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ATI Technologies QC-150 Manual

Robotic tool changer
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QC-150 Robotic Tool Changer
Manual
Document #: 9610-20-2256
Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com

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Summary of Contents for ATI Technologies QC-150

  • Page 1 QC-150 Robotic Tool Changer Manual Document #: 9610-20-2256 Engineered Products for Robotic Productivity Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...

  • Page 2: Foreword

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 Foreword This manual contains basic information applicable to all ATI Tool Changer robotic Tool Changers. Certain Tool Changer 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.

  • Page 3: Table Of Contents

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 Table of Contents Foreword ............................2 Glossary of Terms ........................... 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 Models QC-150 ..........................39 Drawings ..........................41 QC-150 Tool Changer with G19 and FN2 Modules ..............41 10. Terms and Conditions of Sale ....................42 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...

  • Page 5: Glossary Of Terms

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 Glossary of Terms Definition Term A steel ring in the Tool plate that is engaged by the locking balls during the coupling of the Tool Changer or Bearing Race Utility Coupler. 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-150 Document #9610-20-2256-02 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, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 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 8: Product Overview

    (10) R 3/8” BSPT Pass through ports 9120-150T-000-000-R Notes: QC-150 Tool Changer Master and Tool plate assemblies with (-B and -E) part numbers have black anodized bodies 2.1 Master Plate Assembly The Master plate assembly includes an anodized aluminum body, a hardened stainless-steel locking mechanism, and hardened steel alignment pins.

  • Page 9: Tool Plate Assembly

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 2.2 Tool Plate Assembly The Tool plate assembly includes an anodized aluminum body and hardened stainless-steel bearing race. The Tool plate provides (2) flats for mounting optional modules. The Tool plate is equipped with pass through air ports to supply air to the end of arm tooling.

  • Page 10: Optional Sensor Interface Plate (Sip)

    Some modules require an adapter plate. For assistance in choosing the right modules for your application, visit the specific QC-150 model webpage and select the Compatible Modules tab to see what is available or...

  • Page 11: Installation

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 3. Installation 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 safety practices and policies.
  • Page 12 Interface plate, Supplied Fasteners Socket head cap 55 ft-lbs (75 Nm) Pre-applied Tool Interface Plate to QC-150 Tool plate Minimum thread M10 x 1.5 Class 12.9 Adhesive or engagement of 15 mm [1.5X fastener Ø]. Do not exceed Loctite 242 maximum available thread depth as shown in Section 9—...

  • Page 13: Robot Side Interface Plates

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 3.1 Robot Side Interface Plates The interface plate is used to adapt the Master plate to a specific robot arm. The interface plate is designed with mounting features such as a boss and/or bolt and dowel holes. These features are used to accurately position and secure the Master plate to the robot arm.

  • Page 14: Master Plate Installation

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 Figure 3.1—Interface Plate and SIP with Master Plate Configurations Dowel Pin Sensor Plate (Cover Plate Removed) O-ring Sensor Interface plate (SIP) Mounting Fastener (Supplied by Customer) Master Plate Boss Detection shaft Master Plate Body O-ring Cover Plate Removed Dowel Pin...

  • Page 15: Master Plate Removal

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 3.3 Master Plate Removal Tools required: 8 mm Allen wrench 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.).

  • Page 16: Tool Interface Plate

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 3.4 Tool Interface Plate The end-effector typically attaches to the Tool plate with an interface plate. The interface plate is designed with mounting features such as a recess and/or bolt and dowel holes. These features are used to position and secure the customer tooling.

  • Page 17: Tool Plate Installation

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 3.5 Tool Plate Installation Refer to Figure 3.3. Tools required: 8 mm Allen wrench, torque wrench Supplies required: Clean rag, Loctite 242 1. Clean the mating surfaces. 2. If not using fasteners with pre-applied adhesive, apply Loctite 242 to supplied fasteners. (Note: Mounting fasteners are supplied with ATI custom interface plates).

  • Page 18: Optional Module Installation

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 3.7 Optional Module Installation Tools required: 2.5 mm and 3 mm Allen wrench, torque wrench Supplies required: Clean rag, Loctite 222 The optional modules are typically installed on Tool Changers prior to shipment. The following steps outline installation or removal as required.

  • Page 19: Installing An Optional (Sip) Sensor Interface Plate Assembly

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 3.9 Installing an Optional (SIP) Sensor Interface Plate Assembly The optional sensor interface plate is typically installed on Tool Changers by ATI prior to shipment. The following steps outline installation. The sensor interface plate assembly includes a custom interface plate.
  • Page 20 Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 Figure 3.6— Sensor Plate Assembly with Lock/Unlock sensors and O-ring Sensor Plate Assembly O-ring 8. Apply tape over the threads of the detection shaft to protect the threads from grease contamination during assembly.
  • Page 21 Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 Figure 3.8—Sensor Interface Plate Installation 3 mm Allen Wrench Master Plate Unlock Sensor Cable Lock Sensor Cable 5 mm Allen Wrench 17. Look into the sensor plate assembly to verify the detection shaft does not contact the lock and unlock sensors.

  • Page 22: Pneumatic Requirements

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 19. Install the new interface plate to the robot and the Master plate to the robot, refer to Section 3.2—Master Plate Installation. 20. After the procedure is complete, resume normal operation. 3.10 Pneumatic Requirements...

  • Page 23: Electrical Connections

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 3.11 Electrical Connections The Optional Lock and Unlock sensors are available in PNP and NPN type. 3.11.1 PNP Type Lock and Unlock Sensors The PNP Lock and Unlock sensors are 8 mm cylindrical inductive proximity sensors.

  • Page 24: Operation

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 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 25: Conditions For Coupling

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 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.

  • Page 26: Uncoupling Sequence

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 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 27: Maintenance

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 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 circuits in accordance with the customer safety practices and policies.

  • Page 28: Cleaning And Lubrication Of The Locking Mechanism And Alignment Pins

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 5.2 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.
  • Page 29 Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 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 30: Optional Electrical Module Pin Block Inspection And Cleaning

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 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. 3. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.).

  • Page 31: Troubleshooting And Service Procedures

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 6. 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 32: Service Procedures

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 6.2 Service Procedures The following service procedures provide instructions for component replacement. 6.2.1 Proximity Sensor Adjustment, Test, or Replacement Parts required: Refer to Section 8—Serviceable Parts Tools required: 8 mm Allen wrench, 13 mm wrench Supplies required: Loctite 222 The proximity sensors are very reliable and normally do not need to be replaced.
  • Page 33 Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 Figure 6.1—Replace Proximity Sensor Detection Shaft Sensor Interface Plate (SIP) Washer Lock Sensor Sensor LED Sensor Cable Sensor LED Unlock Sensor Master Plate (6) M10 Socket Head Cap Screw Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...

  • Page 34: Optional Electrical Module Seal Inspection And Replacement

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 6.2.2 Optional Electrical Module Seal Inspection and Replacement Parts required: Refer to Section 8—Serviceable Parts The seal protects the electrical connection between the Master and Tool module. If the seal becomes worn or damaged, it must be replaced.

  • Page 35: 3/8" Rubber Bushing Replacement

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 6.2.3 3/8” Rubber Bushing Replacement Parts required: Refer to Section 8—Serviceable Parts Tools required: Needle-nose pliers Supplies required: P80 lubricant Rubber bushings seal the ports in the Master and Tool plates. If the bushings are damaged, replace them.

  • Page 36: Alignment Pin Replacement

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 6.2.4 Alignment Pin Replacement Parts required: Refer to Section 8—Serviceable Parts Tools required: 3 mm Allen wrench, torque wrench Supplies required: Loctite 242, MobilGrease XHP222 1. Place the Tool in a secure location.
  • Page 37 Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 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 3.3—Master Plate Removal. 6. Use a 3 mm Allen Wrench to remove the alignment pin from the back side of the Master plate.

  • Page 38: Specifications

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 7. Specifications Table 7.1—Master and Tool Specifications Recommended Max Payload 440 lbs. (00 kg) The mass attached to the Tool Changer. -20–150°F Operating Temperature Range Temperature range for operation. (-30–66°C) Locking mechanism supply air pressure 60–100 psi Operating Air Pressure Range operating range.

  • Page 39: Serviceable Parts

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 8. Serviceable Parts The following items are commonly used as spare parts for the QC-150 Tool Changer. The following image goes with Table 8.1. 8.1 Models QC-150 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...
  • Page 40 QC-150 Master, no options QC-150 Master, no options, Black 9120-150M-000-000-B 9120-150M-000-000-E QC-150 Master, no options, Euro 9120-150M-000-000-R QC-150 Master with no options and R Ports 9005-20-1059 QC-150 Alignment Pin Assembly 3500-1070060-15 M10 X 60 socket head cap screws Metric Blue QC-150 Tool Plate...

  • Page 41: Drawings

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 9. Drawings 9.1 QC-150 Tool Changer with G19 and FN2 Modules Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...

  • Page 42: Terms And Conditions Of Sale

    Manual, Robotic Tool Changer, QC-150 Document #9610-20-2256-02 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.

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