ATI Technologies QC-113 User manual

Manual, Tool Changer, QC‑113
Document #9620‑20‑B‑113 Base Tool Changer‑05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com
B-1
Table of Contents
B. Base Tool Changer .................................................................................................................B-3
QC-113 Series—Tool Changer.....................................................................................................B-3
1. Product Overview..................................................................................................................B-3
1.1 Master Plate Assembly ............................................................................................................. B-4
1.2 Tool Plate Assembly.................................................................................................................. B-5
1.3 Optional Modules...................................................................................................................... B-5
2. Installation .............................................................................................................................B-6
2.1 Master Interface......................................................................................................................... B-7
2.2 Master Plate Installation........................................................................................................... B-8
2.3 Master Plate Removal............................................................................................................... B-9
2.4 Tool Interface........................................................................................................................... B-10
2.5 Tool Plate Installation ..............................................................................................................B-11
2.6 Tool Plate Removal ..................................................................................................................B-11
2.7 Pneumatic Requirements....................................................................................................... B-12
2.7.1 Valve Requirements for Air Adapter Modules................................................................B-12
2.8 Electrical Connections............................................................................................................ B-13
2.8.1 NPN Type Lock and Unlock Sensors (-SP sensor designation)....................................B-13
3. Operation .............................................................................................................................B-14
3.1 Conditions for Coupling......................................................................................................... B-15
3.2 Fail-Safe Operation ................................................................................................................. B-16
3.3 Conditions for Uncoupling..................................................................................................... B-17
3.4 ToolIdentication.................................................................................................................... B-17
3.5 Tool Storage Considerations ................................................................................................. B-18
4. Maintenance.........................................................................................................................B-18
4.1 Preventive Maintenance ......................................................................................................... B-19
4.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins....................... B-20
4.3 Pin Block Inspection and Cleaning ....................................................................................... B-22
5. Troubleshooting ..................................................................................................................B-23
5.1 Troubleshooting Procedures ................................................................................................. B-23
5.2 Service Procedures................................................................................................................. B-24
5.2.1 Alignment Pin Replacement..........................................................................................B-24
5.2.2 Lock and Unlock Sensor Replacement Procedures......................................................B-26
5.2.3 RTL Flat Pack Style Sensor Replacement (R2 Sensor)................................................B-27
5.2.4 RTL Flat Pack Style Sensor Replacement (R1 Sensor)................................................B-29
5.2.5 Seal Inspection and Replacement.................................................................................B-30

Manual, Tool Changer, QC‑113
Document #9620‑20‑B‑113 Base Tool Changer‑05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com
B-2
6. Serviceable Parts ................................................................................................................B-31
6.1 Common Master Parts............................................................................................................ B-31
6.2 Models 9121-113xM-0-0-0-0-SP.............................................................................................. B-32
6.3 Tool plate.................................................................................................................................. B-33
7. Specications ......................................................................................................................B-34
8. Drawings ..............................................................................................................................B-35
8.1 QC-113 Tool Changer.............................................................................................................. B-35

Manual, Tool Changer, QC‑113
Document #9620‑20‑B‑113 Base Tool Changer‑05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com
B-3
B. Base Tool Changer
QC-113 Series—Tool Changer
1. Product Overview
ATI Tool Changers enhance the versatility of a robot by enabling the use of multiple customer tools, such as:
grippers, vacuum cup tooling, pneumatic and electric motors, weld guns, and more.
The Tool Changer consists of a Master plate, which is attached to the robot arm, and a Tool plate, which is
attached to customer tooling. When the robot picks up the customer tooling, a pneumatically-driven locking
mechanism couples the two plates. The patented, fail-safe locking mechanism utilizes a multi-tapered cam with
ball locking technology to ensure the Tool Changer does not uncouple if air pressure falls below 60 psi (4.1 bar)
during operation.
The robot can be programmed to select the desired customer tooling by coupling the Master plate to the Tool plate.
Electricity, uid, and other forces of energy transfer to the customer tooling through optional modules that are
attached to the Master and Tool plates. Refer to the ATI website for compatible modules or contact an ATI sales
representative for more details.
For the most current product information and specications on the QC‑113 Series of Tool Changers, please click
the following link: QC‑113 Series.

Manual, Tool Changer, QC‑113
Document #9620‑20‑B‑113 Base Tool Changer‑05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com
B-4
1.1 Master Plate Assembly
The Master plate assembly includes an anodized aluminum body, a hardened stainless steel locking
mechanism, and hardened steel alignment pins (see Figure 1.1).
The body or Master plate has (4) at sides for mounting of optional modules. In general, at ‘A’ is
reserved for an air/valve adapter module and a control/signal module. Flats “B”, “C”, and “D” are fully
interchangeable and optional modules can be arranged to suit the application or robot dress, as required.
The locking mechanism consists of a cam, a male coupling, and chrome steel ball bearings.
Tapered pins located on the Master plate mate with bushings in the Tool plate to ensure repeatable alignment
during the coupling process. An extreme pressure grease is applied to the cam, male coupling, ball bearings,
and pins to enhance performance and maximize the life of the Master plate assembly.
Proximity sensors are designed into the body of the Master plate to verify the lock/unlock position of the
piston and cam. The sensors provide the lock and unlock (L/U) signals through the control/signal module.
Proximity sensor assemblies are mounted to the body of the Master plate to verify Tool plate presence when
coupled. The sensors provide a ready-to-lock (RTL) signal through the control/signal module.
A mounting pattern is machined into the Master plate for mounting to the supplied interface plate. Refer to
Section 8—Drawings for details.
Figure 1.1— Master plate assembly
Proximity Sensor Assembly
Location (RTL Signal)
Ball Bearing (6)
Cam
Male Coupling
Alignment Pin (2)
Proximity Sensor Assembly
Location (RTL Signal)
Lock/Unlock Air supplied
through Air/Valve Adapter
mounted to Flat A
Cable Retaining Tabs
Common Ledge
Feature for Module
mounting
Internal Proximity Sensors Location
(Lock/Unlock) [Not Visible]
Robot Interface Plate (RIP)
Supplied with Master Plate

Manual, Tool Changer, QC‑113
Document #9620‑20‑B‑113 Base Tool Changer‑05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com
B-5
1.2 Tool Plate Assembly
The Tool plate assembly includes an anodized aluminum body, alignment bushings, and a hardened stainless
steel bearing race. The Tool plate has (4) at sides for mounting of optional modules.
Proximity sensor targets are mounted to the body of the Tool plate to verify Tool plate presence
when coupled. The targets are used by the proximity sensors in the Master plate to provide a
ready-to-lock (RTL) signal.
A mounting pattern is machined into the Tool plate for mounting to customer tooling or a tooling interface
plate. Refer to Section 8—Drawings for details.
Figure 1.2—Tool Plate Assembly
Alignment Pin Bushing (2)
Bearing Race
Proximity Sensor Assembly
Target (RTL)
Proximity Sensor Assembly Target (RTL)
Common Ledge Feature for
Module mounting
1.3 Optional Modules
There are (4) ats available for mounting of the optional modules for support of various utility pass through,
such as signal, uid/air, and electric.
For assistance in choosing the right modules for your particular application, visit the QC‑113 webpage
(QC‑113 Series) and click on compatible modules tab to see what is available or contact an ATI Sales
Representative directly.
In general, at ‘A’ is reserved for an air/valve adapter module and a control/signal module. Flats “B”, “C”,
and “D” are fully interchangeable and optional modules can be arranged to suit the application or robot
dress, as required.
The optional modules are mounted to the Master and Tool plate using a common ledge mounting feature.
Only (2) M6 socket head cap screws need to be unscrewed in order to remove the module from the
Master/Tool plate.

Manual, Tool Changer, QC‑113
Document #9620‑20‑B‑113 Base Tool Changer‑05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com
B-6
2. Installation
All fasteners used to mount the Tool Changer to the robot and to customer’s tooling should be tightened to a
torque value as indicated. Refer to Table 2.1. Furthermore, removable (blue) Loctite 242 must be used on these
fasteners. Table 2.1 contains recommended values based on engineering standards.
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.
WARNING: Do not use lock washers under the head of the mounting fasteners or allow the
mounting fasteners to protrude above the mating surfaces of the Master and Tool plates.
Allowing fasteners to protrude above the mating surface will create a gap between the Master
and Tool plates and not allow the locking mechanism to fully engage, this can cause damage
to equipment or personal injury. The mounting fasteners must be ush or below the mating
surfaces of the Master and Tool plates.
Head of Mounting Fastener Must Be Flush or
Below Mating Surface. (Do Not Use Lock
Washer under Head of Mounting Fastener.)
Mating Surface
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.
CAUTION: Do not use fasteners that exceed the thread depth in the Tool Changer. Refer to
Section 8—Drawings for details on the mounting hole thread depth. Secure the Tool Changer
with the proper length fasteners. This is true for both robot and tool interfaces.
Table 2.1—FastenerSize,Class,andTorqueSpecications
Mounting Conditions Fastener Size and Property
Class
Recommended
Torque
Master plate to Interface plate (6061-T6 aluminum)
Minimum thread engagement of 0.39” (10 mm) [1.0X fastener Ø]. M10-1.5 Class 12.9 38 ft-lbs (52 Nm)
RobotInterfacetoRobot(steel;USS≥90KSI)
Minimum thread engagement of 0.59” (12 mm) [1.5X fastener Ø].
Conrm available engagement with Robot Manufacturer
M8-1.25
Class 12.9 20 ft-lbs (27 Nm)
Tool plate (aluminum) to Tool Interface Plate (6061-T6-aluminum)
Minimum thread engagement of 0.59” (12 mm) [1.5X fastener
Ø]. Do not exceed maximum available thread depth as shown in
Section 8—Drawings
M8-1.25
Class 12.9 20 ft-lbs (27 Nm)

Manual, Tool Changer, QC‑113
Document #9620‑20‑B‑113 Base Tool Changer‑05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com
B-7
2.1 Master Interface
The Master plate is typically attached to the robot arm. An interface plate can adapt the Master plate to a
specic robot arm. Alignment features (dowel holes and bosses) accurately position and bolt holes secure
the Master plate to the robot arm or an interface plate. Custom interface plates are available from ATI upon
request. (refer to the drawings for technical information on mounting features.)
CAUTION: Do not use more than two alignment features when securing a Master plate
to an interface plate. Using more than two alignment features can cause damage to
equipment. Use either two dowel pins or a single dowel pin, along with a boss/recess
feature to align the Master plate with the interface plate.
CAUTION: Do not use dowel pins that are too long or do not allow the interface plate
and Master body to mate ush. Using dowel pins that are too long will cause a gap
between the interface plate and Master body and damage the equipment. Use dowel
pins that will not extend further than allowed by the Master body.
Master Plate
Interface Plate
Correct size dowel
pins allow the interface
plate and Master
plate to mount flush.
Two dowel pins
(or a single dowel
pin along
with a boss/recess)
used as alignment features.
Flush
Correct Mounting of Master Plate
Master Plate
Interface Plate
Dowel pins that are
too long can cause a
plate and Master Plate.
gap between interface
Optional Boss
GapGap
A boss and two dowel pins can
be difficult to align and can
cause damage to equipment.
Incorrect Mounting of Master Plate
If the customer chooses to design and build an interface plate, consider the following points:
• The interface plate should include bolt holes for mounting and either two dowel pins or a dowel pin
and a boss for accurate positioning on the robot and Master plate. The dowel and boss features prevent
unwanted rotation. Refer to the robot manual for robot mounting features.
• The thickness of the interface plate must be sufcient to provide the necessary thread engagement for
the mounting bolts.
• Dowel pins must not extend out from the surface of the interface plate farther than the depth of the
dowel holes in the Master plate.
• If a boss is used on the Master plate, a recess of proper depth and diameter must be machined into the
interface plate to correspond with the boss on the Master plate.
• Mounting bolts that are too long can create a gap between the interface plate and the Master plate,
which can damage equipment.
• The interface plate must provide rigid mounting to the Master plate.
• The interface plate design must account for clearances required for Tool Changer module attachments
and accessories.

Manual, Tool Changer, QC‑113
Document #9620‑20‑B‑113 Base Tool Changer‑05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com
B-8
2.2 Master Plate Installation
Tools required: 8 mm hex key, torque wrench
Supplies required: Clean rag, Loctite®242
1. Wipe down the mounting surfaces with a clean rag.
2. If required, install the interface plate to the robot arm, align using the boss or dowel pins and secure with
customer supplied fasteners.
3. Align the dowel pins to the corresponding holes in the interface plate and secure the interface plate to the
robot arm with customer supplied fasteners. If not pre-applied, apply Loctite 242 to threads (see Table
2.1 for proper fasteners and torque).
4. Align the dowel pins to the corresponding holes in the Master plate and secure the Master plate to the
interface plate with supplied (6) M10-1.5 socket head cap screws. If not pre-applied, apply Loctite 242 to
threads (see Table 2.1 for proper fasteners and torque).
5. Connect Lock and Unlock air supplies to the appropriate connections. Refer to Section 2.7—
Pneumatic Requirements.
6. Connect utilities to the appropriate module and Master plate connections.
Figure 2.1— Typical Master Plate Installation
Robot Arm
M10-1.5
Socket Head Cap Screws
(Supplied with Master Plate)
(See Table 2.1)
Master Plate
Dowel Pin
(Customer Supplied)
M8-1.25
Socket Head Cap Screws
(Customer Supplied)
(See Table 2.1)
Dowel Pin
(Supplied with Master Plate)
Interface Plate (IP)
(Supplied with Master Plate)

Manual, Tool Changer, QC‑113
Document #9620‑20‑B‑113 Base Tool Changer‑05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com
B-9
2.3 Master Plate Removal
Refer to Figure 2.1.
Tools required: 8 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 (for example: electrical, pneumatic, and
hydraulic circuits).
4. Disconnect all utilities (for example: electrical, pneumatic, and hydraulic).
NOTICE: Support the Master plate while removing the fasteners.
5. Remove the (6) M10-1.5 socket head cap screws connecting the Master plate to the interface plate.

Manual, Tool Changer, QC‑113
Document #9620‑20‑B‑113 Base Tool Changer‑05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com
B-10
2.4 Tool Interface
The Tool plate is attached to the customer’s tooling. An interface plate can adapt the Tool plate to customer
tooling. Alignment features (dowel holes and a recess) accurately position and bolt holes to secure the Tool
plate to customer tooling. Custom interface plates can be supplied by ATI (refer to the application drawing).
CAUTION: Do not use more than two alignment features when securing a Tool plate
to an interface plate. Using more than two alignment features can cause damage to
equipment. Use either two dowel pins or a single dowel pin, along with a boss/recess
feature to align the Tool plate with the interface plate.
CAUTION: Do not use dowel pins that are too long or do not allow the interface plate
and Tool body to mate ush. Using dowel pins that are too long will cause a gap
between the interface plate and Tool body and damage the equipment. Use dowel pins
that will not extend further than allowed by the Tool body.
Tool Plate
Interface Plate
Dowel pins are
proper size allowing
interface plate and Tool
Plate to mount flush.
Two dowel pins (or a
boss/recess) used as
alignment features.
Correct Mounting of Tool Plate
Tool Plate
Interface Plate
Dowel pins
are too long and
cause a gap between
interface plate and Tool.
Boss and two dowel pins
as alignment features can be
difficult to align and can
damage equipment.
Gap
Incorrect Mounting of Tool Plate
single dowel pin along with a
If the customer chooses to design and build a tool interface plate, consider the following points:
• The interface plate should include bolt holes for mounting and either two dowel pins or a dowel
pin and a boss for accurate positioning on the customer tooling and Tool plate. The dowel and boss
features prevent unwanted rotation.
• Dowel pins must not extend out from the surface of the interface plate farther than the depth of the
dowel holes in the Tool plate.
• The thickness of the interface plate must be sufcient to provide the necessary thread engagement for
the mounting bolts. Fasteners should meet minimum recommended engagement lengths while not
exceeding the maximum available thread depth. Use of bolts that are too long can cause damage to the
tool side changer.
• The plate design must account for clearances required for Tool Changer module attachments
and accessories.
• If a boss is to be used on the interface plate, a boss of proper height and diameter must be machined
into the interface plate to correspond with the recess in the Tool plate.
• The interface plate must have a hole in its center for manually returning the locking mechanism to the
unlocked position under adverse conditions (i.e. unintended loss of power and/or air pressure). The
center access hole with a minimum diameter of 1” (25.4 mm) prevents debris from contaminating the
locking mechanism. Greater protection is provided by leaving the race cover and grommet in place.