ATI Technologies QC-210 Manuel utilisateur
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: [email protected]
Tool Changer
Teaching Aids,
Third Generation
Manual
Document #: 9610-20-3370
Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA•Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]
2
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, uid, 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.
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. The information herein is subject to change without
notice. This manual is periodically revised to reect and incorporate changes made to the product.
The information contained herein is condential and reserved exclusively for the customers and authorized agents of ATI
Industrial Automation and may not be divulged to any third party without prior written consent from ATI. No warranty
including implied warranties is made with regard to accuracy of this document or tness of this device for a particular
application. ATI Industrial Automation shall not be liable for any errors contained in this document or for any incidental
or consequential damages caused thereby. ATI Industrial Automation also reserves the right to make changes to this
manual at any time without prior notice.
ATI assumes no responsibility for any errors or omissions in this document. Users’critical evaluation of this document is
welcomed.
Copyright by ATI Industrial Automation. All rights reserved.
How to Reach Us
Sale, Service and Information about ATI products:
ATI IndustrialAutomation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel: 919.772.0115
Fax: 919.772.8259
E-mail: [email protected]
Technical support and questions:
Application Engineering
Tel: 919.772.0115, Option 2, Option 2
Fax: 919.772.8259
E-mail: [email protected]
Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA•Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]
3
Table of Contents
Foreword.......................................................................................................................................... 2
Glossary........................................................................................................................................... 4
1. Safety......................................................................................................................................... 5
1.1 ExplanationofNotications.........................................................................................................5
1.2 General Safety Guidelines............................................................................................................5
1.3 Safety Precautions........................................................................................................................6
2. Product Overview..................................................................................................................... 7
2.1 Master Side Teaching Aid.............................................................................................................7
2.2 Tool Side Teaching Aid.................................................................................................................8
3. Installing and Aligning (Tool Changer Set-up) ...................................................................... 9
4. Maintenance........................................................................................................................... 12
5. Troubleshooting and Service Procedures ............................................................................................ 12
5.1 Troubleshooting Procedures .....................................................................................................12
5.2 Service Procedures.....................................................................................................................13
5.2.1 Replacing Magnets...........................................................................................................13
6. Serviceable Parts ................................................................................................................... 14
6.1 Master Teaching Aid Serviceable Parts.....................................................................................14
6.2 Tool Teaching Aid Serviceable Parts.........................................................................................15
7. Specications ......................................................................................................................... 15
8. Drawings ................................................................................................................................. 16
8.1 QC-210 Teaching Aid Assembly ................................................................................................16
9. Terms and Conditions of Sale............................................................................................... 17
Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]
4
Glossary
Term Denition
Bearing Race Hardened steel ring in the Tool plate that is engaged by the locking balls during the locking
process.
Master Plate The half of the Tool Changer that is mounted to a robot. The Master plate contains the
locking mechanism.
No-Touch™ Design feature of all ATI products that allows coupling the Master plate and Tool plate
without physical contact prior to locking.
Tool Plate The half of the Tool Changer to which various tools or end-effectors are mounted.
Tool Stand Holds Tools not being used by the robot. This is usually supplied by the customer and is
specic to the application.
Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]
5
1. Safety
The safety section describes general safety guidelines to be followed with this product, explanations of the
notications found in this manual, and safety precautions that apply to the product. More specic notications are
imbedded within the sections of the manual where they apply.
1.1 ExplanationofNotications
The following notications are specic to the product(s) covered by this manual. It is expected that the user
heed all notications from the robot manufacturer and/or the manufacturers of other components used in the
installation.
DANGER: Notication of information or instructions that if not followed will result in
death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
WARNING: Notication of information or instructions that if not followed could result
in death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
CAUTION: Notication of information or instructions that if not followed could result
in moderate injury or will cause damage to equipment. The notication provides
information about the nature of the hazardous situation, the consequences of not
avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notication of specic information or instructions about maintaining, operating,
installing, or setting up the product that if not followed could result in damage to equipment. The
notication can emphasize, but is not limited to: specic grease types, best operating practices,
and maintenance tips.
1.2 General Safety Guidelines
The customer is responsible for ensuring that the area between the Master and Tool sides is clear of foreign
objects during mating and subsequent coupling. Failure to do so may result in serious injury to personnel.
The customer is responsible for understanding the function of the Tool Changer and implementing the
proper hardware and/or software to operate the Tool Changer safely.
Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]
6
1.3 Safety Precautions
DANGER: The gap between the Master and Tool sides as well as the gap between
the Master plate and Master side teaching aid are pinch points. Physical contact in
these pinch points will result in serious or permanent injury to personnel. All personnel
should be prevented from placing any body part or clothing in the gap, especially during
actuation of the locking mechanism.
WARNING: During set-up and installation, the area between the Master and Tool
Teaching Aids must be kept clear. Failure to keep area clear will result in damage
to Tool Changer, Aids, modules, or end-of-arm tooling and could cause injury to
personnel.
WARNING: The Master and Tool teaching aids are only to be used with the Tool
Changer for intended applications and applications approved by the manufacturer.
Using these products in applications other than intended will result in damage to Tool
Changer, Teaching Aids, modules, or end-of-arm tooling and could cause injury to
personnel.
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’s safety
practices and policies. Injury or equipment damage can occur with the Tool not placed
and energized circuits on. Place the Tool in the tool stand, turn off and discharge all
energized circuits, purge all pressurized connections, and verify all circuits are de-
energized before performing maintenance or repair(s) on the Tool Changer or modules.
Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]
7
2. Product Overview
Teaching Aids facilitate the programming of a robot to work with ATI Tool Changers. Without using fasteners
or special tools, Teaching Aids can reduce the time required to teach the robot to pick up and drop off customer
tooling and ensure optimal X, Y, and Z alignment. Teaching Aids help extend the life of the Tool Changer alignment
pins and bushings by reducing unnecessary wear. ATI Teaching Aids have high-contrast alignment marks to aid
the user in the set-up process. When positioned, the Master Side Teaching Aid and Tool Side Teaching Aid must
have a 1 mm clearance between them. This distance ensures the No-Touch Locking zone for the Tool Changer is
set correctly. Refer to the drawings in Section 8—Drawings for more information. The following is a hyperlink to a
video that demonstrates how to use ATI’s Teaching Aids for robotic Tool Changers: http://www.ati-ia.com/library/
video_listing.aspx.
2.1 Master Side Teaching Aid
The Master Side Teaching Aid is a red, aluminum body. The interior bore ts over the Tool Changer locking
mechanism. Alignment holes are custom tted for ATI Tool Changer alignment pins. Unlike the rst
generation of Teaching Aids, the Tool Changer Master plate locking mechanism can be locked or unlocked,
when installing the Teaching Aid to the Master plate. Magnets secure the Teaching Aid to the ange of the
Master plate male coupling.
Figure 2.1—Master Side Teaching Aid (QC-210 Shown)
Label with directions.
Label with Part Number
and Flat A designation
Notch(s) for
Alignment
(3) Magnets
(2) Hole for
Alignment Pin
in the Master plate
Master Side Teaching Aid
(QC-210 Shown)
Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]
8
2.2 Tool Side Teaching Aid
The Tool Side Teaching Aid is a red, aluminum body. (2) location bosses t into the Tool plate alignment
bushings. Magnets attach to the Tool plate interior race and secure the Teaching Aid to the Tool plate.
Figure 2.2—Tool Side Teaching Aid (QC-210 Shown)
Label with Part Number
and Face A designation
Notch(es) for alignment
(2) Location Boss
(3) Magnet
Tool Side
Teaching Aid
(QC-210 Shown)
Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]
9
3. Installing and Aligning (Tool Changer Set-up)
DANGER: The gap between the Master and Tool Side Teaching Aids is a pinch point.
Physical contact in these pinch points will result in serious or permanent injury to personnel.
All personnel should be prevented from placing any body part or clothing in the gap,
especially during actuation of the locking mechanism.
The following instructions apply to all Teaching Aids. Additionally, labels with abbreviated operating instructions
are on the Master side. On the ATI website, http://www.ati-ia.com/library/video_listing.aspx, there is a video that
demonstrates how to use ATI’s Teaching Aids for robotic Tool Changers. To install and align a Teaching Aid,
complete the following steps:
1. Place the Tool plate in the tool stand. Robot programs should be written with the Tool plate resting in the Tool
stand.
2. Orient the Tool Side Teaching Aid such that the ‘A’ at corresponds to the ‘A’ at on the Tool plate.
3. Mount the Tool Side Teaching Aid over the Tool plate by inserting the (2) locating bosses into the alignment
bushings. The magnets in the Teaching Aid attach to the Tool plate.
Figure 3.1—Tool Teaching Aid Installation (QC-210 Shown)
(2) Locating Boss
Flat A on the
Tool Plate
Bearing Race
Flat A (Label) on the
Tool Teaching Aid
(2) Alignment
Bushing
Tool
(3) Socket Head Cap Crew
that secures (3) magnet
Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]
10
4. Align the Master plate at A to the Master Side Teaching Aid at A.
5. Mount the Master Side Teaching Aid to the Tool Changer Master plate by inserting the alignment pins into the
corresponding holes in the Teaching Aid. The magnets secure the Teaching Aid to the Master plate.
Figure 3.2—Master Side Teaching Aid Installation (QC-210 Shown)
(2) Alignment pin
(2) Hole for
alignment pin
in the Master plate
Flat A on the
Master Plate
Flat A (Label) on the
Master Teaching Aid
Robot and
Interfacing Plate
(For Reference Only)
Flange of the
Male Coupling
Master Plate
(4) Magnet
6. Position the Master plate directly over and parallel to the Tool plate. Align the Master and Tool ats; for
example: Master plate at A is aligned with Tool plate at A.
Figure 3.3—Positioning the Master Plate Towards the Tool Plate
Master Teach Aid
Tool Teach Aid
Tool Teaching Aid face must
be parallel with the
Master Teaching Aid face.
Flat IDs must match
(Flat A shown)
Autres manuels pour QC-210
1
Ce manuel convient aux modèles suivants
1
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