ATI Technologies SC29 User manual

Manual, Control/Signal Module, Ethernet, SC29
Document #9620-20-C-SC29-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Table of Contents
C. Control/Signal Modules...........................................................................................................C-2
SC29—Ethernet Control/Servo Module......................................................................................C-2
1. Product Overview..................................................................................................................C-2
1.1 SC29 Master............................................................................................................................... C-2
1.2 SC29 Tool ................................................................................................................................... C-3
1.3 SC30 Tool ................................................................................................................................... C-3
2. Product Information ..............................................................................................................C-4
2.1 Tool Side TSI.............................................................................................................................. C-4
2.2 TSI Operational Function.......................................................................................................... C-5
3. Installation .............................................................................................................................C-7
3.1 Master Module Installation ....................................................................................................... C-7
3.2 Master Module Removal ........................................................................................................... C-8
3.3 Tool Module Installation ........................................................................................................... C-9
3.4 Tool Module Removal ............................................................................................................... C-9
3.5 Setting the Tool-ID on the SC29 Tool Module....................................................................... C-10
3.6 Setting the Tool-ID on the SC30 Tool Module....................................................................... C-10
4. Operation .............................................................................................................................C-11
4.1 Lock, Unlock, and RTL Sensor Cable LED Behavior ........................................................... C-12
4.2 Recommended Sequence of Operations .............................................................................. C-13
5. Maintenance.........................................................................................................................C-15
5.1 Pin Block Inspection and Cleaning ....................................................................................... C-16
6. Troubleshooting and Service Procedures ........................................................................C-17
6.1 Troubleshooting ...................................................................................................................... C-17
6.1.1 Servo Module, Drive, or Motor Troubleshooting Procedure ......................................... C-19
6.1.2 Solenoid Valve Manual Override Procedure ................................................................ C-20
6.2 Service Procedures................................................................................................................. C-21
6.2.1 V-ring Seal Replacement.............................................................................................. C-21
7. Serviceable Parts ................................................................................................................C-22
7.1 SC-29 Master Serviceable Parts............................................................................................. C-22
7.2 SC-29 Tool Serviceable Parts................................................................................................. C-23
7.3 SC-30 Tool Serviceable Parts................................................................................................. C-24
7.4 Accessories ............................................................................................................................. C-24
8. Specications ......................................................................................................................C-25
9. Drawings ..............................................................................................................................C-27
9.1 SC29M SC29T .......................................................................................................................... C-27
9.2 SC29M SC30T .......................................................................................................................... C-31

Manual, Control/Signal Module, Ethernet, SC29
Document #9620-20-C-SC29-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-2
C. Control/Signal Modules
SC29—Ethernet Control/Servo Module
1. Product Overview
The module is designed to provide control of the Tool Changer, pass electrical power and signal connections to a
servo motor, and pass Ethernet eld bus data to the end‑of‑arm tooling. Power and signal circuits are electrically
isolated both from each other and the Tool Changer. The wiring has EMI/RF shielding to protect it from noise.
Compliant spring probes are provided on the Master and xed contact pins on the Tool (refer to Figure 1.1). When
the Tool Changer is coupled, the Master and Tool modules transfer signals and power across the spring probes and
contact pins. A V‑ring seal surrounds the pin blocks to seal the connections from moisture and liquid while coupled.
To avoid unintentional human contact, the Master spring pins are recessed below an insulated surface.
DANGER: This module has a voltage of 50 V or greater; always remove power before
contacting the module. Arcing and damage occur if power is not removed from the module
during maintenance or service. Always remove power before attaching or disconnecting
cables, separating or inserting the mating couplers, or making any contact with the Tool
Changer or Utility Coupler.
CAUTION: Never couple or uncouple the servo modules unless electrical power has been
disconnected and discharged both upstream and downstream from the modules. Arcing and
contact damage occur during coupling or uncoupling if power is not removed and discharged.
Always disconnect and discharge power from upstream and downstream of the modules
before coupling or uncoupling.
The modules are equipped with tool stand interlock (TSI), a safety feature that uses a physical break in the unlatch
solenoid valve circuit to prevent an unintended tool release. The TSI circuit allows Tool Changer release ONLY
when the Tool is in the stand or storage location. Refer to Section 2.1—Tool Side TSI for additional information
regarding TSI.
1.1 SC29 Master
Refer to Figure 1.1. The SC29 Master module includes the following connectors:
• (1) Harting 10B Connector includes: 8‑Pin power insert, 25‑Pin signal insert, and 12‑Pin I/O insert
• (1) 3‑Pin M8 female valve connector
• (1) 4‑Pin M12 D‑coded female Ethernet connector
• (1) 3‑Pin M8 female signal connector
Refer to Section 9—Drawings for additional information and connector details.
An electrical interface on the Master module supports a double‑solenoid integrated valve (single‑solenoid
valve is not supported). The integrated valve can be supplied from ATI as part of the valve adapter (such
as 9121‑JE2‑M). Refer to the valve adapter manual for more information (9620‑20‑C‑Jxx Valve Adapters
with a Double Solenoid). Electrical interface drawings and connector details are provided in Section 9—
Drawings.

Manual, Control/Signal Module, Ethernet, SC29
Document #9620-20-C-SC29-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-3
Figure 1.1—Overview of the Modules
Harting 10B Connector
25-Pin Male
9121-SC29-M
(Shown)
9121-SC29-T
(Shown)
Ethernet Connector
4-Pin D-coded Female
M12
Ethernet Connector
4-Pin D-coded Female
M12
26-Pin Spring Signal Contacts
and V-ring Seals
Tool ID (0-9)
TSI Connector
4-Pin Female
M12
26-Pin Signal Contacts
9121-SC29-M
(Side Shown)
Valve Connector
3-Pin Female M8
Ledge Mounting Feature
Harting 10B Connector
25-Pin Female
7-Pin Spring Power Contacts
and V-ring Seal
7-Pin Power Contacts
(4) Sensor Connector
Unlock, Lock, and RTL
M8
1.2 SC29 Tool
The SC29 Tool module includes the following connectors:
• (1) Harting 10B Connector includes: 8‑Pin power insert, 25‑Pin signal insert, and 12‑Pin I/O insert
• (1) 4‑Pin M12 D‑coded female Ethernet connector
• (1) 4‑Pin M12 female TSI connector
Refer to Section 9—Drawings for information and connector details.
The Tool‑ID feature on the Tool module identies Tools by a unique value (0‑9), used by the Tool Changer.
Use the push button switch to set the Tool‑ID.
1.3 SC30 Tool
The SC30 Tool module includes the following connectors:
• (1) 4‑Pin M12 D‑coded female Ethernet connector
• (1) 5‑Pin Minifast female auxiliary power connector
• (1) 4‑Pin M12 female TSI connector
Refer to Section 9—Drawings for information and connector details.
The Tool‑ID feature on the Tool module identies Tools by a unique value (0‑9), used by the Tool Changer.
Use the rotary switch to set the Tool‑ID.

Manual, Control/Signal Module, Ethernet, SC29
Document #9620-20-C-SC29-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-4
2. Product Information
This section provides more detailed information on the behavior of the Master and Tool modules.
2.1 Tool Side TSI
To prevent an unintended Tool release, the electrical power to the unlatch valve circuit is switched only
when a Tool mounted limit switch indicates the Tool is nested safely in the tool stand (refer to Figure 2.1).
A momentary action, normally open, single‑pole, single‑throw mechanical limit switch with spring return
is recommended to work with the TSI circuit. The limit switch must be mounted to the Tool in a manner
ensuring the switch is closed only when the Tool is nested in the tool stand (see Figure 2.2 and Figure 2.3).
The limit switch is connected to the Tool module via a 4‑pin M12 female connector. A teach plug is
available to override TSI during setup and maintenance.
For more information, see Figure 2.2 and Figure 2.3.
Figure 2.1—Tool Stand Interlock (TSI)
Robot Arm
Master Module
Tool Changer Master
TSI Limit Switch
Trip Dog Integral
to the Tool Stand
Tool Stand
Tool Module
4-Pin M12 Connector
for TSI Limit Switch
Tool Changer Tool
CAUTION: The Master locking mechanism must be fully retracted prior to the Master entering
the Tool. Failure to do so will cause ball bearings to damage the Tool bearing race. If the Tool
Changer is locked, use the solenoid valve manual override on the Tool Changer to unlock
before attempting to latch the Master with the Tool. Refer to Section 6.1.2—Solenoid Valve
Manual Override Procedure.

Manual, Control/Signal Module, Ethernet, SC29
Document #9620-20-C-SC29-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-5
2.2 TSI Operational Function
The Master is away from the tool stand and the Tool is nested safely in the tool stand. The TSI relay, located
in the Master module, is driven by closure of the mechanical TSI Limit Switch located on the Tool. When
closed, the relay passes the unlatch signal from the robot to the solenoid valve.
Since the Master and Tool are not coupled and the electrical contacts are not touching, it is not possible to
close the TSI relay and unlock the Tool Changer locking mechanism. If an unlatch command is provided by
the robot, the Tool Changer will not unlock.
If the Tool Changer is locked without a Tool, it must be unlocked using the manual override button on the
valve (refer to Section 6.1.2—Solenoid Valve Manual Override Procedure).
The second set of contacts on the TSI relay provides the TSRV (TSI Relay Verify) diagnostic signal (when
the TSI relay is open, the TSRV signal should be low). The TSRV signal can indicate damage to the TSI
relay, cable, or mechanical switch. For maximum safety, the status of the TSRV signal should be monitored
as described inSection 4.2—Recommended Sequence of Operations.
Figure 2.2—TSI Circuit with Master Free of the Stand, Tool in the Stand
US2
24V
LATCH
(24V)
UNLATCH
(24V)
UNLATCH
24V

Manual, Control/Signal Module, Ethernet, SC29
Document #9620-20-C-SC29-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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The Master and Tool are within coupling distance and the electrical contacts meet. The TSI relay closes
because the TSI limit switch is actuated and the electrical contacts meet. It is now possible for the TSI relay
to pass the unlatch signal from the robot to the solenoid valve.
Figure 2.3—TSI Circuit with Master and Tool Locked
24V
UNLATCH
UNLATCH
(US2 24V)
LATCH
(US2 24V)
24V

Manual, Control/Signal Module, Ethernet, SC29
Document #9620-20-C-SC29-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-7
3. Installation
The control/servo modules are typically installed by ATI prior to shipment. The following steps outline eld
installation and removal. For wiring information refer to Section 9—Drawings.
DANGER: This module has a voltage of 50 V or greater; always remove power before
contacting the module. Arcing and damage occur if power is not removed from the module
during maintenance or service. Always remove power before attaching or disconnecting
cables, separating or inserting the mating couplers, or making any contact with the Tool
Changer or Utility Coupler.
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 specic 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.
CAUTION: Thread locker applied to fasteners must not be used more than once. Fasteners
might become loose and cause equipment damage. Always apply new thread locker when
reusing fasteners.
3.1 Master Module Installation
Refer to Figure 3.1.
Tools required: 5 mm hex key, torque wrench
Supplies required: Clean rag, Loctite®242
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.).
4. Clean mounting surfaces.
5. Place the module into the appropriate location on the valve adapter.
6. Apply Loctite 242 to the supplied M6 socket head cap screws. Install the (2) M6 socket head cap screws
and secure the module to the valve adapter using a 5 mm hex key. Tighten to 70 in‑lbs (7.9 N‑m).
7. Ensure the Lock (L), Unlock (U), RTL (R1), and RTL (R2) connections are clean and connect the sensor
cables to the control/signal module.
8. Ensure the valve connector is clean and connect the solenoid valve cable from the valve adapter to the
valve connector on the control/signal module.
9. Ensure the power, signal, auxiliary, and other connectors are clean and connect the cables to the module.
10. Safely resume normal operation.

Manual, Control/Signal Module, Ethernet, SC29
Document #9620-20-C-SC29-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-8
Figure 3.1—Module Installation
Tool Changer
L
Connector
U
Connector
R2
Connector
RTL, Lock, and Unlock
Sensor Connectors
(2) M6 Socket
Head Cap Screws
Valve Adapter
on Master Side
Use Ledge Mounting Feature
to Properly Align Module
R1
Connector
Ethernet
Connector
Valve Connector
(Not Visible)
Harting
Connector
Valve Cable
3.2 Master Module Removal
Tools required: 5 mm hex key
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.).
4. Mark the Lock, Unlock, and RTL sensor cables so that the cables can be reinstalled to the appropriate
sensor.
5. Disconnect the Lock (L), Unlock (U), RTL (R1), and RTL (R2) sensor cable connectors from the
module.
6. Disconnect the solenoid valve cable from the module.
7. Disconnect (e.g. power, signal, auxiliary, etc.) cables from the control/signal module.
8. Support the control/signal module, remove the (2) M6 socket head cap screws using a 5 mm hex key,
and lower the module until it clears the guide pin.

Manual, Control/Signal Module, Ethernet, SC29
Document #9620-20-C-SC29-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-9
3.3 Tool Module Installation
Tools required: 5 mm hex key, torque wrench
Supplies required: Clean rag, Loctite 242
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.).
4. Clean the mounting surfaces.
5. Using the ledge feature, place the module onto the air adapter. Align the module with the air adapter
using the dowels in the bottom of the ledge feature.
6. Apply Loctite 242 to the supplied M6 socket head cap screws. Install the (2) M6 Socket Head Cap
Screws that secure the module to the air adapter using a 5 mm hex key. Tighten to 70 in‑lbs (7.9 Nm).
7. Connect (e.g. power, signal, auxiliary, etc.) cables to the module. Ensure that the connectors are cleaned
prior to being secured.
8. Connect the cable from the TSI limit switch to the control/signal module. Ensure that the connectors are
cleaned prior to being secured.
9. Set the Tool‑ID. Refer to Section 3.5—Setting the Tool‑ID on the SC29 Tool Module.
10. Safely resume normal operation.
Figure 3.2—Module Installation
Use Ledge Mounting Feature
to Properly Align Module
(2) M6 Socket
Head Cap Screw
Tool Changer
Tool Adapter
Assembly
Tool-ID
9121-SC29-T (Shown)
TSI Connector
3.4 Tool Module Removal
Tools required: 5 mm hex key
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.).
4. Disconnect (e.g. power, signal, auxiliary, etc.) cables from the control/signal module.
5. Disconnect the cable from the control/signal module to the TSI limit switch.
6. Support the control/signal module, remove the (2) M6 socket head cap screws using a 5 mm hex key,
and lift the module from the valve adapter.

Manual, Control/Signal Module, Ethernet, SC29
Document #9620-20-C-SC29-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-10
3.5 Setting the Tool-ID on the SC29 Tool Module
Tools required: Phillips screwdriver, at head screwdriver
Use the push button switch on the Tool module to set Tool‑ID numbers. Each Tool should be set to a unique
number from the 0‑9.
Figure 3.3—Tool Module Tool-ID Rotary Switch
Decrease (-) Digit
(4) M3 Socket Head
Cap Screws
Window
Increase (-) Digit
Set Tool-ID to a
Unique 1 Digit Number
for each Tool
1. Loosen the (2) M3 socket head cap screws and remove the window.
2. Use a at head screw driver to turn the rotary switch to the digit value from the 0‑9. Set the Tool‑ID to
the desired unique number for each Tool.
NOTICE: When replacing the window, ensure that the seal is positioned correctly to prevent uid
leakage into the module and damage to the electronics.
3. Re‑install the window and tighten the M3 socket head cap screws.
3.6 Setting the Tool-ID on the SC30 Tool Module
Tools required: Phillips screwdriver, at head screwdriver
Use the rotary switch on the Tool module to set Tool‑ID numbers. Each Tool should be set to a unique
number from the 0‑9.
Figure 3.4—Tool Module Tool-ID Rotary Switch
Tool-ID Rotary Switch
(2) M3 Socket Head
Cap Screw Window
1. Loosen the (2) M3 socket head cap screws and remove the window.
2. Use a at head screw driver to turn the rotary switch to the digit value from the 0 to 9. Set the Tool‑ID to
the desired unique number for each Tool.
NOTICE: When replacing the window, ensure that the seal is positioned correctly to prevent uid
leakage into the module and damage to the electronics.
3. Re‑install the window and tighten the M3 socket head cap screws.