1. Manuals
  2. Brands
  3. ATI Technologies Manuals
  4. Accessories
  5. SR-81
  6. Manual

ATI Technologies SR‑81 Manual

Robotic collision sensor
Hide thumbs Also See for SR‑81:
Table of Contents

Advertisement

Quick Links

Download this manual
Robotic Collision Sensor
SR‑81, SR‑101, SR‑131, SR‑176, SR‑221
Manual
U.S. Patent Nos. 6069415 and 6690208
Document #: 9610‑60‑1004
Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: +1‑919.772.0115 • Fax: +1‑919.772.8259 • www.ati‑ia.com

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the SR‑81 and is the answer not in the manual?

Questions and answers

Related Manuals for ATI Technologies SR‑81

Summary of Contents for ATI Technologies SR‑81

  • Page 1 Robotic Collision Sensor SR‑81, SR‑101, SR‑131, SR‑176, SR‑221 Manual U.S. Patent Nos. 6069415 and 6690208 Document #: 9610‑60‑1004 Engineered Products for Robotic Productivity Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: +1‑919.772.0115 • Fax: +1‑919.772.8259 • www.ati‑ia.com...

  • Page 2: Foreword

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 Foreword Please contact ATI Industrial Automation with any questions concerning your particular model. CAUTION: This manual describes the function, application and safety considerations of this product. This manual must be read and understood before any attempt is made to install or operate the product.

  • Page 3: Table Of Contents

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 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 Product Description ........................8 Installation ..........................9 Electrical Connection ........................
  • Page 4 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 Drawings ..........................29 SR‑81 ............................29 SR‑101 ............................31 SR‑131 ............................33 SR‑176 ............................35 SR‑221 ............................37 Collision Sensor Interface Plate Dowel Pin Insertion .............. 39 10. Terms and Conditions of Sale ....................40 Pinnacle Park •...

  • Page 5: Glossary

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 Glossary Definition Term 8 mm Connector 8 mm electrical connector mounted in block attached to the side of the body. Cylindrical aluminum housing and air pressure chamber. An interface plate to Body the user’s robot is usually attached here. A hardened steel ring mounted inside the cover on which the hardened steel ball segments mounted to the stem are nested.

  • Page 6: Safety

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 1. Safety The safety section describes general safety guidelines to be followed with this product, explanation 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 7: Safety Precautions

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 1.3 Safety Precautions WARNING: Do not perform maintenance or repair on the Collision Sensor with air pressure applied, current supplied to the sensor, or the robot not in a safe condition. Injury or equipment damage can occur if this is not observed. Always ensure that air pressure has been vented from the unit, that electrical current is not supplied to the Collision Sensor’s signal circuit, and that the robot is in a safe, locked‑out condition consistent with local and national safety standards before performing maintenance or...

  • Page 8: Product Overview

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 2. Product Overview The Collision Sensor is a pneumatically‑pressurized device offering protection to industrial robots and tooling in the event of accidental impacts and unanticipated loads. The Collision Sensor works by “breaking away” from its working geometry in the event of excessive torsional, moment, or compressive axial forces, or any combination of these.

  • Page 9: Installation

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 3. Installation The Collision Sensor is typically mounted with its body toward the robot and its stem toward the user tooling, however this is up to the user. The Collision Sensor can be mounted to the robot using an interface plate. A second interface plate may be required for mounting the Collision Sensor stem to the tooling.
  • Page 10 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 NOTICE: The robot interface plate can be purchased from ATI or manufactured, refer Section 9—Drawings. The use of a robot interface plate supplied by ATI is strongly recommended. 2. Attach, locate using the dowel pin, the Collision Sensor to the robot interface plate using the (4) mounting fasteners.
  • Page 11 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 4. Connect the pneumatic supply hose to the Collision Sensor and apply 10‑20 psi to raise the stem. Note: This step is not required for Collision Sensors that are spring loaded. NOTICE: SR‑81 and SR‑101 models are equipped with a #10‑32 or M5 x 0.8 air port connection.

  • Page 12: Electrical Connection

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 3.1 Electrical Connection CAUTION: The user is responsible for connecting the collision sensor to their controls and providing an “electrical load” in series with the collision sensing switch. The switch is rated for instrument level signals of 125 mA (max.) at 28 V (max.) AC or DC. The Collision Sensor is connected to the user’s control wiring as a normally‑closed mechanical switch.

  • Page 13: Pneumatic Connection

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 3.2 Pneumatic Connection Compressed air is to be supplied to the port marked “P” in the range of 20‑90 psi (1.4–6.2 bar ). This port accepts #10‑32 or M5 pneumatic fittings. The pressure setting required for a particular application can be estimated using the procedure outlined in Section 3.2.2—Calculating Estimated Pressure Setting exact pressure required must be determined through testing using the procedure outlined in...
  • Page 14 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 Figure 3.6—Collision Sensor Loading Diagram Formulas: Axial Load (F) = F2 Torque (T) = F3*D3 Moment (M) = NOTICE: F1, F2, & F3 consist of the sum of their respective static, dynamic, and working force components; and should always be positive for purposes of calculating break‑away pressure settings.

  • Page 15: Obtain Required Pressure Setting

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 3.2.2.2 Obtain Required Pressure Setting The pressure setting required can be approximated from the following formula: P = Pm + Pt + Pf + PmA + PtA Where Pm, Pt, and Pf are the pressure components related to the moment, torque, and force load components expected at the break‑away.

  • Page 16: Operation

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 4. Operation With the Collision Sensor mounted and connected pneumatically and electrically the unit may be placed into operation. If possible, for safety and convenience, position the Collision Sensor and the tooling vertically so that the load is suspended below the Collision Sensor.

  • Page 17: Periodic Lubrication Instructions

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 5.1 Periodic Lubrication Instructions Note: Cleaning may be accomplished with a clean, dry rag. For more thorough cleaning, use isopropyl alcohol. Tools required: 3 mm Allen wrench (hex key) Supplies required: Clean rag, Loctite 222, CRC Extreme Pressure Moly C.V. Joint Grease CAUTION: Collision Sensors equipped with the spring assist option contain a significant amount of stored energy and present an increased level of hazard if not handled properly.
  • Page 18 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 4. Clean the lubricant from the working surfaces of the cam and the clearance ring. Set the cover plate assembly aside for later re‑use (see Figure 5.3). Figure 5.3—Cleaning and Re‑lubricating the Cover Plate Assembly (3) Cam Surface to be Cleaned and Re-lubricated (Entire V-groove) Clearance Ring Surface to be...
  • Page 19 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 7. Apply a generous coating of CRC Extreme Pressure Moly C.V. Joint Grease (moly grease) to the top surface of the piston (see Figure 5.5). 8. Apply a generous coat of moly grease to each of the (3) ball segments on the stem assembly and to the rounded edge of the shoulders between the ball segments.
  • Page 20 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 14. Apply thread locker to the cover fasteners (refer to Table 5.1) and thread them into the body. 15. Process for tightening the cover fasteners. Align the dowels with the dowel holes. b. Press down on the cover plate. Install (2) opposing fasteners.

  • Page 21: Troubleshooting And Service Procedures

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 6. Troubleshooting and Service Procedures WARNING: Do not perform maintenance or repair on the Collision Sensor with air pressure applied, current supplied to the sensor, or the robot in an unsafe condition. Injury or equipment damage can occur if this is not observed.

  • Page 22: Troubleshooting

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 6.1 Troubleshooting Refer to the following table for troubleshooting information. Table 6.1—Troubleshooting Symptom Cause Resolution Mechanical obstruction Ensure that there are no obstructions either on or around the preventing the Collision tooling or the stem of the Collision Sensor. Pay particular attention Sensor from free to cables and tubing that may become trapped or snagged.

  • Page 23: Service Procedures

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 6.2 Service Procedures The following service procedures provide instructions for inspection, adjustment, test or replacement of components. 6.2.1 Replacement of Connector Block Assembly Parts required: Refer to Section 9—Drawings Tools required: 1. Remove the mounting screw using a 2.5 mm Allen wrench. 2.
  • Page 24 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 6. Hold the micro header socket protruding from the body with needle nose pliers while plugging it into the PCB header of the connector block assembly (see Figure 6.3). Position the connector block assembly so that the dowel pin in the connector block assembly is aligned with its mating hole in the body.

  • Page 25: Flexible Boot Replacement

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 6.3 Flexible Boot Replacement Parts required: Refer to Section 9—Drawings 1. Remove the two garter springs retaining the flexible boot to the Collision Sensor body and the interface plate.(see Figure 6.4). 2. Remove the flexible boot and discard. 3.

  • Page 26: Specifications

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 7. Specifications Figure 7.1—SR‑81 Specifications Angular +/‑ 13° max. Displacement Torsional +/‑ 25° max. Axial 0.34 in. (8.6 mm) max. Moment 521 in‑lbs. (59 N‑m) Load Limit Axial 385 lb. (1713 N) Torsional 540 in‑lbs. (61 N‑m) Weight 1.28 lb.
  • Page 27 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 Figure 7.4—SR‑176 Specifications Angular +/‑ 10° max. Displacement Torsional +/‑ 20° max. Axial 0.63 in. (16.0 mm) max. Moment 7130 in‑lbs. (806 N‑m) Load Limit Axial 2000 lb. (8900 N) Torsional 7530 in‑lbs. (851 N‑m) Weight 12.0 lb.

  • Page 28: Serviceable Parts

    Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 8. Serviceable Parts Refer to Section 9—Drawings 8.1 Cable Replacement If the cable attached to your Collision Sensor becomes broken or worn, replacement cables may be purchased as follows: Collision Sensor Model Number: 9610‑061‑Pxx‑XX‑x‑x‑x. (x = any value) (XX = Cable Designation) Table 8.1—Cable choices Cable Number Description...
  • Page 29 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 9. Drawings 9.1 SR‑81 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 30 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 31 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 9.2 SR‑101 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 32 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 33 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 9.3 SR‑131 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 34 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 35 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 9.4 SR‑176 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 36 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 37 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 9.5 SR‑221 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 38 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 39 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 9.6 Collision Sensor Interface Plate Dowel Pin Insertion Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com...
  • Page 40 Manual, Collision Sensor, SR‑81/SR‑101/SR‑131/SR‑176/SR‑221 Document #9610‑60‑1004‑32 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. ATI warrants to Purchaser that Collision Sensor products purchased hereunder will be free from defects in material and workmanship under normal use for a period of one (1) year from the date of shipment.

This manual is also suitable for:

Sr‑101Sr‑131Sr‑176Sr‑221

Table of Contents