ATI Technologies PROFINET DL10 User manual

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Table of Contents
Glossary........................................................................................................................................C-4
C. Control and Signal Modules ...................................................................................................C-6
DL10—PROFINET®Control/Signal Module ...............................................................................C-6
1. Product Overview..................................................................................................................C-6
1.1 DL10 Master Module ................................................................................................................. C-6
1.2 DL10 Tool Module...................................................................................................................... C-7
1.3 DL15 Tool Module...................................................................................................................... C-7
2. Product Information..............................................................................................................C-8
2.1 Master Module........................................................................................................................... C-8
2.1.1 PROFINET Interface Information ................................................................................... C-8
2.1.2 System Failure (SF) and Bus Failure (BF) LEDs ..........................................................C-11
2.1.3 Ethernet 1 and Ethernet 2 LEDs .................................................................................. C-12
2.1.4 Integrated Ethernet Switch........................................................................................... C-12
2.1.5 Reset-To-Factory Push-Button..................................................................................... C-13
2.2 Arc Prevention Circuit ............................................................................................................ C-13
2.2.1 Arc Prevention Circuit Behavior during Coupling......................................................... C-14
2.2.2 Arc Prevention Circuit Behavior during Coupling......................................................... C-14
2.2.3 Arc Prevention Circuit Behavior during Uncoupling ..................................................... C-15
2.3 Tool Module ............................................................................................................................. C-16
2.3.1 Tool-ID.......................................................................................................................... C-16
2.4 Tool Side TSI............................................................................................................................ C-17
2.5 TSI Operational Function........................................................................................................ C-19
2.5.1 The Master is Free of the Stand and the Tool is in the Stand ...................................... C-19
2.5.1.1 RTL Bypass Relay Circuit............................................................................. C-19
2.5.2 The Master is Coupled with the Tool and the Tool is in the Stand................................ C-20
2.5.3 The Master is Coupled with the Tool and the Tool is Free of the Stand ....................... C-21
2.5.4 TSI Behavior................................................................................................................. C-22

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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3. Installation ...........................................................................................................................C-23
3.1 Master Control/Signal Module Installation............................................................................ C-23
3.2 Master Control/Signal Module Removal................................................................................ C-24
3.3 Tool Control/Signal Module Installation................................................................................ C-24
3.4 Tool Control/Signal Module Removal.................................................................................... C-25
3.5 Setting the Tool-ID................................................................................................................... C-26
3.6 PROFINET Interface................................................................................................................ C-26
3.7 Utility Schematic ..................................................................................................................... C-26
3.8 Electrical Connections............................................................................................................ C-26
4. Operation .............................................................................................................................C-27
4.1 Lock, Unlock, and RTL Sensor Cable LED Behavior........................................................... C-28
4.2 Inputs........................................................................................................................................ C-29
4.2.1 Locked.......................................................................................................................... C-29
4.2.2 Unlocked ...................................................................................................................... C-29
4.2.3 Input/Logic Power Good............................................................................................... C-29
4.2.4 Output Power Available................................................................................................ C-29
4.2.5 RTL1 and RTL2............................................................................................................ C-29
4.2.6 Tool Present ................................................................................................................. C-29
4.2.7 Tool Power Is On.......................................................................................................... C-29
4.2.8 Unlatch Enabled........................................................................................................... C-29
4.2.9 TSIV ............................................................................................................................. C-29
4.2.10 TSRV............................................................................................................................ C-29
4.2.11 RTLV1 and RTLV2........................................................................................................ C-29
4.3 Error Conditions...................................................................................................................... C-30
4.3.1 ERROR ON LATCH...................................................................................................... C-30
4.3.2 ERROR ON UNLATCH ................................................................................................ C-30
4.3.3 UNSAFE UNLATCH..................................................................................................... C-30
4.3.4 RTL/RTLV Mismatch .................................................................................................... C-30
4.3.5 TSIV/TSRV Mismatch................................................................................................... C-30
4.3.6 Lock/Unlock Sensor Fault ............................................................................................ C-30
4.3.7 COMM Error................................................................................................................. C-30
4.4 Recommended Sequence of Operation................................................................................ C-32
5. Maintenance.........................................................................................................................C-39
5.1 Pin Block Inspection and Cleaning ....................................................................................... C-40

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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6. Troubleshooting and Service Procedures........................................................................C-41
6.1 Troubleshooting...................................................................................................................... C-41
6.2 Service Procedures................................................................................................................. C-42
6.2.1 Seal Replacement........................................................................................................ C-42
6.2.2 DL10 Device Replacement Procedures....................................................................... C-43
6.2.2.1 Master Module Replacement Procedures .................................................... C-43
6.2.2.2 Replace a Master Module with an Already Commissioned Master Module.. C-43
7. Serviceable Parts ................................................................................................................C-46
7.1 Master Module Serviceable Parts.......................................................................................... C-46
7.2 Tool Module Serviceable Parts .............................................................................................. C-46
7.3 Accessories............................................................................................................................. C-46
8. Specications ......................................................................................................................C-47
9. Drawings ..............................................................................................................................C-49
9.1 DL10M DL10T........................................................................................................................... C-49
9.2 DL10M DL15T........................................................................................................................... C-54

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Glossary
Term Denition
BF LED BUS Failure (BF) LED.
Clear Errors An output supplied to the ATI Master node to clear all applicable error conditions
CL-RPC Connection Less Remote Procedure Call.
COMM Error Tool-ID communication timeout.
DCP PROFINET Discovery and Conguration Protocol.
EOAT End Of Arm Tool (end effector).
Error on Latch Output An input indicating a short circuit overload condition exists with the Latch Output.
Error on Unlatch Output An input indicating a short circuit overload condition exists with the Unlatch Output.
Ethernet Switch An Ethernet network component connecting multiple communication partners with each
other.
FE Functional Earth
GSDML File Aspecial kind of XML-based Device Description File used by PROFINET to
automatically obtain the device characteristics.
Input/Logic Power Good An input indicating the presence of US1 power at the ATI Master.
Latch The output supplied to the ATI Master module to couple the Tool Changer.
LLDP Link Layer Discovery Protocol
Lock/Unlock Sensor Fault An input indicating that the Locked and Unlocked inputs are ON at the same time.
Locked
A proximity sensor input indicating that the coupling mechanism is in the
Locked position.The “LOCKED” bit in the PROFINET bitmap will only be set
high if the following conditions are on:
• LOCKED sensor input is high
• UNLOCKED sensor input is low
• TOOL PRESENT input is high
Output Power Available An input indicating the presence of US2 Power at the ATI Master.
PROFINET A communication system for Industrial Ethernet designed and developed by PROFIBUS
International.
It uses some mechanisms similar to those of the PROFIBUS eld bus
RTL (Ready To Lock) A proximity sensor input that senses when the ATI Tool is in close proximity.
RTL Relay A relay circuit present on the ATI Master module that is driven by the RTL sensor and allows
the Tool Changer locking mechanism to retract when there is no Tool present.
RTLV An input provided for health status monitoring of the RTL Relay.
Spare An O/P bit.
SF LED System Failure LED; this is a standard status LED, similar to the DeviceNet Module Status
LED; it has a red part and a green part.
SNMP Simple Network Management Protocol
Tool Power is On The “Tool Power is ON” bit is set high when the Arc Prevention Circuit has activated power on the tool side. If this bit is low there will be neither Input/Logic Power nor Output power
available on the tool.
Tool Present A hard connect input (sourced from the Tool) indicating the Master and Tool are electrically
connected to each other.
Tool-ID An input from the Master node reporting the values from the Tool-ID switch on the Tool
module.
TSI The Tool Stand Interlock feature is a custom ATI safety solution and circuit designed to only
allow the Tool Changer to release while in the stand or storage location.
TSI Relay A relay circuit present on the ATI Tool module that is driven by a tool stand limit switch in
order to close the TSI circuit and allow the Tool Changer to release.

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Term Denition
TSIV An input supported for monitoring of a tool stand limit switch used within the TSI circuit.
TSRV An input provided for the health status monitoring of the TSI Relay.
Unlatch The output supplied to the ATI Master module to uncouple the Tool Changer.
Unlatch Enable Indicates it is safe to proceed with an unlatch request.
Unlocked
A proximity sensor input indicating that the coupling mechanism is in the
Unlocked position. The “UNLOCKED” bit in the PROFINET bitmap will only be
set high if the following conditions are on:
• UNLOCKED sensor input is high
• LOCKED sensor input is low.
Unsafe Unlatch An input indicating that an Unlatch command was received which would result in an unsafe
tool release and was therefore not processed.

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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C. Control and Signal Modules
DL10—PROFINET®Control/Signal Module
1. Product Overview
The modules enable the customer to control and communicate with the Tool Changer through a PROFINET
network. A PROFINET node is established on the Master only. Control of the Tool Changer is achieved through
the Master node along with the reporting of the various Tool Changer I/O. The Tool module supports Tool‑ID and
functions as a pass‑through for PROFINET network and power to the customer tooling.
A 3‑pin spring signal contact block is provided on the Master module for support of integrated single or double
solenoid valves. The integrated valve is supplied fromATI as part of the valve adapter block (9121‑Jxx). Refer to
the valve adapter block manual for more information (9620‑20‑C‑Jxx Air and Valve Adapters with Valve Signal
Pass Through). Electrical connector details are provided in drawings in Section 9—Drawings.
Because the Master module requires the use of a valve adapter, the Tool module must have a spacer module so that
the Master and Tool modules are aligned when coupled.
In addition to supporting the standard Tool Changer input signals (Locked, Unlocked, and Ready to Lock proximity
sensors) the modules also support advanced diagnostic and fault reporting. Refer to Section 4.3—Error Conditions.
Compliant spring pins are provided on the Master and xed contact pins on the Tool. To avoid unintentional human
contact, the Master spring pins are recessed below an insulated surface on both the power and signal circuits. When
the modules are coupled, the V‑ring seal forms a water resistant but not waterproof seal around the pin block.
The Unlock signal to the integrated solenoid valve is routed through a “Tool Stand Interlock” (TSI) safety circuit
that prevents the robot from unlocking the Tool from the Master, when the Tool is not in the tool stand. Refer to
Section 2.4—Tool Side TSI for additional information regarding TSI.
1.1 DL10 Master Module
The module has the following connections:
• (1) 4‑pin male M12 D‑coded PROFINET connector.
• (1) 5‑pin male auxiliary power connector.
• (4) 3‑pin female M8 connectors for RTL1, RTL2, Lock, and Unlock sensor connections.
• (1) M5 x 0.8 threaded hole for FE ground terminal connection that is accessed by removing the M5
set screw plug.
• (1) 3‑pin internal valve connection
The Master module also incorporates ATI’s exclusive Arc Prevention Circuit which extends the life of all
electrical power contacts by eliminating arcing caused by inductive loads and high inrush current during
coupling/uncoupling. Refer to Section 2.2—Arc Prevention Circuit for additional information regarding the
Arc Prevention Circuit.
The module provides status LED’s to visually indicate its operation. A reset button provides the ability to
return to factory default settings. Refer to Section 2.1.2—System Failure (SF) and Bus Failure (BF) LEDs
and Section 2.1.3—Ethernet 1 and Ethernet 2 LEDs.
PROFINET requires a FE ground, the Master module provides a M5 x 0.8 FE ground terminal that is passes
FE ground to the Tool Module through the 7‑Pin contact block.

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Figure 1.1—DL10 Modules
10-Pin Signal Contact
10-Pin Spring Signal Contact
and Rubber V-ring Seal
4-Pin Female M12 D-coded
PROFINET Connector
4-Pin Female M12 D-coded
PROFINET Connector
4-Pin Female M12
TSI Connector
(4) 3-Pin Female M8
Sensor Connector
RTL, Lock, and Unlock
5-Pin Male
Auxilary Power Connector
M5x0.8 Threaded Hole
FE Ground Terminal Connection
5-Pin Female
Auxilary Power Connector
Tool ID
SF, Ethernet 2, BF,
Ethernet 1 LED's,
and Reset Switch
M5x0.8 Threaded Hole
FE Ground Terminal Connection
Valve Signal Pin Block
(not visible)
7-Pin Contact
7-Pin Spring Contact
and Rubber V-ring Seal
DL10 Master Module
DL10 Tool Module (Shown)
1.2 DL10 Tool Module
The module has the following connections:
• (1) 4‑pin female M12 D‑coded PROFINET connector.
• (1) 5‑pin male auxiliary power connector.
• (1) 4‑pin female M12 TSI connector.
• (1) M5 x 0.8 threaded hole for FE ground terminal connection that is accessed by removing the M5
set screw plug.
The TSI connector supports the use of a mechanical limit switch that has (2) sets of N.O. contacts
(double‑pole, single throw).
The Tool module employs a series of (5) push button switches for setting of the Tool‑ID input that allows
the customer to distinguish between the different tools that are used in a robotic cell or on a production
line. The Tool‑ID is reported through the Master module bitmap. PROFINET requires a FE ground, the
Tool module provides a M5 x 0.8 FE ground terminal that is passes FE ground to the customer tooling. See
Section 2.1.1—PROFINET Interface Information for PROFINET bitmap and detailed I/O information.
1.3 DL15 Tool Module
The module has the following connections:
• (1) 4‑pin female M12 D‑coded PROFINET connector.
• (1) 5‑pin male auxiliary power connector.
• (1) 4‑pin female M12 TSI connector.
• (1) M5 x 0.8 threaded hole for FE ground terminal connection that is accessed by removing the M5
set screw plug.
The TSI connector supports the use of a single (non‑series), PL e rated, RIFD based contactless safety
switches.
The Tool module employs a series of (5) push button switches for setting of the Tool‑ID input that allows the
customer to distinguish between the different tools that are being used in a robotic cell or on a production
line. The Tool‑ID is reported through the Master module bitmap. PROFINET requires a FE ground, the
Tool module provides a M5 x 0.8 FE ground terminal that is passes FE ground to the customer tooling. See
Section 2.1.1—PROFINET Interface Information for PROFINET bitmap and detailed I/O information.

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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2. Product Information
This section provides more detailed information on the behavior of the DL10 modules.
2.1 Master Module
2.1.1 PROFINET Interface Information
Table 2.1 lists the PROFINET interface parameters employed in the DL10 Master module.
Table 2.1—PROFINET Interface Parameters
Parameter Description
DCP supported
Fast Startup supported
Used Protocols (subset) UDP, IP,ARP, ICMP (Ping)
Topology recognition LLDP, SNMP V1, MIB2, physical device
VLAN- and priority tagging yes
Context Management by CL-RPC
Minimum cycle time 2 ms
Baud rate 100 MBit/s
Data transport layer Ethernet II, IEEE 802.3
A GSDML le for the Master node is available from our website:
(www.ati‑ia.com/download/edsles) or by email.
Reference the part number: GSDML le 9031‑20‑1012
Robot input and output bitmaps for the Master node are provided in Table 2.4 and Table 2.5.

Manual, Control Module, PROFINET, DL10
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Table 2.2—I/O Bit map, Robot Inputs from Master Module
Byte BitNumber Name Description/Function
0
0 Locked The Tool Changer is locked.
1 Unlocked The Tool Changer is unlocked.
2Input/Logic Power
Good US1 Power Present I/P.
3Output Power
Available US2 Power Present I/P.
4 RTL1 Ready-to-Lock Prox1 I/P.
5 RTL2 Ready-to-Lock Prox2 I/P.
6 Tool Present The Master and Tool are in electrical contact.
7 Tool Power is on Indicates that the Arc Prevention Circuit is turned ON and
power is provided to the Tool.
1
0 Unlatch Enabled Unlatch Enabled Status Information.
1 TSIV TSI Switch Verify.
2 TSRV TSI Relay Verify.
3 Reserved
4 RTLV1 Ready-to-Lock Relay 1 Verify.
5 RTLV2 Ready-to-Lock Relay 2 Verify.
6 to 7 Reserved
2
0 Error on Latch Overload or short circuit on the Latch Output.
1 Error on Unlatch Overload or short circuit on the Unlatch Output.
2 Reserved
3 Unsafe Unlatch Unlatch rejected due to an unsafe condition present.
4Lock/Unlock Sensor
Fault Lock and Unlock Inputs ON at the same time.
5 COMM Error Tool-ID communication timeout.
6 RTL/RTLV Mismatch RTL state does not match the RTLV state.
7 TSIV/TSRV Mismatch TSIV state does not match the TSRV state.
3 0 to 7 Reserved
4
0Tool-ID Switch1 Bit1
N/A
1Tool-ID Switch1 Bit2
2 Tool-ID Switch1 Bit4
3 Tool-ID Switch1 Bit8
4 Tool-ID Switch2 Bit1
5 Tool-ID Switch2 Bit2
6 Tool-ID Switch2 Bit4
7 Tool-ID Switch2 Bit8

Manual, Control Module, PROFINET, DL10
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Table 2.2—I/O Bit map, Robot Inputs from Master Module
Byte BitNumber Name Description/Function
5
0Tool-ID Switch3 Bit1
N/A
1Tool-ID Switch3 Bit2
2 Tool-ID Switch3 Bit4
3 Tool-ID Switch3 Bit8
4 Tool-ID Switch4 Bit1
5 Tool-ID Switch4 Bit2
6 Tool-ID Switch4 Bit4
7 Tool-ID Switch 4 Bit 8
6
0Tool-ID Switch5 Bit 1
N/A
1Tool-ID Switch5 Bit2
2 Tool-ID Switch5 Bit4
3 Tool-ID Switch5 Bit 8
4 to 7 Reserved
7 0 to 7
Table 2.3—I/O Bitmap, Robot Outputs to Master Module
Byte Bit# Name Description/Function
0
0 Latch Request Lock.
1 Unlatch Request Unlock.
2 Spare Spare O/P.
3 Clear Errors Reset errors, allow affected I/O to be reactivated.
4 to 7 Reserved
1 to 7 Reserved

Manual, Control Module, PROFINET, DL10
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2.1.2 System Failure (SF) and Bus Failure (BF) LEDs
When the modules are coupled and communicating properly on the network, the DL10‑M LEDs
should display as shown in Figure 2.1,with the E1 and E2 LEDs ashing red based on the
PROFINET communication.
Figure 2.1—LED Display of Properly Functioning Coupled Modules
SF LED is Green
E2 LED is Red Flashing/Green
BF LED is Green
E1 LED is Red Flashing/Green
The System Failure (SF) status LED is identied on the module as “SF”. It provides device status
for power and proper operation. Refer to Table 2.4 for an outline of this LED’s operation.
The Bus Failure (BF) status LED is identied on the module as “BF”. It provides PROFINET
status information. Refer to Table 2.5 for an outline of this LED’s operation.
Table 2.4—Master Module SF status LED
Status LED Note
No Power Off No power applied. Check if the voltage is between 20.4
and 28.8 VDC.
Operational1Green
(solid) Normal operation.
Fault Red
(solid) The fault Internal Diagnostic Error has occurred.
Fault Red
(ashing)
Reset To Factory Push Button was pressed or one of
the following faults has occurred:
- Communication error with tool module
- Input power failure
Note:
1. The LED will be green even if no network connection is established.
Table 2.5—Master Module BF status LED
Status LED Note
Operational1Off1No error (Normal operation).
Not OK
Green
(solid) Watchdog timeout; channel, generic or extended diagnosis present; system error.
Green
(ashing) DCP signal service is initiated via the bus.
Red
(solid) No conguration.
Red
(ashing) No data exchange.
Note:
1. If the LED is off it may also indicate the device may be powered off.

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2.1.3 Ethernet 1 and Ethernet 2 LEDs
The Ethernet LEDs provide information about link status and activity on the ports of the integrated
Ethernet switch.
The Ethernet 1 (E1) LED displays the status of the robot side Ethernet port. The Ethernet 2 (E2)
LED displays the status of the tool side Ethernet port. The module status is indicated by the
specied LED colors in the following tables.
Table 2.6—Master Module Ethernet 1 (E1) LEDs
Status LED Note
No Link Off The Master module has no connection to the
Ethernet.
Link Green
(solid) The Master module is connected to the Ethernet but there is currently no data exchange activity.
Active RX/TX
Red
(ashing)
Green
(solid)
There is sporatic data exchange activity with the
Ethernet.
PROFINET
connection
established
Red
(solid)
Green
(solid)
There is continuous data exchange activity with the
Ethernet.
Table 2.7—Master Module Ethernet 2 (E2) LEDs
Status LED Note
No Link Off The Tool module has no connection to the Ethernet.
Link Green
(solid) The Tool module is connected to the Ethernet but there is currently no data exchange activity.
Active RX/TX
Red
(ashing)
Green
(solid)
There is sporatic data exchange activity with the
Ethernet.
PROFINET
connection
established
Red
(solid)
Green
(solid)
There is continuous data exchange activity with the
Ethernet.
2.1.4 Integrated Ethernet Switch
The Master module provides an integrated 2‑port Ethernet switch which supports the following:
• Transmission rate 100 MBit/s
• Interface type 100 BASE‑TX, isolated
• Half duplex/Full duplex
• Auto Negotiation
• Auto Crossover

Manual, Control Module, PROFINET, DL10
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Figure 2.2—Master Module LED and Reset Button
System Failure (SF) LED
Ethernet (E2) LED
Robot-Side Ethernet Port
Ethernet (E1) LED
Tool-Side Ethernet Port
Bus Failure (BF) LED
Reset Button
(Reset to Factory Settings)
(2) M3 Captive Head Screw
Window
2.1.5 Reset-To-Factory Push-Button
A push button, located under the LED window cover between the E2 and BF LED allows the
user to perform a “Reset To Factory” function which clears the PROFINET Name Of Station
and the module’s IP address. This is useful when already congured devices get swapped or a
broken device gets replaced by an already congured device. See Section 6.2.2—DL10 Device
Replacement Procedures for a detailed device replacement procedure.
After the push button is pressed the SF LED will blink red, indicating that with the next power
cycle the Name of Station and IP address will be cleared.
Make sure to re‑apply the LED window cover after access to the push button is not needed
anymore.
2.2 Arc Prevention Circuit
The DL10 Module incorporates ATI’s exclusive Arc Prevention Circuit. The Arc Prevention Circuit extends
the life of all electrical power contacts by eliminating arcing caused by inductive loads and high inrush
current during coupling/uncoupling. TheArc Prevention Circuit makes it possible to couple/uncouple
without switching power off and prevents damage to the contacts.
In the DL10 Module, the Arc Prevention Circuit controls the ON/OFF status of the following (2) power
signals:
• Input and Logic power US1+
• Output power US2+
The behavior of the Arc Prevention circuit is described in the following sections.

Manual, Control Module, PROFINET, DL10
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2.2.1 Arc Prevention Circuit Behavior during Coupling
The Master module incorporates ATI’s Arc Prevention Circuit, which extends the life of all
electrical power contacts by eliminating arcing caused by inductive loads and high inrush current
during coupling/uncoupling. TheArc Prevention Circuit makes it possible for the customer to
couple/uncouple without switching power off and prevents damage to the contacts.
In the Master module, the Arc Prevention Circuit controls the ON/OFF status of the following (2)
power supplies:
2. Input and Logic power US1+
3. Output power US2+
The behavior of the Arc Prevention circuit is more fully described in the following sections.
2.2.2 Arc Prevention Circuit Behavior during Coupling
The behavior of the Arc Prevention circuit during coupling can be more clearly understood by
referring to Figure 2.3.
When the robot and Master approach the Tool for pick up, electrical contact between the Master
and Tool pin contacts occurs. Soon after the Latch command is turned ON, the Arc Prevention
Circuit will turn on US1 and US2 power. The time delay between when the LATCH output is
turned ON to when power is actually available to the EOAT (time T1in the diagram) is less than
100 ms.
Important: TheArc Prevention Circuit will only allow power to pass to the Tool after the LATCH
command has been issued and the Master and Tool module’s electrical contacts are fully engaged.
Figure 2.3—Power On Timing
Profinet US1 and
US2 Power
Electrical Contact Between
Master and Tool
LATCH Output
ON
OFF
ON
OFF
ON
OFF
T1
T1 = Power Switch ON-delay (Less than 100 ms)

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2.2.3 Arc Prevention Circuit Behavior during Uncoupling
The behavior of the Arc Prevention Circuit during uncoupling can be more clearly understood by
referring to Figure 2.4.
Immediately after the UNLATCH command is issued, the Arc Prevention Circuit will turn off US1
and US2 power. The power off time delay between the UNLATCH command and the switching off
of power (designated T2in the diagram) is less than 50 ms.
Some time after power is turned off and the Master and Tool begin to separate, electrical contact
between Master and Tool pin contacts will be lost. This occurs with a delay, designated T3in the
diagram, after the UNLATCH command is issued. The magnitude of time T3is a function of many
factors, including the weight of the EOAT, the friction between Master and Tool alignment pins,
etc. but is usually not shorter than 100 ms.
Figure 2.4—Power Off Timing
Profinet US1 and
US2 Power
Electrical Contact Between
Master and Tool
UNLATCH Output
ON
OFF
ON
OFF
ON
OFF
T2
T2 = Power Switch OFF-delay
T3 = Tool Changer Electrical Contact.
T3

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2.3 Tool Module
In addition to providing Tool‑ID and Tool side TSI, the Tool module is a pass‑through for PROFINET
signals and power to downstream equipment. For details, refer to Section 9—Drawings.
2.3.1 Tool-ID
The Tool module utilizes a rapid communication method to report the Tool‑ID information from
the push button switches to the Master module as soon as the Tool Changer or Utility Coupler is
coupled. Typically the Tool‑ID information is available to the Master within 150 ms from the time
the Tool Changer or Utility Coupler is coupled.
NOTICE: When a Tool module is not present, the Master module reports an invalid ID
1>0xFFFF.
(5) push button switches are provided on the Tool module for setting of a Tool‑ID number.
If the plastic window and seal above the Tool‑ID switches are removed, ensure the seal and window
are re‑positioned correctly to prevent a leakage path to the module inside.
Figure 2.5—Tool Module, Tool-ID Switch Settings
Decrease (-) Digit
Increase (+) Digit
Set Tool ID to an
Unique 1-Digit Number
for each Tool
Window
(4) M3 Captive
Head Screw
O-ring Seal
SW5 SW1
←

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2.4 Tool Side TSI
CAUTION: It is required to use a PLe rated non-contact safety switch such as the
CES-AP with the DL15 module. ContactATI before using another safety switch.
The tool stand interlock (TSI) circuit ONLY allows the Tool to release while in the tool stand or storage
location as indicated by actuation of a customer‑integrated switch. Refer to the following for switch
requirements:
• For the DL10 Tool module, the customer must integrate a single throw, double pole (Normally
Open, spring return) limit switch (refer to Figure 2.6).
• For the DL15 Tool module, the customer must integrate a (2) channel, PL e rated contactless safety
sensor, ATI Part Number 9120‑TSL‑SS‑9015 (Euchner CES‑I‑AP‑M‑C04‑USB‑117324), refer to
Figure 2.7.
The safety switch should be mounted to the end effector so that the switch is “made” only when the Tool is
in the tool stand or storage location.
There is both a rmware and a hardware interrupt for the Unlatch output bit.
• Unlatch Enabled in the bitmap reports that the tool change will process an Unlatch command if
issued. Refer to Section 2.1—Master Module.
• The UNLATCH output signal is routed through the TSI relay in the Tool side module, and thus, the
UNLATCH output signal cannot be completed without the TSI switch circuit being closed.
A double pole, single‑throw limit switch or two‑chanel PL e rated contactless safety sensor (TSI Limit
Switch) is integrated on the EOAT such that the switch is made when the Tool is in the stand. One set of the
TSI Switch contacts sources US1 power and drives the TSI Relay (TSRV), thus closing the Unlatch solenoid
circuit. The second set of TSI Limit Switch contacts sources US1 power and drives the TSIV input.
The following TSI status signals are also reported in the bitmap (refer to Section 2.6—Software):
• TSRV (TSI Relay Verify): Status of the TSI Relay in the Tool module driven by rst contact in the
switch.
• TSIV (TSI Limit Switch Verify): Status of second contact of the limit switch that is located on the
Tool.
• RTLV (Ready to Lock Verify): Ready to Lock Verify status of RTL bypass relay in the Master
module. Refer to Section 2.5.1.1—RTL Bypass Relay Circuit.

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Figure 2.6—(DL10) Tool Stand Interlock (TSI) with a Mechanical Safety Switch
Tool Changer Master
TSI Limit Switch
Robot Arm
Master Module
Tool Module
4-Pin M12 Connector
for TSI Limit Switch
Tool Changer Tool
Tool Stand
Trip Dog Intregal
to the Tool Stand
Figure 2.7—(DL15) Tool Stand Interlock (TSI) with a Contactless Safety Sensor
Non-Contact Safety Switch
(ATI P/N 8600-117324)
Switch Actuator
(ATI P/N 8605-115271)
Spacer
(9005-20-1192 Shown)
Valve Module
(JT2-M Shown)
Master Module
Tool Module
Non-Contact Switch
Interconnecting Cable
Tool Stand
5-Pin Female M12
TSI Conntector
Robot Arm

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2.5 TSI Operational Function
The TSI system provides safe operation, by preventing the Tool Changer from unintentionally unlocking
when the Tool is attached and not secured in the tool stand. The following sections describe the Tool
Changer states and how the TSI system controls the unintentional unlocking of the Tool Changer.
2.5.1 The Master is Free of the Stand and the Tool is in the Stand
The Master is positioned away from the tool stands, and all the Tools are safely nested in the tool
stands.
When there is no tool present (therefore both the RTL sensors are low) the RTL Relay allows the
Unlatch solenoid circuit to be completed and an Unlatch command is processed.
2.5.1.1 RTL Bypass Relay Circuit
The Master module has a normally closed RTL bypass circuit (RTL relay). If the Tool
Changer is inadvertently locked without a Tool attached, the Tool Changer can still be
safely unlocked automatically since no Tool is present. When a Tool is present (and
therefore the RTL sensor is high) the RTL Relay is energized and the Unlatch solenoid
circuit is diverted through to the Tool side. The second set of RTL relay contacts
sources US1 power and provides the RTLV input for health status monitoring of the
RTL Relay.
Figure 2.8—TSI Circuit with Master Free of Stand, Tool in the Stand (DL10-T Shown)
LATCH
(24V)
UNLATCH
(24V)
UNLATCH
24V
RTL1
Bypass
Relay
1 (N.C.)
2 (N.O.)
12
RTL2
Bypass
Relay
1 (N.C.)
2 (N.O.)
12
RTLV1
UNLATCH
0V
Valve Module
Master Control Module
US2
0V
RTL1 RTLV2
RTL2
Tool Control Module
(DL4 Shown) Tool Spacer
Electrical Contacts
Electrical Contacts
TSI Relay
(N.O.)
TSRV
UNLATCH
Tool Stand
TSI Connector
TSI
Switch
Tool Changer
Locking
Mechanism
Air Cylinder
RTL R2 RTL R1
Solenoid
Valve
Air
Input
0V
TSIV

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The RTL bypass relay has a second set of contacts that are used to provide the RTLV
diagnostic signal (when the RTL bypass relay is open, the RTLV signal should be off).
The RTLV signal can indicate if the RTL bypass relay is operating properly.
Figure 2.9—Fault Monitoring
RTL1/
RTL2 RTLV1/ RTLV2 Tool Presence Comments
OFF OFF ON1RTL1/RTL2 Not Operating
Properly2.
ON ON OFF1
OFF ON OFF Relay or RTL1/RTL2 Not
Operating Properly2.
ON OFF ON
ON ON ON Operating Properly.
OFF OFF OFF
Notes:
1. Tool module present as evidenced by ability to read Tool-ID.
2. Dangerous situation where an unintentional Unlatch output signal could result
in Tool release.
2.5.2 The Master is Coupled with the Tool and the Tool is in the Stand
The Master and Tool are coupled in the tool stand and the Master has detected a Tool is present
with the RTL1 and RTL2 sensors ON. Thus opening the RTL bypass circuit and turning the RTLV1
and RTLV2 signals ON. The unlatch signal is now routed through the TSI circuit. With the Tool in
the stand and the rst set of TSI switch contacts closed, allowing the TSRV relay to close and no
longer interrupting the unlatch signal. The second set of TSI switch contacts send the TSIV signal,
allowing an unlatch to be processed.
Figure 2.10—TSI Circuit with Master and Tool Locked (DL10-T Shown)
TSIV LATCH
(24V)
UNLATCH
(24V)
24V
RTL1
Bypass
Relay
1 (N.C.)
2 (N.O.)
12
RTL2
Bypass
Relay
1 (N.C.)
2 (N.O.)
12
RTLV1
UNLATCH
0V
Valve Module
Master Control Module
US2
0V
RTL1 RTLV2
RTL2
Tool Spacer
Electrical Contacts
TSI Relay
(N.O.)
TSRV
Tool Stand
TSI Connector
TSI
Switch
Tool Changer
Locking
Mechanism
Air Cylinder
RTL R2 RTL R1
Solenoid
Valve
Air
Input
0V
UNLATCH
Tool Control Module
(DL4 Shown)