: Remove all temporary protective materials (caps, plugs, tape, etc.) on locking face of 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 9: Product Overview

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 2. Product Overview ATI Tool Changers enhance the capability 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 10: Hollow-Wrist Master Plate Assembly

    Locking Mechanism and Alignment Pins for lubrication instructions. In some models, the Master plate is equipped with tapered alignment pins. Other models, such as the QC-11HM Hollow-Wrist Master plate, have hardened stainless steel alignment bushings. Optional proximity sensors, located in the body of the Master plate, verify the lock and unlock position of the piston and cam.

  • Page 11: Tool Plate Assembly

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 2.2 Tool Plate Assembly The Tool plate assembly includes an anodized aluminum body and a hardened stainless-steel bearing race. The Tool plate provides one or two flat sides for mounting of optional modules, depending on the model.

  • Page 12: Optional Modules

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 2.4 Optional Modules Hollow-Wrist Tool Changers may have one or two flats depending on the model. Optional modules support the pass-through of various utilities, such as signal, fluid/air, and power. Refer to Table 2.2...
  • Page 13 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 WARNING: Do not use lock washers under the head of the mounting fasteners or allow the mounting fasteners to protrude above the mating surfaces of the Master and Tool plates.

  • Page 14: Master Plate Installation

    Section 3.7—Lock and Unlock Pneumatic Requirements. 7. If equipped, connect the lock and unlock sensor cables through the robot wrist. Note: for the QC-11HM Hollow-Wrist Tool Changer, the lock and unlock sensor cables are routed around the channel in the adapter plate and secured using the (2) socket flat head cap screws, refer to Figure 3.1.

  • Page 15: Master Plate Removal

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 Figure 3.1—Typical Master Plate Installation Robot Arm Robot Arm Adapter Plate (Sold Separately) Cable Channel Adapter Plate (Sold Separatly) (8) M4 socket Head Cap Screw (6) M4 socket Head Cap Screw...

  • Page 16: Tool Interface Plate

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 3.3 Tool Interface Plate 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 17: Tool Plate Installation

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 3.4 Tool Plate Installation The end-effector is typically attached to the Tool plate with an interface plate. For interface plate design requirements, refer to Section 3.3—Tool Interface Plate. Tools required: 5 mm, 4 mm, or 3 mm hex key, torque wrench Supplies required: Clean rag, Loctite 222 or 242 1.

  • Page 18: Optional Module Installation

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 3.6 Optional Module Installation The optional modules are typically installed on Tool Changers by ATI prior to shipment. The steps below outline field installation or removal as required. Tool Changers are compatible with different types of modules.

  • Page 19: Qc-11Hm Master Electrical Module Installation

    5. Apply Loctite 222 to M3 socket head cap screws. 6. Align the cover to the QC-11HM Master plate. 7. Secure the cover to the QC-11HM with (2) M3 socket head cap screws, using a 2.5 mm hex key. Tighten to 48 in-oz (0.34 Nm).

  • Page 20: Tool Electrical Module Installation

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 3.6.5 QC-11 Tool Electrical Module Installation Tools required: 2.5 mm hex key, 3/16” wrench, torque wrench Supplies required: Clean rag, Loctite 222 1. Place the Tool in a secure location.

  • Page 21: Qc-20Hm, Qc-21Hm, And Qc-27Hm Flat A Optional K Series Module Installation

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 3.6.7 QC-20HM, QC-21HM, and QC-27HM Flat A Optional K Series Module Installation Tools required: 2.5 mm hex key, torque wrench Supplies required: Clean rag, Loctite 222 (if fasteners do not have pre-applied adhesive) 1.

  • Page 22: Qc-21Hm Flat B Optional Module Installation

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 3.6.9 QC-21HM Flat B Optional Module Installation Tools required: 2.5 mm and 3 mm hex key, torque wrench Supplies required: Clean rag, Loctite 222 (if fasteners do not have pre-applied adhesive) 1.

  • Page 23: Lock And Unlock Pneumatic Requirements

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 3.7 Lock and Unlock 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 24 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 Figure 3.8—QC-11HM Hollow-Wrist Lock and Unlock Pneumatic Connections 4 or 5 -way Valve Unlock Port Lock Port Supply Clean, Dry, Non -lubricated Air 60 – 100 psi (4.1 – 6.9 Bar)

  • Page 25: Electrical Connections

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 3.8 Electrical Connections The optional lock and unlock sensors are available in PNP and NPN type. 3.8.1 PNP Type Lock and Unlock Sensors The PNP lock and unlock sensors are 4 mm cylindrical inductive proximity sensor.

  • Page 26: Operation

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 4. Operation The Master locking mechanism is pneumatically driven to couple and uncouple with the bearing race on the Tool plate. The Master plate utilizes air ports to provide lock and unlock pressure to the locking mechanism.

  • Page 27: Coupling Sequence

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 4.1 Coupling Sequence 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.

  • Page 28: Uncoupling Sequence

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 4.3 Uncoupling Sequence 1. Position the Tool plate in the tool stand such 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).

  • Page 29: Maintenance

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 5. Maintenance The following section contains preventative maintenance procedures, periodic inspection recommendations, and cleaning instructions for the Tool Changer and optional modules. Use this section to maximize the life of the Tool Changer and its components.

  • Page 30: Preventive Maintenance

    Inspect sensor cable connectors for tightness; if loose, tighten connections. г Inspect sensor cables and connectors for any damage, cuts, and abrasion. Replace as necessary. Refer to Section 6.2.4—QC-11HM Lock and Unlock Sensor Adjustment, Test, or Replacement Section 6.2.5—QC-20HM and QC-21HM Lock and Unlock Sensor Adjustment, Test, or Replacement Section 6.2.6—QC-27HM Lock and Unlock Sensor Adjustment, Test,...

  • Page 31: Cleaning And Lubrication Of The Locking Mechanism And Alignment Pins

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 5.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins Supplies required: Clean rag, MobilGrease XHP222 Special is a NLGI #2 lithium complex grease with molybdenum disulfide 1. Place the Tool in a secure location.
  • Page 32 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 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.

  • Page 33: Optional Electrical Module Pin Block Inspection And Cleaning

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 5.3 Optional Electrical Module 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.

  • Page 34: Troubleshooting And Service Procedures

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 6. Troubleshooting and Service Procedures The following section provides troubleshooting information to help diagnose conditions with the Tool Changer or air module and service procedures to help resolve these conditions.

  • Page 35: Service Procedures

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 6.2 Service Procedures The following service procedures provide instructions for inspection, adjustment, test or replacement of components. 6.2.1 QC-27HM Alignment Pin Replacement Excessive alignment pin/bushing wear may be an indication of poor robot position during pickup/ drop-off.

  • Page 36: Rubber Bushing Inspection And Replacement

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 6.2.2 Rubber Bushing Inspection and Replacement The rubber bushings seal the air passage from the Master plate to the Tool plate. If the bushings are cut or damaged, replace them.

  • Page 37: Optional Electrical Module Seal Inspection And Replacement

    2 mm hex key. Refer to Figure 6.5. 6. Ensure there is sufficient slack in the sensor cable to remove the QC-11HM Master plate assembly from the adapter plate. Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 •...
  • Page 38 1/4 turn more. 14. Connect any cables and air line, etc. as required. 15. Attach the QC-11HM Master plate to the adapter plate using the (4) M3 socket head cap screws. Tighten to 10 in-lbs (1.13 Nm).

  • Page 39: Qc-20Hm And Qc-21Hm Lock And Unlock Sensor Adjustment, Test, Or Replacement

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 6.2.5 QC-20HM and QC-21HM Lock and Unlock Sensor Adjustment, Test, or Replacement The lock and unlock sensors are very reliable and normally do not need to be replaced. Exhaust all...

  • Page 40: Qc-27Hm Lock And Unlock Sensor Adjustment, Test, Or Replacement

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 CAUTION: Do not operate locking mechanism with sensor touching the detection shaft. Operating the locking mechanism with the sensor touching the detection shaft will damage the sensor. Back off the sensor ½ turn and secure with the set screw before operating the locking mechanism.
  • Page 41 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 Figure 6.7—QC-27HM Replace Lock and Unlock Sensor QC-27HM Master Plate Assembly Unlock Sensor Sensor LED Lock Sensor M3 Socket Set Screw 6. Thread the sensor into the QC-27HM Master plate assembly until it touches the detection shaft, then back the sensor off one-half turn.

  • Page 42: Specifications

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 7. Specifications Table 7.1—Tool Changer Specifications Tool Changer Model Specification QC-11HM QC-20HM QC-21HM QC-27HM Recommended Max 35 lbs. 55 lbs. 55 lbs. 85 lbs. Payload (16 kg) (25 kg) (25 kg) (25 kg) Operating -20–150°F...

  • Page 43: Serviceable Parts

    QC-11HM Base Assy w/ Metric Tube fittings, No Sensors, Black Anodized 9120-011HM-000-000-SQ-E QC-11HM Base Assy w/ Metric Tube fittings, PNP Sensors, Black Anodized 9120-011HM-000-000-SQN-E QC-11HM Base Assy w/ Metric Tube fittings, NPN Sensors, Black Anodized 9120-011HM-000-000-SQ-M QC-11HM Base Assy w/ Metric Tube fittings, PNP Sensors, Orange Anodized...

  • Page 44: Models Qc-20Hm Hollow-Wrist Serviceable Parts

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 8.2 Models QC-20HM Hollow-Wrist Serviceable Parts Table 8.2—QC-20HM Hollow-Wrist Master Plate Item No. Part Number Description 9120-020HM-000-PM5-S0 QC-20HM Base Assy w/ No Sensors, Orange Anodized 9120-020HM-000-PM5-SQ QC-20HM Base Assy w/ PNP Sensors, Orange Anodized...

  • Page 45: Models Qc-21Hm Hollow-Wrist Serviceable Parts

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 8.3 Models QC-21HM Hollow-Wrist Serviceable Parts Table 8.3—QC-21HM Hollow-Wrist Master Plate Item No. Part Number Description 9120-021HM-000-000-S0 QC-21HM Base Assembly w/ no sensors, Orange Anodized 9120-021HM-000-000-SQ QC-21HM Base Assembly w/ PNP sensors, Orange Anodized...

  • Page 46: Models Qc-27Hm Hollow-Wrist Serviceable Parts

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 8.4 Models QC-27HM Hollow-Wrist Serviceable Parts Table 8.4—QC-27HM Hollow-Wrist Master Plate Item No. Part Number Description 9120-027HM-000-000-S0-E QC-27HM Base Assy w/ Metric Tube fittings, no sensors, Black Anodized QC-27HM Base Assy w/ Metric Tube fittings, detection shaft no sensors,...

  • Page 47: Drawings

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 9. Drawings 9.1 QC-11HM Hollow-Wrist Tool Changer with A15 Module Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...
  • Page 48 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...

  • Page 49: Qc-20Hm Hollow-Wrist Tool Changer With Kf19 Module

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 9.2 QC-20HM Hollow-Wrist Tool Changer with KF19 Module Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...
  • Page 50 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...

  • Page 51: Qc-21Hm Hollow-Wrist Tool Changer With Kf19 Module

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 9.3 QC-21HM Hollow-Wrist Tool Changer with KF19 Module Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...
  • Page 52 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...

  • Page 53: Qc-27Hm Hollow-Wrist Tool Changer

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 9.4 QC-27HM Hollow-Wrist Tool Changer Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...
  • Page 54 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...
  • Page 55 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...

  • Page 56: Qc-27Hm Hollow-Wrist Tool Changer With Km14 Module

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 9.5 QC-27HM Hollow-Wrist Tool Changer with KM14 Module Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...
  • Page 57 Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HMl Document #9610-20-2253-08 Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com...

  • Page 58: Terms And Conditions Of Sale

    Manual, Hollow-Wrist Robotic Tool Changer, QC-11HM through QC-27HM Document #9610-20-2253-08 10. Terms and Conditions of Sale The following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and Conditions, which are on file at ATI and available upon request.

This manual is also suitable for:

Qc-11Qc-20hmQc-21hmQc-27hm

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