ATI Technologies QC-201 User manual

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 1
Table of Contents
B. Base Tool Changer ...................................................................................................... 2
QC-201—Robotic Tool Changer ...................................................................................... 2
1.Product Overview .......................................................................................................... 2
1.1Master Plate Assembly ......................................................................................... 2
1.2Tool Plate Assembly ............................................................................................. 3
2.Installation ..................................................................................................................... 3
2.1Master Interface .................................................................................................... 3
2.2Tool Interface ........................................................................................................ 4
2.3Tool Stand Design ................................................................................................ 5
2.3.1Tool Locating Features ............................................................................. 6
2.3.2Tool Stand Sensors .................................................................................. 7
2.4Pneumatic and Electrical Connections ................................................................. 7
3.Operation ....................................................................................................................... 8
3.1Coupling Sequence .............................................................................................. 8
3.2Fail-Safe Operation .............................................................................................. 9
3.3Uncoupling ............................................................................................................ 9
4.Maintenance ................................................................................................................ 10
4.1Preventive Maintenance ..................................................................................... 10
4.2Cleaning, Lubrication, Adjustment and Replacement ......................................... 12
4.2.1Cleaning and Lubrication of the Locking Mechanism and Alignment
Pins (Master Plate). ................................................................................ 12
4.2.2Cleaning the Locking Mechanism and Alignment Pin Bushings
(Tool Plate). ............................................................................................ 13
5.Troubleshooting .......................................................................................................... 14
6.Recommended Spare Parts ....................................................................................... 14
7.Specifications .............................................................................................................. 15
8.Drawings ...................................................................................................................... 16
8.1QC-201 Master Plate Assembly ......................................................................... 16
8.2QC-201 Tool Plate Assembly ............................................................................. 17

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 2
B. Base Tool Changer
QC-201—Robotic Tool Changer
1. Product Overview
1.1 Master Plate Assembly
The Master Plate includes an anodized aluminum body, a hardened stainless-steel locking
mechanism, hardened steel alignment pins and self-sealing ports. (See Figure 1.1)
The body of the Master Plate has (4) flat sides for mounting of optional modules.
The locking mechanism consists of a cylindrical housing with holes that retain hardened
chrome-steel balls. Tapered pins located on the Master Plate mate with holes in the bearing race
on the Tool Plate to ensure repeatable alignment during the coupling process. A thin film of
grease is applied to the ball bearings and pins to enhance performance and maximize life of the
components.
On the QC-201, one G3/8 connection is available to supply pneumatic pressure to the Tool
Plate through a self-sealing port. This port is internally configured to supply pneumatic pressure
for coupling and uncoupling the tool changer. This port has limited operating capabilities when
used for a secondary application. (Please refer to Section 7—Specifications and Section 8—
Drawings). This port will seal when the Master is uncoupled from the Tool, thus eliminating the
need to turn off the supply pressure to the port.
A proximity sensor is designed into the body of the Master Plate to verify Tool Plate presence
when coupled. The sensor provides a ready-to-lock (RTL) signal.
Figure 1.1—Master Plate

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
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1.2 Tool Plate Assembly
The Tool Plate includes an anodized aluminum body and a hardened stainless steel bearing race.
(See Figure 1.2) The Tool Plate has (4) flat sides for mounting of optional modules.
Pass-through ports supply pneumatics to the customer by way of one G3/8 connection. The
pass-through port that is in line with the lock/unlock port on the master assembly is supplied
with a plug.
Figure 1.2—Tool Plate Assembly
2. Installation
2.1 Master Interface
The Master Plate is attached to the robot arm. The Master Plate is designed with mounting
features such as a boss and/or bolt and dowel holes. These features are used to accurately
position and secure the Master to the robot. Most often a robot interface plate (RIP) or sensor
interface plate (SIP) is utilized to adapt the Master Plate to a specific robot flange that is not
compatible with the Master Plate mounting features. Custom RIPs and SIPs are available upon
request. (Refer to application drawing).
All fasteners used to mount the tool changer to the robot and to user tools should be tightened to
a torque specification of 680 in-lbs. Loctite 242 must be used on these fasteners. Fasteners
should have an engagement length at least 2X fastener diameter.
A SIP is specified when tool changer Lock and Unlock (L/U) sensing is required. The SIP is a
special interface plate that contains two (2) sensors for detecting the state of the locking
mechanism. (See Figure 2.1 for a typical installation arrangement.)

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
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Robot Arm
S.I.P.
QC-151 Master Assembly
with PV1 and DE45
Modules
QC-151 Tool Assembly
with PV1 and DE45
Modules
E.I.P.
(Customer Supplied)
Mounting Bolts
(Customer Supplied)
Dowel Locating Pin
(Customer Supplied)
Mounting Bolts
Dowel Locating
Pin
Boss
Boss
Figure 2.1—Typical Installation
If the customer chooses to design and build a robot interface plate, the following should be
considered:
The interface plate should be designed to include bolt holes for mounting, dowel pins and a
boss for accurate positioning on the robot and Master Plate.
The interface plate must be properly designed to provide rigid mounting to the Master plate
boss area and to maintain a gap between the interface plate and the body outside of the boss.
The plate design should take into account clearances required for tool changer module
attachments and accessories.
2.2 Tool Interface
The Tool Plate is attached to customer-supplied tooling. The Tool Plate is designed with
mounting features such as a recess and/or bolt and dowel holes. These features are used to
accurately position and secure the end-effector. Most often an End-effector Interface Plate (EIP)
is utilized to adapt the Tool Plate to an end-effector that is not compatible with the Tool Plate
mounting features. Custom EIPs can be supplied by ATI to meet customer requirements. (See
Figure 2.1) (Refer to the application drawing).
When the customer chooses to design and build an EIP, the following should be considered:
The interface plate should be designed to include bolt holes for mounting, dowel pins and a
boss that mates with tool body recess for accurate positioning.
The plate design should take into account clearances required for tool changer module
attachments and accessories.
QC-201 Master Assembly
with PV1 and DE45
Modules
Modules
QC-201 Tool Assembly
with PV1 and DE45
Modules

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
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2.3 Tool Stand Design
In most cases, the tools are stored in a tool stand when not being used by the robot. During
coupling and lock-up the tool stand must allow for movement (float) in a plane parallel with the
mating surfaces of the Master Plate and Tool Plates (X and Y). Even slight misalignment
between the Master Plate and Tool Plate can generate high forces during lock-up if the Tool
Plate is not allowed to float into place during lock-up. These high forces can cause excessive
wear and even jamming of the end effector and robot. The degree of float required depends on
the accuracy of the robot’s positioning and the repeatability of the tool location in the tool stand
during lock-up. See Figure 2.2 and Table 2.1 for recommended maximum allowable float
(offsets) prior to coupling. The tool stand should be designed to minimize misalignment during
coupling and uncoupling. In some cases greater offsets than shown in Table 2.1 can be
accommodated by the Master and Tool Plates, but will increase wear.
Ideally, the tool should be hanging vertically in the tool stand so that gravity acts to uncouple
the Tool Plate from the Master Plate during unlocking. It is possible to design tool stands that
hold tools in the horizontal position, but care must be taken that the necessary compliance is
provided during coupling and uncoupling. In general, “horizontal-position” tool stands cause
more wear on the locking mechanism and locating features of the tool and tool stand.
Lock-up should occur with the Master Plate in the No-Touch™ Locking zone (see Table 2.1)
but not touching the Tool Plate. As locking occurs, the Master Plate should draw the Tool Plate
into the locked position.
Tool stands may also need to incorporate means for covering tools and electrical modules to
protect them in dirty environments such as grinding or welding. Alternatively, locating tool
stands in areas shielded from weld spatter, fluids, adhesives or other debris would eliminate the
need for tool covers.
CAUTION: During coupling and lock-up, the tool stand must allow for
movement (float) in a plane parallel to the mating surfaces of the Master
plate and Tool plate(s), and in a direction to this plane towards the Master
plate.
CAUTION: Tool stand design is critical to proper operation of the Tool
Changer. Improperly designed tool stands can cause misalignments that
will cause jamming and/or excessive wear of Tool Changer components.

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
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Model No-Touch Zone
Z Offset (Max)*
(mm)
X and Y Offset
(Max)†
(mm)
Cocking Offset
(Max)
(degrees)
Twisting Offset
(Max)
(degrees)
QC-201 ±1 ±2 ±0.7 ±1
Table 2.1 – Maximum Recommended Offsets Prior to Coupling
Notes: * Maximum values shown. Decreasing actual values will minimize wear during
coupling/uncoupling.
† Actual allowable values may be higher in some cases but higher offsets will increase
wear during coupling.
2.3.1 Tool Locating Features
The tool must be positively and repeatably located in the tool stand. A variety of
methods may be used to accomplish this. Whatever method is chosen it is important
that the required compliance or “float” be built into the locating system. A common
method is to use tapered dowel pins in holes. As the Tool Plate is lifted during
locking, the taper lets the tool float into its locked position even with small deviations
in robot position.
Other tool locating feature methods include balls and detents, dowel pins in notched
V-grooves, etc. Please consult ATI for recommendations or assistance with locating
feature design for your particular tooling.
Straight cylindrical dowel pins should not be used as they provide too much surface
engagement. During coupling and uncoupling the tool can bind on these pins due to
misalignment of the Master and Tool Plates.
Robot programming and locational repeatability are vital in tool pick-up and drop-off.
Cocking Offset
(About X and Y)
Figure 2.2—Offset Definitions
X, Y and Z Offset

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
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2.3.2 Tool Stand Sensors
It is highly suggested that the customer provide a sensor that detects the presence of a
properly seated tool in the tool stand. The sensor may be used prior to coupling to
ensure there is a tool properly seated in the stand. Sensors may also be used as the
robot starts to move away after uncoupling. This provides a fail-safe measure in the
event that a tool should become jammed in the stand or if the tool should fail to
release properly from the robot.
Proximity sensors should be located so that the sensing face is vertical to prevent
swarf or other debris from falling on the sensor and creating false readings.
2.4 Pneumatic and Electrical Connections
The air supply used for coupling and uncoupling the tool changer should be clean, dry and non-
lubricated. A supply pressure in the range of 60 to 100 psi is acceptable for operation of the
locking mechanism, with a setting of 80psi suggested. The air should be filtered 50 micron or
better.
The Master side port that is internally configured to supply lock/unlock pressure can also feed
other applications through a connection on the Tool Plate. The other application should not
require a high flow that would cause the pressure to drop below the minimum required for
actuation of the locking mechanism.
CAUTION: Do not use the Tool Changer in the fail-safe condition for
extended periods of time. Do not transport the Tool Changer in the fail-safe
condition. Possible damage to the locking mechanism could occur.

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 8
3. Operation
The Master locking mechanism is pneumatically driven to couple and uncouple with the
bearing race on the Tool Plate. The Master Plate utilizes air ports from a control module to
provide lock and unlock pressure to the locking mechanism.
3.1 Coupling Sequence
Position the Master above the Tool and move the Master into locking position. The mating
surfaces of the Master and Tool should be parallel and not touching. Make sure that the tapered
alignment pins from the Master enter the alignment holes on the Tool. The alignment pins
should be relatively concentric with the alignment holes such that they do not rub against the
edge.
The locking mechanism allows the Master to “pull up” the Tool with relatively large gaps
between the two sides. It is recommended that the mating faces of the Master and Tool not be
touching, but be within 0.04” (1 mm) of each other when coupling to minimize stress and wear
on the locking mechanism.
RTL (Ready-To-Lock) sensing is built into the tool changer, providing the ability to sense Tool
proximity to the Master prior to locking. The mating faces of the Master and Tool must be
positioned within approximately 0.02–0.03” (0.50–0.75mm) of each other for the sensor to
detect Tool presence. A RTL signal is not required to couple the tool changer, but is
recommended as a further confirmation of coupling prior to removing the Tool from the tool
stand.
Verify that the RTL signal is read as “on” (true).
Turn the Lock command on. The solenoid valve is shifted to the Lock position and air is
supplied to the locking mechanism to couple the tool changer.
A sufficient delay must be programmed between the Lock command being activated and
reading the state of the Locked/Unlocked signals, so that the locking process is completed
before checking the locked state.
Read the Locked and Unlocked signals via the control module.
CAUTION: No-Touch
TM
locking technology allows the unit to couple with
a separation distance between the Master and Tool. Direct contact of the
Master and Tool mating surfaces is not suggested or required just prior to
coupling. Contact may result in damage to the unit and/or the robot.
CAUTION: The locking mechanism must be in the unlock position when
attempting to couple the Tool Changer. Failure to adhere to this condition
may result in damage to the unit and/or the robot.
ATTENTION: All tool changers are initially lubricated using MobilGrease® XHP222 Special
grease. The end user must apply additional lubricant to the locking mechanism components
and alignment pins prior to start of service (See Section 4.2—Cleaning, Lubrication,
Adjustment and Replacement). Tubes of lubricant for this purpose are shipped with every tool
changer. Note: MobilGrease® XHP222 Special is a NLGI #2 lithium complex grease with
CAUTION: Safe, reliable operation of the Tool Changer is dependent on a
continuous supply of compressed air at a pressure of 60–100 PSI. Robot motion
should be halted if the air supply pressure drops below 60 PSI for any reason.

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 9
The Locked signal should read “on” (true) and the Unlocked signal should read “off” (false).
If the locking mechanism has been actuated and both the Locked and Unlocked signals are read
as “off” (false), then a “missed tool” condition has occurred (for example, the Tool is not in the
stand or is not positioned properly). In this case an error should be generated and the robot
program halted. The situation requires manual inspection to determine the cause of the problem.
The locking mechanism must be in the Unlocked state before another attempt is made to couple
or damage could occur to the robot and/or the tool changer.
3.2 Fail-Safe Operation
A fail-safe condition occurs when there is an unintended loss of lock air pressure to the
Master plate. When air pressure is lost, the Tool Changer relaxes and there may be a slight
separation between the Master and Tool plates. The lock sensor may indicate that the unit is
not locked. ATI’s patented fail-safe feature utilizes a multi-tapered cam to trap the ball
bearings and prevent an unintended release of the Tool plate. Positional accuracy of the
tooling is not maintained during this fail-safe condition. Do not operate the Tool Changer in
the fail-safe condition. If source air is lost to the unit, movement should be halted until air
pressure is restored.
After air pressure is re-established to the Master plate, the locking mechanism will energize
and securely lock the Master and Tool plates together. In some cases when the load on the
tool changer is significantly off center, it may be necessary to position the load underneath
the tool changer or return the tool to the tool storage location to ensure a secure lock
condition. If equipped, make sure the lock sensor indicates the Tool Changer is in the locked
position before resuming normal operations. Consult your Control/Signal Module Manual
for specific error recovery information.
3.3 Uncoupling
The tool changer should be positioned in the Tool Stand in the same location as that when
coupling took place.
Turn the Lock command off.
Issue the Unlock command. The solenoid valve is shifted to the Unlock position and air is
supplied to the locking mechanism to uncouple the tool changer.
A sufficient delay must be programmed between Unlock command being activated and reading
the state of the Locked/Unlocked signals, so that the locking process is completed before
checking the locked state.
Read the Locked and Unlocked signals.
The Unlocked signal should read “on” (true) and the Locked signal should read “off” (false).
Any other condition indicates a problem and the robot program should be halted.
Once the Lock and Unlock signals are verified to be in the proper state the Master Plate may be
moved away from the Tool Plate in the axial direction.
The robot and Master Plate can now proceed to another Tool for coupling and subsequent
operations.
CAUTION: Do not use the Tool Changer in a fail-safe condition. Damage to the
locking mechanism could occur. Re-establish air pressure and ensure the Tool
Changer is in a secure lock position before returning to normal operations.

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 10
4. Maintenance
The tool changer and optional modules are designed to provide a long life with little
maintenance required.
A visual inspection of the locking mechanism is recommended every 100,000 cycles or on a
semi-annual basis, whichever comes first. The ball bearings, alignment pins, bearing race and
alignment pin holes should be inspected for wear and lubrication. Component parts are to be
cleaned thoroughly prior to re-lubricating. A NLGI #2, lithium-based grease with
molybdenum disulfide additive is suggested for ball and alignment pin lubrication.
If alignment pin replacement is required the new alignment pins must be installed with a
torque of 60 in-lbs, and Loctite 242 or similar must be used.
An inspection of the tool stand and tool should be performed periodically for evidence of
wear, bending or other problems that could affect Master and Tool Plate alignment during
coupling and uncoupling.
Rubber bushings should be periodically inspected for wear, abrasion and cuts that can result
from improper handling.
If the tool changer is being used in dirty environments (e.g. welding or deburring applications)
care should be taken to limit the exposure of the tool changer. Unused Tool assemblies should
be covered to prevent debris from settling on the mating surface. Also, the Master Plate
assembly should be exposed for only a short period of time during tool change and down time.
In this instance the customer should determine a suitable inspection schedule.
Detailed assembly drawings are provided in Section 8—Drawings of this manual.
4.1 Preventive Maintenance
The tool changer and optional modules are designed to provide a long life with regular
maintenance required.
A visual inspection and preventative maintenance schedule is provided in the table below
depending upon the application.
Detailed assembly drawings are provided in Section 8—Drawings of this manual.
ATTENTION: The cleanliness of the work environment strongly influences the trouble-free
operation of the changer. The dirtier the environment, the greater the need for protection
against debris. Protection of the entire EOAT, the master, the tool and all of the modules
may be necessary. Protective measures include the following: 1) Placement of tools stands
away from debris generators, 2) covers incorporated into the tool stands (see Section 2.3—
Tool Stand Design), and 3) guards, deflectors, air curtains, and similar devices built into the
EOAT and the tool stand.
ATTENTION: All tool changers are initially lubricated using MobilGrease® XHP222
Special grease. The end user must apply additional lubricant to the locking
mechanism components and alignment pins prior to start of service (See Section
4.2—Cleaning, Lubrication, Adjustment and Replacement). Tubes of lubricant for this
purpose are shipped with every tool changer. Note: MobilGrease® XHP222 Special is
a NLGI #2 lithium complex grease with molybdenum disulfide.

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 11
Application(s) Tool Change
Frequency
Inspection
Schedule
General Usage
Material Handling
Docking Station
> 1 per minute Weekly
< 1 per minute Monthly
Welding/Servo/
Deburring, Foundry
Operations
(Dirty Environments)
All Weekly
Checklist
Balls/Alignment Pins/Holes/Bearing Race
Inspect for lubrication and wear. A NLGI #2, lithium-based grease with molybdenum disulfide
additive is suggested for locking mechanism and alignment pin lubrication. Over time, lubricants
can become contaminated with process debris. Therefore, it is recommended to thoroughly clean
the existing grease and replace with new as needed. See Section 4.2—Cleaning, Lubrication,
Adjustment and Replacement.
Excessive alignment pin/bushing wear may be an indication of poor robot position during
pickup/drop-off. Adjust robot position as needed. Check tool stand for wear and alignment
problems.
Wear on the balls/bearing race could be an indication of excessive loading.
Mounting Hardware/Interface Connections
Inspect for proper torque and interference or wear, abrasions, cuts of hoses, and electrical cables.
Tighten and correct as required.
O-rings/Rubber Bushings
Inspect for wear, abrasion, and cuts.
Exposed o-rings and rubber bushings may be subject to damage during normal operation.
Replace damaged o-rings and rubber bushings as needed.
Electrical Contacts
Inspect for wear and abrasion.
Exposed contacts may be subject to damage during normal operation.
Clear debris from the area of the contacts using compressed air.
Do not directly clean contacts as abrasion may occur and the performance of the contact may be
compromised.

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 12
4.2 Cleaning, Lubrication, Adjustment and Replacement
4.2.1 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins
(Master Plate).
1. The locking mechanism must be in the unlock state before cleaning.
2. Use a clean rag to thoroughly remove the existing lubricant and debris from
the balls, the male coupling, the cam and the alignment pins.
Cleaning balls and outer surfaces of male Cleaning balls, cam and inner surface
coupling. (QC-210 shown) male coupling. (QC-210 shown)
3. Check each ball to make sure it moves freely in the male coupling.
Additional cleaning may be necessary to free up any balls that are sticking in
place.

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 13
4. Apply a liberal coating of lubricant to the balls, the male coupling (inside and
out), and the alignment pins.
4.2.2 Cleaning the Locking Mechanism and Alignment Pin Bushings (Tool Plate).
1. Use a clean rag to thoroughly remove the any lubricant and debris from the
bearing race and the bushings.
2. No re-lubrication is necessary on the Tool Plate components.

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 14
5. Troubleshooting
Symptom Possible Cause / Correction
Check these conditions prior to
any further troubleshooting.
Ensure that the Quick-Change has proper pneumatic and
electrical connections, air is supplied at a minimum of 60psi
(4.1 Bar), that no air or vacuum can be trapped in a de-
energized Lock or Unlock Port (pressure must be vented to
atmosphere).
Check air supply
Unit will not lock or unlock Verify that ball bearings are moving freely. Clean and lubricate
as needed to restore smooth operation (see Section 4—
Maintenance).
Verify the control module is operating correctly.
Verify that the Master and Tool are within the specified No-
Touch zone when attempting to lock.
6. Recommended Spare Parts
Assembly Part Number Description
Master Plate 9120-201NM-0000-0000-
0000 Complete QC-201 Master Plate, No Options
8590-9909999-08 PNP Proximity Sensor
9005-20-1060 Alignment Pin Assembly
3410-0001066-01 6mm x 2mm Buna O-ring
3410-0001065-01 14mm x 2mm Buna O-ring
3410-0001068-01 U-Cup
3700-20-1452 Check Valve
3700-20-1453 Valve Stem
9120-201M-Seals Master Seal Kit for QC-201/202
Locking Mechanism 3700-20-3209 Male coupling
3700-20-1381 Ball bearing, 15 mm
3410-0001041-01 O-ring, JISA-P90, dynamic ring upper piston
area
3410-0001042-01 O-ring, JISA-P22, dynamic ring lower piston
area
Tool Plate 9120-201NT-0000-0000-
0000 Complete QC-201 Tool Plate, No Options
3490-0001016-01 G3/8 Brass Plug
3700-20-3207 Bearing Race

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
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B - 15
7. Specifications
Master and Tool Plates
Suggested Payload Limit 450lbs
(204kg)
The mass attached to the tool changer.
Operating Temperature Range -20 to 150oF
(-30 to 66oC)
Operating Pressure Range 60–100psi
(4.1-6.9bar)
Locking mechanism supply pressure
operating range. Supply to be clean, dry
and filtered to 50 micron or better.
Coupling Force @ 80psi 7000lbs
(3175kg)
Axial holding force.
Static Moment Capacity (x,y) 24,000in-lb Maximum recommended working load for
optimum performance of the tool changer.
(z) 20,000in-lb (Torsion).
Positional Repeatability 0.0006in
(0.015mm)
Repeatability tested at rated load at one
million cycles.
Weight (coupled) 16.8lb
(7.6kg)
Master 11.6lb
Tool 5.2lb.
Max. Recommended distance
between Master and Tool
Plate
0.04in
(1mm)
No-Touch
TM
locking technology allows the
Master and Tool Plates to lock with
separation when coupling.
Sensor Information, signal
name
RTL
(Ready-To-Lock)
Proximity sensor with quick disconnect
connector wired into the Signal Master
Module to indicate Master and Tool
mating surfaces within close proximity of
each other.
*Pneumatic Port, (qty) Size
(Cv, Min)
(1) G3/8 (1.8) Maximum pressure of 100psi (6.9bar),
Nitrile seals, *This port is internally
configured to supply Lock/Unlock
pressure to the locking mechanism. The
Tool side connection that is fed from this
port has operational limits. Please refer to
the Product Manual for details.
Mounting Surface/Customer
Interface
SIP or RIP Customer-Specified Robot Pattern
Tool Plate Meets ISO 9409-1-A-125

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 16
8. Drawings
8.1 QC-201 Master Plate Assembly

Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 17
8.2 QC-201 Tool Plate Assembly