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Summary of Contents for ATI Technologies 9150‑CRT
- Page 1 ATI Compliant Reciprocating Tool (Model 9150‑CRT) Product Manual Document #: 9610-50-1028 Engineered Products for Robotic Productivity Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com...
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Page 2: Foreword
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 Foreword 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, otherwise damage to the product or unsafe conditions may occur. Information contained in this document is the property of ATI Industrial Automation, Inc (ATI) and shall not be reproduced in whole or in part without prior written approval of ATI. -
Page 3: Table Of Contents
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 Table of Contents Foreword ............................2 Glossary ............................5 Safety ............................6 Explanation of Notifications ......................6 General Safety Guidelines ......................6 Safety Precautions ........................6 Product Overview ........................7 File Holder Systems ........................8 2.1.1 Reciprocating Tool Part Number Structure ................. - Page 4 Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 Maintenance ..........................18 Pneumatics ..........................18 Lubrication ........................... 18 File Inspection ..........................18 Spindle Boot Inspection ......................18 Troubleshooting and Service Procedures ................19 Troubleshooting .......................... 19 Service Procedures ........................20 6.2.1 File Replacement ......................
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Page 5: Glossary
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 Glossary Definition Term Device for attaching the CRT (Compliant Reciprocating Tool) to either a robot flange or Adapter Plate a stationary mounting surface. A suspension of fine solid or liquid particles in gas. Aerosols Device for removing contamination from air supply lines. -
Page 6: Safety
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 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: Product Overview
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 2. Product Overview ATI's Compliant Reciprocating Tool (CRT) is a robust, high‑speed, and lightweight reciprocating material removal unit for materials such as: aluminum, plastic, and steel with a robot. The CRT is especially well‑suited for removal of parting lines and flash from parts;... -
Page 8: File Holder Systems
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 2.1 File Holder Systems The file holding system for CRT series of products is an industry standard 5 mm file holder design. The 5 mm file holder system is used worldwide on machine tools which allows users to procure different holder sizes from local industrial supply firms. -
Page 9: Storage
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 2.2.1.2 Storage Table 2.2—Storage 0°C – 45°C Temperature Range 32°F – 113°F The tool should be stored in its crate and in a dry place. When not in use, keep the unit in its crate if Conditions possible. -
Page 10: Installation
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 3. Installation The CRT is delivered fully assembled. Optional equipment, such as: mounting adapter plates and files will be sold separately. 3.1 Protection During Transportation The CRT is packaged in a crate that secures and protects the tool during transportation. Always use the crate when storing and transporting the CRT in order to minimize the risk of damage. -
Page 11: Axial Mounting Installation
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 3.5 Axial Mounting Installation A blank robot adapter plate is also available to allow axial mounting of the rear of the deburring tool housing. This plate may be modified by the system integrator or by the owner/user. ATI can provide custom interface plates and adapters upon request. -
Page 12: Side Mounting Installation
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 3.6 Side Mounting Installation CAUTION: The length of the fasteners should not interfere with the compliant motion of for the maximum fastener length. the air motor spindle. Refer to Section 9—Drawings Do not use fasteners that exceed the maximum length; otherwise, damage will occur. CAUTION: Lock washers are recommended on all mounting fasteners. -
Page 13: Pneumatics
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 3.7 Pneumatics Connect the CRT as shown in Section 9.2—Pneumatic Diagram. CAUTION: Pneumatic components used for the drive circuit must be capable of meeting the air consumption requirements (see Section 8—Specifications). Poor performance will result if the correct components are not used. -
Page 14: Operation
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 4. Operation These operating instructions are intended to help system integrators program, start up, and set up a robotic reciprocating cell containing a reciprocating tool. The system integrator should be familiar with the task of reciprocating and have extensive knowledge about automation applications that incorporate robots. -
Page 15: Normal Operation
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 4.2 Normal Operation The following sections describe the normal operating conditions for the CRT. 4.2.1 Air Quality The air supply should be clean, dry, filtered, and lubricated. A coalescing filter that has elements rated for 30 micron or better is required. -
Page 16: Reciprocating Tool Working Environment
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 4.3 Reciprocating Tool Working Environment As described in previous sections, the CRT should only be used in conjunction with a robot in a secured work cell/chamber. The work cell must be secured by barriers to prohibit personnel from entering the cell. A lockable door should be included as a part of the barrier in order to facilitate access to the cell for authorized personnel only. -
Page 17: Locking And Unlocking Single Axis Compliance
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 4.5 Locking and Unlocking Single Axis Compliance The CRT can be locked to be compliant in a single axis. Tools required: Flat headed screwdriver 1. Turn the single axis lockout screw as shown in Figure 4.1 for desired compliance. -
Page 18: Maintenance
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 5. Maintenance The CRT is designed to provide reliable service for long periods of operation. While simple in design, there are parts in the assembly that are not serviceable by the user. The user is encouraged to return the unit to ATI for service. -
Page 19: Troubleshooting And Service Procedures
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 6. Troubleshooting and Service Procedures CAUTION: Thread locker applied to fasteners must not be used more than once. Fasteners might become loose and cause equipment damage. Always apply new thread locker when reusing fasteners. -
Page 20: Service Procedures
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 6.2 Service Procedures Component replacement and adjustment procedures are provided in the following section: CAUTION: During operation of the reciprocating tool, the file reaches high temperatures. Failure to wear proper personal protection equipment or not allowing the file to cool could result in serious injury to the user. - Page 21 Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 Figure 6.1—File Replacement File Holder (2) M5 Set Screw File Replace with new file Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com...
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Page 22: Ring Cylinder Assembly Replacement
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 6.2.2 Ring Cylinder Assembly Replacement The compliant motion of the air motor spindle is accomplished using an array of pneumatic drives (ring cylinder) installed inside the rear of the CRT. After extended operation, this component may need to be replaced to ensure free motion of the pneumatic drives. - Page 23 Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 6. Install the new ring cylinder assembly. Use light grease (NLGI‑2) to lubricate the bores in the entrance to the rear housing assembly and the O‑rings in the new ring cylinder assembly. b.
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Page 24: Boot Replacement
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 6.2.3 Boot Replacement The boot prevents debris from entering the housing and protects internal components. Replace the boot if it shows signs of damage. Refer to Figure 6.2. Parts required: Refer to Section 9—Drawings. -
Page 25: Serviceable Parts
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 7. Serviceable Parts The serviceable parts for the 9150‑CRT are shown in Section 9—Drawings. 7.1 Accessories Item No. Part Number Description 9150‑FRL‑4 FRL (Filter Regulator Lubricator) Unit with Oil Level Switch 9150‑P16‑B‑G Air Pressure Regulator Interface Plate Kit, Benchmount Style A to (4) M6, (2) Dowel 6, .75"... -
Page 26: Specifications
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 8. Specifications Table 8.1—CRT‑12‑5 Specifications Parameter Rating Motor Pneumatic drive type Idle Speed 12,000 Weight 6.8 lbs (3.08 kg). Compensation (Radial) +/‑ .32" (8 mm) recommended Compliance Force 1.5‑12 lb (6.7‑53.4 N) (Measured at Holder) File Surface Speed Dependent on application... -
Page 27: Drawings
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 9. Drawings 9.1 CRT-12-5 Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com... - Page 28 Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com...
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Page 29: Pneumatic Diagram
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 9.2 Pneumatic Diagram Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com... -
Page 30: Interface Plate
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 9.3 Interface Plate Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com... -
Page 31: Terms And Conditions Of Sale
Manual, Compliant Reciprocating Tool, CRT Series Document #9610-50-1028-04 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 the compliant tool product will be free from defects in design, materials, and workmanship for a period of one (1) year from the date of shipment and only when used in compliance with the manufacturer's specified normal operating conditions.
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