ATI Technologies 9121-JE2-M User manual

Manual, Valve adapters, Double Solenoid
Document #9620-20-C-Jxx Valve Adapters with a Double Solenoid-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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Table of Contents
C. Control and Signal Modules ..................................................................................................C-2
Integrated Double Solenoid Valve Adapters..............................................................................C-2
1. Product Overview..................................................................................................................C-2
2. Installation .............................................................................................................................C-4
2.1 Valve Adapter Installation for QC-113, QC-210, QC-213, GL6L, GL7L.................................. C-4
2.2 Valve Adapter Removal for QC-113, QC-210, QC-213, GL6L, GL7L0.................................... C-5
2.3 Valve Adapter Installation for QC-310, QC-313, QC-510, QC-1210........................................ C-6
2.4 Valve Adapter Removal for QC-310, QC-313, QC-510, QC-1210............................................ C-7
2.5 Tool Adapter Assembly Installation......................................................................................... C-7
2.6 Tool Adapter Assembly Removal............................................................................................. C-8
2.7 Pneumatic Connections ........................................................................................................... C-8
2.8 Electrical Connections.............................................................................................................. C-8
3. Operation ...............................................................................................................................C-8
4. Maintenance...........................................................................................................................C-9
5. Troubleshooting and Service Procedures ........................................................................C-10
5.1 Troubleshooting...................................................................................................................... C-10
5.1.1 Solenoid Valve Manual Override Procedure .................................................................C-11
5.2 Service Procedures................................................................................................................. C-12
5.2.1 ExhaustMuferReplacement ...................................................................................... C-12
6. Serviceable Parts ................................................................................................................C-13
6.1 Double Solenoid Valve Adapters ........................................................................................... C-13
6.2 Tool Adapter Assembly........................................................................................................... C-13
7. Specications ......................................................................................................................C-14
8. Drawings ..............................................................................................................................C-16
8.1 QC-210 Integrated Double Solenoid Valve Adapters ........................................................... C-16
8.2 QC-310 Integrated Double Solenoid Valve Adapters ........................................................... C-19

Manual, Valve adapters, Double Solenoid
Document #9620-20-C-Jxx Valve Adapters with a Double Solenoid-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
C-2
C. Control and Signal Modules
Integrated Double Solenoid Valve Adapters
1. Product Overview
Valve adapters are required to provide an air supply to the Tool Changer or Utility Coupler Master for actuation of
the locking mechanism. Valve adapters come outtted with an integrated double solenoid valve and mount to Flat
‘A’ of the Master side. Control of the integrated valve is accomplished by transmitting unlatch and latch signals
from the control/signal module to the integrated solenoid valve. A cable is supplied to connect the control/signal
module to the solenoid valve. Many variations of the valve adapter are available, depending upon the Tool Changer
size and type of porting required by the customer (see Table 1.1 and Section 8—Drawings for a complete listing of
available adapters and customer drawings).
Table 1.1—Valve Adapters with a Double Solenoid Models
Valve Adapter Description Air Port Size Compatible Tool Changer
or Utility Coupler models
9121-JE2-M Double Solenoid 1/4” NPT QC-113, QC-210, QC-213, GL6L, GL7L
9121-JE3-M Double Solenoid 1/4” NPT QC-310, QC-313, QC-510, QC-1210
9121-JF2-M Double Solenoid G 1/4 (BSPP) QC-113, QC-210, QC-213, GL6L, GL7L
9121-JF3-M Double Solenoid G 1/4 (BSPP) QC-310, QC-313, QC-510, QC-1210
9121-JN5-M Double Solenoid w/Air blow-off 1/4” NPT QC-310, QC-313, QC-510, QC-1210
9121-JQ2-M DoubleSolenoidw/SSTmountingsocket
headcapscrews G 1/4 (BSPP) QC-113, QC-210, QC-213, GL6L, GL7L
9121-JQ3-M DoubleSolenoidw/SSTmountingsocket
headcapscrews G 1/4 (BSPP) QC-310, QC-313, QC-510, QC-1210
The valve adapter provides a ledge mount for the control/signal Master module and provides a single air port
connection for the customer air supply. Lock and Unlock air connections to the Tool Changer or Utility Coupler are
provided through ports in the ledge mount, O-rings in the body seal the connection. The valve adapter is equipped
with an exhaust mufer, double solenoid valve, solenoid cable, and air blow-off (if equipped), refer to Figure 1.2.
Access to the solenoid valve manual override is provide through a screw in the aluminum housing, refer to
Section 5.1.1—Solenoid Valve Manual Override Procedure for more information.
Figure 1.2—Valve Adapters with a Double Solenoid
Exhaust Muffler
Common Ledge
Mounting Feature
Air Supply Port
Solenoid Cable
Exhaust Muffler
Double Solenoid Valve
Manual Override
Warning Labels
Manual Override
Warning Labels
Access to the Solenoid
Valve Manual Override
Access to the Solenoid
Valve Manual Override
Common Ledge
Mounting Feature
9121-JE2-M (Shown)
9121-JN3-M (Shown)
Air Blow-Off
Solenoid Connector

Manual, Valve adapters, Double Solenoid
Document #9620-20-C-Jxx Valve Adapters with a Double Solenoid-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
C-3
A tool adapter assembly (9005-20-1192) is required for the tool side which provides the proper spacing and a ledge
mount for the control/signal Tool module. If valve adapter is equipped with air blow-off, the (9005-20-1403) tool
adapter assembly is required.
Figure 1.3—Tool Adapters assemblies
Tool Adapter Assembly
(9005-20-1192)
Air Blow-Off Cut Out
Ledge Mount Feature for
Control/Signal Tool Module
Ledge Mount Feature for
Control/Signal Tool Module
Tool Adapter Assembly
(9005-20-1403)

Manual, Valve adapters, Double Solenoid
Document #9620-20-C-Jxx Valve Adapters with a Double Solenoid-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
C-4
2. Installation
Valve adapters and tool adapter assemblies are typically installed by ATI prior to shipment. The steps below outline
the eld installation or removal as required.
WARNING:Donotperformmaintenanceorrepairon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purgedandpowerdischargedfrom
circuitsinaccordancewiththecustomer’ssafetypracticesandpolicies.Injuryorequipment
damagecanoccurwithToolnotplacedandenergizedcircuitson.PlacetheToolsafelyinthe
toolstand,turnoffanddischargeallenergizedcircuits,purgeallpressurizedconnections,
verifyallenergizedcircuitsarede-energizedbeforeperformingmaintenanceorrepaironTool
Changerormodules.
2.1 Valve Adapter Installation for QC-113, QC-210, QC-213, GL6L, GL7L
Tools required: 5 mm Allen wrench (hex key), 3 mm Allen wrench (hex key), torque wrench
Supplies required: clean rag
1. It may be necessary to clean the mounting surface on the Tool Changer or Utility Coupler prior to
installing the valve adapter in order to remove any debris that may be present.
2. (2) O-rings are required on the Master side Flat ‘A’ interface. Make sure these O-rings are present and
lightly lubricated (refer to Figure 2.1).
3. Using the ledge feature to place the valve adapter adjacent to the ‘Flat A’ mounting surface. Align the
valve adapter using the dowels in the bottom of the ledge feature. Apply Loctite 242 to the supplied M6
socket head cap screws. Secure the valve adapter using the M6 socket head cap screws and tighten to 70
in-lbs (7.9 Nm).
4. Apply Loctite 222 to the (2) supplied M5 socket at head cap screws. Secure the valve adapter using the
fasteners, tighten the M5 socket at head cap screws to 28 in-lbs (3.2 Nm).
5. Route the RTL (R1) sensor cable through the cable channel in the bottom of the valve adapter. Refer to
Figure 2.2.
Figure 2.1—Valve Adapter Installation (QC-210 Shown)
Valve Adapter
9121-JE2-M (Shown)
(2) M6 Socket Head
Cap Screws
(2) M6 Socket Head Cap Screws
Control/Signal Module
(2) M5 Socket Flat
Head Cap Screws
(2) O-rings
Tool Changer Master
(QC-210 Shown)
RTL (R1)
Sensor Cable
Pneumatic
Connection
Control/Signal Module Cleat
(3) M5 Socket Flat Head Cap Screws
Cable Channel in Bottom of Valve Adapter Module
Solenoid Cable

Manual, Valve adapters, Double Solenoid
Document #9620-20-C-Jxx Valve Adapters with a Double Solenoid-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
C-5
6. Install the cleat from the control/signal module to retain the RTL (R1) sensor cable in the cable channel,
use the (3) M5 socket at head cap screws to secure the cleat. Tighten to 14 in-lbs (1.6 Nm).
7. Make pneumatic connections to the valve adapter housing as required. Ensure that the connectors are
cleaned prior to being secured as appropriate. ATI recommends using a thread sealant such as Loctite
569 or similar.
8. Connect the solenoid cable to the connector on the valve adapter.
Figure 2.2—RTL (R1) Sensor Cable Routing
Valve Adapter
Control/Signal Module
Tool Changer Master
(QC-210 Shown)
RTL (R1)
Sensor Cable
Control/Signal Module Cleat
Cable Channel in Bottom
of Valve Adapter Module
2.2 Valve Adapter Removal for QC-113, QC-210, QC-213, GL6L, GL7L0
NOTICE:Dependingonmaintenanceorrepairbeingperformed,utilitiestomodulesandMaster
platemayneedtobedisconnected.
Tools required: 5 mm Allen wrench (hex key), 3 mm Allen wrench (hex key)
1. If the Tool Changer is already installed, dock the Tool side of the Tool Changer safely in the tool stand
and uncouple the Tool Changer to allow clear access to the Master and Tool plates of the Tool Changer.
2. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.).
3. Disconnect the solenoid cable from the control/signal module and valve adapter.
4. Remove the control/signal module off the valve adapter. Refer to the control /signal module manual for
instructions.
5. Remove the (3) M5 socket at head cap screws securing the control/signal module cleat, remove the
cleat. Refer to Figure 2.1.
6. Remove the RTL (R1) sensor cable from the cable channel in the bottom of the valve adapter. Refer to
Figure 2.2.
7. Remove the (2) M5 socket at head cap screws and the (2) M6 socket head cap screws and lift the valve
adapter off the Tool Changer.
8. Make sure that the O-rings are retained at the Master side Flat ‘A’ mounting interface.

Manual, Valve adapters, Double Solenoid
Document #9620-20-C-Jxx Valve Adapters with a Double Solenoid-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
C-6
2.3 Valve Adapter Installation for QC-310, QC-313, QC-510, QC-1210
Tools required: 5 mm Allen wrench (hex key), 4 mm Allen wrench (hex key), torque wrench
Supplies required: clean rag
1. It may be necessary to clean the mounting surface on the Tool Changer or Utility Coupler prior to
installing the valve adapter in order to remove any debris that may be present.
2. (2) O-rings are required on the Master side Flat ‘A’ interface. Make sure these O-rings are present and
lightly lubricated (refer to Figure 2.3).
NOTICE:MakessuretheRTL(R1)sensorcableisinthecablechannelintheToolChanger
body,soitwillnotgetpinchedwheninstallingthevalveadapter.
3. Using the ledge feature to place the valve adapter adjacent to the ‘Flat A’ mounting surface. Align the
valve adapter using the dowels in the bottom of the ledge feature. Apply Loctite 242 to the supplied M6
socket head cap screws. Secure the valve adapter using the M6 socket head cap screws and tighten to 70
in-lbs (7.9 Nm).
4. Apply Loctite 222 to the (2) supplied M5 socket head cap screws. Secure the valve adapter using the
fasteners and tighten the M5 socket head cap screws to 55 in-lbs (6.2 Nm).
5. Make pneumatic connections to the valve adapter housing as required. Ensure that the connectors are
cleaned prior to being secured as appropriate. ATI recommends using a thread sealant such as Loctite
569 or similar.
6. Connect the solenoid cable to the connector on the valve adapter.
Figure 2.3—Valve Adapter Installation (QC-310 Shown)
(2) M6 Socket Head
Cap Screws
(2) M5 Socket
Head Cap Screws
(2) M6 Socket Head Cap Screws
Valve Adapter
9121-JE3-M (Shown) (2) O-rings
Pneumatic
Connection
Solenoid Cable
Air Port
Solenoid
Connector
Lock, Unlock, and
RTL R1 and R2 Connectors
Control/Signal
Module
Solenoid Connector
RTL (R1)
Sensor Cable

Manual, Valve adapters, Double Solenoid
Document #9620-20-C-Jxx Valve Adapters with a Double Solenoid-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
C-7
2.4 Valve Adapter Removal for QC-310, QC-313, QC-510, QC-1210
NOTICE:Dependingonmaintenanceorrepairbeingperformed,utilitiestomodulesandMaster
platemayneedtobedisconnected.
Tools required: 5 mm Allen wrench (hex key), 4 mm Allen wrench (hex key)
1. If the Tool Changer is already installed, dock the Tool side of the Tool Changer safely in the tool stand
and uncouple the Tool Changer to allow clear access to the Master and Tool plates of the Tool Changer.
2. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.).
3. Disconnect the solenoid cable from the control/signal module and valve adapter.
4. Remove the control/signal module off the valve adapter. Refer to the control /signal module manual for
instructions.
5. Remove the (2) M5 socket head cap screws and the (2) M6 socket head cap screws and lift the valve
adapter off the Tool Changer. Refer to Figure 2.3.
6. Make sure that the O-rings are retained at the Master side Flat ‘A’ mounting interface.
2.5 Tool Adapter Assembly Installation
Tools required: 5 mm Allen wrench (hex key), 4 mm Allen wrench (hex key), torque wrench
Supplies required: clean rag
1. It may be necessary to clean the mounting surface on the Tool Changer or Utility Coupler prior to
installing the tool adapter assembly in order to remove any debris that may be present.
2. Using the ledge feature to place the tool adapter assembly adjacent to the ‘A’ mounting surface. Align
the tool adapter assembly using the dowels in the bottom of the ledge feature. Apply Loctite 242 to the
supplied M6 socket head cap screws. Secure the tool adapter assembly using the M6 socket head cap
screws and tighten to 89 in-lbs (10.0 Nm).
3. Apply Loctite 222 to the (2) supplied M5 socket head cap screws. Secure the tool adapter assembly
using the M5 socket head cap screws and tighten to 52 in-lbs (5.9 Nm).
Figure 2.4—Tool Adapter Assembly Installation
Control/Signal
Tool Module
(2) M6 Socket Head
Cap Screws
(2) M5 Socket Head Cap Screws
(2) M6 Socket Head Cap Screws
(9005-20-1192) Tool Adapter Assembly
Tool Change Tool Plate
(QC-310 Shown)

Manual, Valve adapters, Double Solenoid
Document #9620-20-C-Jxx Valve Adapters with a Double Solenoid-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
C-8
2.6 Tool Adapter Assembly Removal
NOTICE:Dependingonmaintenanceorrepairbeingperformed,utilitiestomodulesmayneed
to be disconnected.
Tools required: 5 mm Allen wrench (hex key), 4 mm Allen wrench (hex key)
1. If the Tool Changer is already installed, dock the Tool side of the Tool Changer safely in the tool stand
and uncouple the Tool Changer to allow clear access to the Master and Tool plates of the Tool Changer.
2. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.).
3. Remove the control/signal module off the valve adapter. Refer to the control /signal module manual for
instructions.
4. Remove the (2) M5 socket head cap screws and the (2) M6 socket head cap screws and lift the tool
adapter assembly off the Tool Changer or Utility Coupler (refer to Figure 2.4).
2.7 Pneumatic Connections
The air supply used for coupling and uncoupling the Tool Changer or Utility Coupler should be clean,
dry, and non-lubricated. A supply pressure in the range of 60 to 100 psi (4.1–6.9 Bar) is acceptable for
operation of the locking mechanism, with a setting of 80 psi suggested. The air should be ltered 40 micron
or better. A single air supply is require to the valve adapter for Lock and Unlock air, refer to Figure 2.3 for
connection.
CAUTION:DonotusetheToolChangerinafail-safecondition.Donottransportthe
ToolChangerinafail-safecondition.Possibledamagetothelockingmechanismcould
occur.Re-establishairpressuretoToolChangerbeforereturningtonormaloperations.
2.8 Electrical Connections
The electrical connection for valve control is made through internal pin block as described in Section 1—
Product Overview and detailed in drawings in Section 8—Drawings. The control of the double solenoid
valve is integrated with an ATI-supplied control/signal module that is piggy-backed onto the valve adapter.
3. Operation
Latch and Unlatch commands sent to the control/signal module are pass through the solenoid cable to control
the solenoid valve providing lock and unlock air to the Tool Changer. The control/signal module can provide a
customer specied safety functionality to prevent the accidental unlock of the Tool Changer unless the Tool is
nested in the tool stand. Depending on the functionality of the control/signal module, the ability to unlock the Tool
Changer unless the tool is coupled and in the tool stand may be denied. When this is the case the manual override
is provides on the valve adapter, refer to Section 5.1.1—Solenoid Valve Manual Override Procedure. Use of the
manual override should be restricted to contingency situations and only when the robot and tool are in the stand or
storage location. Actuation of the Unlatch valve manual override will result in Tool Changer release.
WARNING:ToolChangerreleasewilloccurwithactuationoftheUnlatchvalvemanual
override.Useofthemanualoverrideisrestrictedtocontingencysituations.TheToolChanger
andToolshouldbeinastandorstoragelocationpriortoactuationofthemanualoverride.
It is important that the valve adapter be supplied with clean, dry, non-lubricated air supplied between 60 and 100
psi (4.5–6.9 Bar) and ltered at 40 microns or better. Valve adapters are supplied with the Tool Changer to provide
a fully integrated solution. The customer is only required to supply the valve adapter with a single air supply.

Manual, Valve adapters, Double Solenoid
Document #9620-20-C-Jxx Valve Adapters with a Double Solenoid-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
C-9
4. Maintenance
Valve adapters should require little maintenance. The only wear components are the valve itself and an exhaust
mufer. Under normal operating conditions, the valve will last for millions of cycles. The exhaust mufer should be
check every 6 months of operation or more frequently in dirty environments to see if it is clogged.
WARNING:Donotperformmaintenanceorrepairon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purgedandpowerdischargedfrom
circuitsinaccordancewiththecustomer’ssafetypracticesandpolicies.Injuryorequipment
damagecanoccurwithToolnotplacedandenergizedcircuitson.PlacetheToolsafelyinthe
toolstand,turnoffanddischargeallenergizedcircuits,purgeallpressurizedconnections,
verifyallenergizedcircuitsarede-energizedbeforeperformingmaintenanceorrepaironTool
Changerormodules.
To check if the exhaust mufer is clogged remove the mufer and blow through the mufer. If it is difcult to
blow or you cannot blow through it at all replace the exhaust mufer. Refer to Section5.2.1—ExhaustMufer
Replacement.

Manual, Valve adapters, Double Solenoid
Document #9620-20-C-Jxx Valve Adapters with a Double Solenoid-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
C-10
5. Troubleshooting and Service Procedures
The following section provides troubleshooting information to help diagnose conditions with the Tool Changer or
valve adapter and service procedures to help resolve these conditions.
WARNING:Donotperformmaintenanceorrepairon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purgedandpowerdischargedfrom
circuitsinaccordancewiththecustomer’ssafetypracticesandpolicies.Injuryorequipment
damagecanoccurwithToolnotplacedandenergizedcircuitson.PlacetheToolsafelyinthe
toolstand,turnoffanddischargeallenergizedcircuits,purgeallpressurizedconnections,
verifyallenergizedcircuitsarede-energizedbeforeperformingmaintenanceorrepaironTool
Changerormodules.
5.1 Troubleshooting
Follow the suggested actions listed in Table 5.1 when attempting to troubleshoot the valve adapter. If issues persist,
contact your closest ATI representative.
Table 5.1—Troubleshooting
Symptom Cause Resolution
ToolChangerorUtility
CouplerwillnotLock
/Unlockoroperates
slowly.
Exhaustmuferisclogged. Check/Replaceexhaustmufer;ensurecleanairsupply.
Noornotenoughair
pressureonthepneumatic
connection.
MakesurePneumaticconnectionhasminimumpressure,referto
Section 2.7—Pneumatic Connections.
Loosevalveadapteror
O-ringsleakingormissing.
Verifythatthefastenersconnectingthecontrol/signalmoduletothe
valveadapterareproperlytightened.Ifairstillleaking,removethe
valveadapterfromtheToolChangerorUtilityCouplerandcheckfor
airleaks,damagedormissingO-rings.RefertoSection 2.2—Valve
Adapter Removal for QC-113, QC-210, QC-213, GL6L, GL7L0 or
Section 2.4—Valve Adapter Removal for QC-310, QC-313, QC-510,
QC-1210.
Solenoidcableisdamaged Checkthesolenoidcablefordamageandcontinuity,ifdamaged
replace.
Nopowerissuppliedtothe
Solenoid valve. Verifyvalvepowersupplyatcontrol/signalmoduleispresent.ifpower ispresent,replacevalveadapter.
ToolChangerwillLock
butnotUnlock
Control/signalmodulesafety
featuresnotmet.
ThetoolstandInterlock,orothersafetyfeatureispreventingtheTool
Changerfromunlocking,refertothecontrol/signalmodulemanual
formoreinformation.Control/signalmodulemaynothavebypass
circuitandwillhavetobeunlockedmanually,refertoSection 5.1.1—
Solenoid Valve Manual Override Procedure.