ATI Technologies QC-300 User manual

Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
QC‑300 Robotic Tool Changer
Manual
Document #: 9610‑20‑2363

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
2
Foreword
This manual contains basic information applicable to all ATI Tool Changer robotic Tool Changers. Certain Tool Changer
models have their own manuals that contain more detailed information. Also, additional information about electrical,
pneumatic, uid, high‑power and high‑current modules and other options is available in other manuals and documents.
Please contact ATI Industrial Automation with any questions concerning your particular model.
CAUTION: This manual describes the function, application, and safety considerations of this
product. This manual must be read and understood before any attempt is made to install or
operate the product, otherwise damage to the product or unsafe conditions may occur.
Information contained in this document is the property of ATI Industrial Automation, Inc. (ATI) and shall not be
reproduced in whole or in part without prior written approval of ATI. The information herein is subject to change without
notice. This manual is periodically revised to reect and incorporate changes made to the product.
The information contained herein is condential and reserved exclusively for the customers and authorized agents of ATI
Industrial Automation and may not be divulged to any third party without prior written consent from ATI. No warranty
including implied warranties is made with regard to accuracy of this document or tness of this device for a particular
application. ATI Industrial Automation shall not be liable for any errors contained in this document or for any incidental
or consequential damages caused thereby. ATI Industrial Automation also reserves the right to make changes to this
manual at any time without prior notice.
ATI assumes no responsibility for any errors or omissions in this document. Users’critical evaluation of this document is
welcomed.
Copyright by ATI Industrial Automation. All rights reserved.
How to Reach Us
Sale, Service and Information about ATI products:
ATI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
WWW.ati‑ia.com
Tel: [phone]
Fax: [phone]
E‑mail: info@ati‑ia.com
Technical support and questions:
Application Engineering
Tel: [phone], Option 2, Option 2
Fax: [phone]
E‑mail: mech_support@ati‑ia.com

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
3
Table of Contents
Foreword.......................................................................................................................................... 2
Glossary........................................................................................................................................... 5
1. Safety......................................................................................................................................... 6
1.1 ExplanationofNotications.........................................................................................................6
1.2 General Safety Guidelines............................................................................................................6
1.3 Safety Precautions........................................................................................................................7
2. Product Overview..................................................................................................................... 8
2.1 Master Plate Assembly .................................................................................................................9
2.2 Tool Plate Assembly......................................................................................................................9
2.3 Master Plate/Tool Plate Locking Mechanism............................................................................10
2.4 Optional Sensor Interface Plate (SIP)........................................................................................ 11
2.5 Optional Modules........................................................................................................................ 11
3. Installation .............................................................................................................................. 12
3.1 Master Interface Plate.................................................................................................................14
3.2 Master Plate Installation.............................................................................................................15
3.3 Master Plate Removal.................................................................................................................16
3.4 Tool Interface Plate .....................................................................................................................17
3.5 Tool Plate Installation .................................................................................................................18
3.6 Tool Plate Removal .....................................................................................................................18
3.7 Optional Module Installation......................................................................................................19
3.8 Optional Module Removal..........................................................................................................19
3.9 Installing an Optional (SIP) Sensor Interface Plate Assembly................................................20
3.10 Pneumatic Requirements...........................................................................................................23
3.10.1 Valve Requirements .........................................................................................................23
3.11 Electrical Connections................................................................................................................24
3.11.1 PNP Type Lock and Unlock Sensors................................................................................24
3.11.2 DC Type Lock and Unlock Sensors..................................................................................24
4. Operation ................................................................................................................................ 25
4.1 Conditions for Coupling.............................................................................................................26
4.2 Fail‑Safe Operation .....................................................................................................................26
4.3 Uncoupling Sequence.................................................................................................................27
4.4 ToolIdentication........................................................................................................................27
4.5 Tool Storage Considerations .....................................................................................................27

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
4
5. Maintenance............................................................................................................................ 28
5.1 Preventive Maintenance .............................................................................................................28
5.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins...........................29
5.3 Optional Electrical Module Pin Block Inspection and Cleaning.............................................31
6. Troubleshooting and Service Procedures ........................................................................... 32
6.1 Troubleshooting Procedures .....................................................................................................32
6.2 Service Procedures.....................................................................................................................34
6.2.1 Proximity Sensor Adjustment, Test, or Replacement .......................................................34
6.2.2 Optional Electrical Module Seal Inspection and Replacement.........................................36
6.2.3 3/8”Rubber Bushing Replacement..................................................................................37
6.2.4 Self‑Sealing Valve Replacement......................................................................................38
7. Serviceable Parts ................................................................................................................... 40
7.1 QC‑300 Master Plate Serviceable Parts.....................................................................................40
7.2 QC‑300 Tool Plate Serviceable Parts.........................................................................................41
7.3 Accessories.................................................................................................................................41
8. Specications ......................................................................................................................... 42
9. Drawings ................................................................................................................................. 43
9.1 QC‑300 Tool Changer with G19 and FN2 Modules...................................................................43
10. Terms and Conditions of Sale............................................................................................... 44

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
5
Glossary
Term Denition
Master plate The half of the Tool Changer that mounts to a robot. The Master plate contains
the locking mechanism.
Tool plate The half of the Tool Changer to which various tools or end‑effectors are
mounted.
Cover Plate A blank closure plate on the Tool Changer Master plate that closes the
pneumatic chamber.
Piston A piston located in the Master plate that actuates the locking mechanism.
Cam A circular cam attached to the piston that forces the locking balls outward
during the locking process.
Bearing Race A hardened steel ring in the Tool plate that is engaged by the locking balls
during the locking process.
End‑Effector The tool used by the robot to perform a particular function.
Tool Stand A storage location for Tools not being used by the robot. This is usually
supplied by the customer and is specic to the application.
Electrical Module A variety of modules that pass electrical power through the Master plate to the
Tool plate and to the end‑effector.
Pneumatic Module A variety of modules that pass pneumatic power through the Master plate to
the Tool plate and to the end‑effector.
Detection Shaft A threaded stem inserted into the back side (top) of the piston, and functions
as a target to actuate the Lock/Unlock switches.
Sensor Plate A cover plate for the back side (top) of the Master plate, seals the pneumatic
chamber and provides mounting points for the Lock/Unlock sensors.
Lock Port A pneumatic port on the Master plate used to supply air to lock the Master
plate to the Tool plate.
Unlock Port A pneumatic port on the Master plate used to supply air to unlock the Master
plate from the Tool plate.
No‑Touch™ A design feature of all ATI Tool Changer products that allows coupling the
Master plate and Tool plate without physical contact prior to locking.

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
6
1. Safety
The safety section describes general safety guidelines to be followed with this product, explanation of the
notication found in this manual, and safety precaution that apply to the product. More specic notication are
imbedded within the sections of the manual where they apply.
1.1 ExplanationofNotications
The notications included here are specic to the product(s) covered by this manual. It is expected that the
user heed all notications from the robot manufacturer and/or the manufacturers of other components used
in the installation.
DANGER: Notication of information or instructions that if not followed will result in
death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
WARNING: Notication of information or instructions that if not followed could result
in death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
CAUTION: Notication of information or instructions that if not followed could result
in moderate injury or will cause damage to equipment. The notication provides
information about the nature of the hazardous situation, the consequences of not
avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notication of specic information or instructions about maintaining, operating,
installation, or setup of the product that if not followed could result in damage to equipment. The
notication can emphasize but is not limited to specic grease types, good operating practices,
or maintenance tips.
1.2 General Safety Guidelines
Prior to purchase and installation, the customer should verify that the Tool Changer selected is rated for the
maximum loads and moments expected during operation. Refer to product specications section in each
module of this manual or contact ATI for assistance. Particular attention should be paid to dynamic loads
caused by robot acceleration and deceleration. These forces can be many times the value of static forces in
high acceleration or deceleration situations.
The customer is responsible for ensuring that the area between the Master and Tool sides is clear of foreign
objects during mating and subsequent coupling. Failure to do so may result in serious injury to personnel.
DANGER: The gap between the Master and Tool sides is a pinch point. All personnel
should be prevented from placing any part of their body or clothing in the gap,
especially during actuation of the locking mechanism.
The customer is responsible for understanding the function of the Tool Changer and implementing the
proper fasteners and/or software to operate the Tool Changer safely. The Tool Changer should be controlled
such that there is no chance of locking or unlocking in a position that would endanger personnel and/or
equipment. If the Tool Changer is specied with Lock/Unlock (L/U) and Ready‑to‑Lock (RTL) sensing
capability, the status should be monitored and interlocks applied to prevent injury to personnel and
equipment.
All pneumatic ttings and tubing must be capable of withstanding the repetitive motions of the application
without failing. The routing of electrical and pneumatic lines must minimize the possibility of stress/strain,
kinking, rupture, etc. Failure of critical electrical or pneumatic lines to function properly may result in injury
to personnel and equipment.
All electrical power, pneumatic and uid circuits should be disconnected during servicing.

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
7
1.3 Safety Precautions
WARNING: Remove all temporary protective materials (caps, plugs, tape, etc.) on
locking face of Tool Changer and modules prior to operation. Failure to do so will result
in damage to Tool Changers, modules, and end‑of‑arm tooling and could cause injury
to personnel.
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’s 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: During operation, the area between the Master and Tool must be kept
clear. Failure to keep area clear will result in damage to Tool Changer, modules, or
end‑of‑arm tooling and could cause injury to personnel.
WARNING: The Tool Changer is only to be used for intended applications and
applications approved by the manufacturer. Using the Tool Changer in applications
other than intended will result in damage to Tool Changer, modules, or end‑of‑arm
tooling and could cause injury to personnel.
CAUTION: The Master plate locking mechanism must not be actuated without being
mounted to the interface plate. Damage to the Cover Plate and O‑ring may result.
Always attach the Master plate to the Interface plate prior to attempting any operations.

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
8
2. 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.
Electrical, uid, and other utilities 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.
Table 2.1—QC‑300 Tool Changer Models and Features
Payload Flats Plate Electrical Pneumatic Ports Part No.
1000 lbs
(450 kg) (2)
Master 10‑pin Customer Connection 5‑contact Pin Block
PNP RTL Sensor
(8) G 3/8 Self‑Sealing ports
(2) G 3/8 Pass through ports
(2) G 1/4 Lock/Unlock air ports 9120‑300M‑000‑000‑000‑000
Tool 5‑pin Customer Connection
5‑contact Pin Block (10) G 3/8 Pass through ports 9120‑300T‑000‑000‑000‑000
Master 10‑pin Customer Connection 5‑contact Pin Block
DC RTL Sensor
(8) G 3/8 Self‑Sealing ports
(2) G 3/8 Pass through ports
(2) G 1/4 Lock/Unlock air ports 9120‑300M‑000‑000‑000‑000‑B2
Tool 5‑pin Customer Connection
5‑contact Pin Block (10) G 3/8 Pass through ports 9120‑300T‑000‑000‑000‑000‑B2
Master None (8) G 3/8 Self‑Sealing ports (2) G 3/8 Pass through ports
(2) G 1/4 Lock/Unlock air ports 9120‑300M‑000‑000‑000‑000‑E0
Tool None (10) G 3/8 Pass through ports 9120‑300T‑000‑000‑000‑000‑E0
Master None (8) G 3/8 Self‑Sealing ports (2) G 3/8 Pass through ports
(2) G 1/4 Lock/Unlock air ports 9120‑300M‑000‑000‑000‑000‑E0‑B2
Tool None (10) G 3/8 Pass through ports 9120‑300T‑000‑000‑000‑000‑E0‑B2
Master None (8) G 3/8 Self‑Sealing ports (2) G 3/8 Pass through ports
(2) G 1/4 Lock/Unlock air ports 9120‑300M‑000‑000‑000‑000‑E0‑V2
Tool None (10) G 3/8 Pass through ports19120‑300T‑000‑000‑000‑000‑E0‑V2
Master None (8) G 3/8 Self‑Sealing ports (2) G 3/8 Pass through ports
(2) G 1/4 Lock/Unlock air ports 9120‑300M‑000‑000‑000‑000‑E0‑B‑V2
Tool None (10) G 3/8 Pass through ports19120‑300T‑000‑000‑000‑000‑E0‑B‑V2
Master 10‑pin Customer Connection 5‑contact Pin Block
DC RTL Sensor
(8) G 3/8 Self‑Sealing ports
(2) G 3/8 Pass through ports
(2) G 1/4 Lock/Unlock air ports 9120‑300M‑000‑000‑000‑000‑W
Notes:
1. Viton seals.
2. Tool Changer Master and Tool plate assemblies with (‑B) part numbers have black anodized bodies.

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
9
2.1 Master Plate Assembly
The Master plate assembly includes an anodized aluminum body, a hardened stainless‑steel locking
mechanism, and hardened steel alignment pins. The locking mechanism consists of a cam, a male coupling,
and chrome‑steel ball bearings. The Master plate provides (2) at sides for mounting optional modules.
Figure 2.1—Master Plate Assemblies
Optional Module
Flat A
Optional Module
Flat B
G 1/4 Lock Air Port
G 1/4 Unlock Air Port
Master Plate
Assembly
(2) Pass-Through
Air Port
Male Coupling
(8) Self-Sealing
Valve
Ball Bearing
(2) Alignment Pin
RTL Sensor
10-Pin Customer Connection
5-Contact Spring Pin
Block and V-ring Seal
(10) G 3/8 Customer Connection
Cover Plate
The air connections provide lock and unlock air for the locking mechanism and pass through air for the end
of arm tooling.
Customer connections are provided for the self‑sealing air valves and pass through ports. An integrated
5‑pin electrical module and RTL sensor are included with some models. Refer to Table 2.1 for details.
Alignment pins on the Master mate with holes in the Tool bearing race for alignment during the coupling
process. An extreme pressure grease is applied to the cam, male coupling, ball bearings, and pins to
maximize the life of the Master plate assembly.
A cover plate attaches to the Master to protect the internal locking mechanism during shipment. This cover
plate can be removed during installation, if replaced by an interface plate or sensor interface plate. Refer to
Section 3—Installation for details.
2.2 Tool Plate Assembly
The Tool plate assembly includes an anodized aluminum body and hardened stainless‑steel bearing race.
The Tool plate provides (2) at sides for mounting optional modules. The Tool plate is equipped with pass
through air ports to supply end of arm tooling.
Customer connections are provided for the pass through ports. An integrated 5‑pin electrical module is
included with some models. Refer to Table 2.1 for details.
Figure 2.2—Tool Plate Assembly
(2) Integrated Alignment Hole
(10) G 3/8 Customer Connection
Optional Module Flat A
Optional Module Flat B
(2) Pass Through Air Port
Tool Plate Assembly
Harden Stainless Steel
Bearing Race
(8) Pass Through Air Port
5-Contact Pin Block
RTL Sensor Target
5-Pin Customer Connection

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
10
2.3 Master Plate/Tool Plate Locking Mechanism
The coupling of the Master plate and the Tool plate is achieved through a patented, high‑strength,
high‑repeatability, and stainless steel mechanism. During locking, steel balls in the Master plate are driven
outward by a circular cam attached to a pneumatically actuated piston. The cam prole has (3) features: A
lead‑in angle (conical), a at (cylindrical) area, and a secondary angle (conical). The lead‑in angle initiates
the coupling process, the at area assures the coupling will not be compromised in case of air loss (fail‑safe
feature), and the secondary angle provides rigid coupling during normal operation. The balls engage a
bearing race (or “locking ring”) in the Tool plate and lock the Master plate and Tool plate tightly together.
Figure 2.3—Locking Mechanism
Piston
Bearing Race
Circular Cam
Ball Cage
Ball Bearing

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
11
2.4 Optional Sensor Interface Plate (SIP)
The sensor interface plate (SIP) system provides locking mechanism position signals to the customer’s
process controller. These signals indicate (2) possible conditions for the Tool Changer Master plate:
unlocked or locked.
The SIP system utilizes sensors to detect the position of the pneumatically‑actuated piston in the Master
plate. These sensors are available in PNP, contact ATI for more information.
The SIP system consists of a SIP plate (which is the interface plate between the Master plate and the robot),
a detection shaft, a sensor plate, proximity switches, and an O‑ring.
The sensor plate will replace the cover plate on the back of the Tool Changer Master. The sensor plate
provides mounting locations for the proximity sensors and closes the pneumatic chamber of the Master. The
SIP provides mounting holes for attaching the Master to the customer’s application and retains the sensor
plate.
Figure 2.4—Optional Sensor Interface Plate
Detection Shaft
(Sensor Target)
Unlock Sensor
Lock Sensor
Sensor Interface Plate (SIP)
O-ring
Sensor Plate
2.5 Optional Modules
The Tool Changer has (2) ats. Optional modules support the pass through of various utilities such as signal,
uid/air, and power. Some modules require an adapter plate.
For assistance in choosing the right modules for your application, visit the specic QC‑300 model webpage
by clicking on the link QC‑300 Web Page and select the Compatible Modules tab to see what is available or
contact an ATI Sales Representative.

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
12
3. Installation
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’s 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: All pneumatic ttings and tubing must be capable of withstanding the repetitive
motions of the application without failing. The routing of electrical and pneumatic lines must
minimize the possibility of over stressing, pullout, or kinking the lines. Failure to do so can
cause some critical electrical and/or pneumatic lines not to function properly and may result in
injury to personnel or damage to equipment.
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: Do not apply Lock or Unlock air pressure to the Tool Changer prior to installing
an interface plate (Interface plate) or sensor interface plate (SIP). Applying air pressure can
damage the cover plate, O‑ring or may cause injury to personnel from ying debris. Always
install an interface plate or SIP and have the Tool Changer mounted securely to the robot
before applying air pressure. Refer to Section 3.1—Master Interface Plate and Section 3.2—
Master Plate Installation for more information.
CAUTION: Failure to follow the interface plate or tool interface plate design consideration in
Section 3.4—Tool Interface Plate may result in cover plate O‑ring damage or loosening of the
interface during operation. Follow the guidelines provided when designing an interface plate
for the Tool Changer.
CAUTION: Do not use fasteners that exceed the thread depth in the Tool Changer. Refer to
Section 9—Drawings for details on mounting hole thread depth. Secure the Tool Changer with
the proper length fasteners. This is true for both robot and tool interfaces.
CAUTION: Do not use fasteners with pre‑applied adhesive more than once. Fasteners might
become loose and cause equipment damage. Always apply new thread locker when reusing
fasteners.

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
13
The Master plate of the Tool Changer mounts to the robot arm using an interface plate or a SIP. Custom interface
plates are available from ATI. Refer to Section 3.1—Master Interface Plate or Section 2.4—Optional Sensor
Interface Plate (SIP) for more information.
The end‑effector typically attaches to the Tool plate with an interface plate, standard and custom interface plates are
available from ATI upon request. Refer to Section 3.4—Tool Interface Plate for more information.
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 3.1.
Pneumatic lines and electrical cables must be attached, bundled, and strain‑relieved to allow movement during
operation.
Table 3.1—FastenerSize,Class,andTorqueSpecications
Mounting Conditions Fastener Size and
Property Class Recommended Torque Thread
Locker
QC‑300 Master plate to interface plate or sensor interface
plate M12 x 1.75 Class 12.9 Pre‑applied
Adhesive or
Loctite 242
Socket head cap 70 ft‑lbs (94 Nm)
Tool interface plate to QC‑300 Tool plate M12 x 1.75 Class 12.9
Socket head cap 70 ft‑lbs (94 Nm)
Optional module or adapter plate to Master or Tool plate,
Supplied Fasteners
M4 x 0.7 Class 12.9 Pre‑applied
Adhesive or
Loctite 222
Socket head cap 15 in‑lbs (1.69 Nm)
Socket at head cap 10 in‑lbs (1.13 Nm)

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
14
3.1 Master Interface Plate
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 Drawing Section for technical information on mounting features.)
CAUTION: Do not use more than two alignment features when securing a Master plate
to a robot 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 robot interface plate.
CAUTION: Do not use dowel pins that are too long that will not allow the interface plate
and the Master body’s boss to mate ush with each other. Using dowel pins that are too
long will cause a gap between the interface plate and the Master body’s boss causing
damage to the equipment. Use the proper size dowel pins that will not extend further
than allowed by the Master body.
Interface Plate
Dowel pins that are too long
can cause a gap between
the interface plate and
boss in the Master plate.
A boss and (2) dowel pins
can be difficult to align and
cause damage to the
Master Plate
Incorrect Mounting of the Master Plate
equipment.
Correct size dowel pin(s)
allows the interface plate
and the boss in the
Master plate to mount flush.
Interface Plate
Master Plate
Boss
Flush
A gap is between the
interface plate
and the flange
of the Master plate.
Note: A dowel pin and a boss/recess
or ((2) dowel pins) are used as
alignment features.
Correct Mounting of the 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 (2) dowel pins or (1) 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 farther than the depth of the dowel
holes in the boss of 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 the equipment.
• The interface plate must provide rigid mounting to the Master plate.
• The interface plate design must account clearances required for Tool Changer module attachments and
accessories.

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
15
Figure 3.1—InterfacePlateandSIPwithMasterPlateCongurations
Interface Plate
Master Plate Body
Maintain a Gap
Cover Plate Left in Place
O-ring
Dowel Pin
Boss
Mounting Fastener
(Supplied by Customer)
Master Plate Boss
Sensor Interface plate (SIP)
Master Plate Body
Sensor Plate (Cover Plate Removed)
O-ring
Detection shaft
O-ring
Dowel Pin
Mounting Fastener
(Supplied by Customer)
Master Plate Boss
Interface Plate
Master Plate Body
O-ring
Boss Dowel Pin
Mounting Fastener
(Supplied by Customer)
Maintain a Gap
Master Plate Boss
Cover Plate Removed
3.2 Master Plate Installation
Tools required: 2.5 mm and 10 mm Allen wrench, torque wrench
Supplies required: Clean rag, Loctite 242
The Tool Changer Master plate mounts to the robot ange using an SIP or interface plate. A cover plate
attaches to the Master plate to protect the internal locking mechanism during shipment. The cover plate must
be removed if an SIP is being used. The interface plate can be designed to accommodate the cover plate.
1. Clean the mating surfaces.
2. Align the dowel pin in the interface plate or SIP to the corresponding holes in the robot arm and secure
with supplied or customer supplied fasteners, refer to Figure 3.1. Refer to Table 3.1 for fasteners and
torque.
3. What type of interface plate being installed?
If installing an interface plate that replaces the cover plate, go to step 4.
If installing an SIP or an interface plate that incorporates the cover plate, go to step 6.
4. Using a 2.5 mm Allen wrench, remove the (2) M3 socket at head screws and discard.
5. Remove the cover plate.
CAUTION: Make sure the O‑ring is seated in the groove in the Master plate. If the
O‑ring is not seated in the groove, it can be cut or damaged, resulting in a leaking seal.
Seat O‑ring into groove in Master body.
6. Align the dowel pin in the interface plate or SIP to the corresponding holes in the Master plate and
secure with supplied (6) M12 socket head cap screws using an 10 mm Allen wrench, refer to Figure 3.2.
Refer to Table 3.1 for fasteners and torque.
7. Connect all lock / unlock and pass through air connections to the connections on the Master plate. For
lock and unlock air refer to Section 3.10—Pneumatic Requirements.
8. If equipped, connect the lock and unlock sensor cables.
9. If equipped, connect other utilities to the optional modules on the Master plate.
10. After the procedure is complete, resume normal operation.

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
16
3.3 Master Plate Removal
Tools required: 10 mm Allen wrench
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 all utilities (e.g. electrical, air, water, etc.).
5. If equipped, disconnect the lock and unlock sensor cables.
NOTICE: Support the Master plate while removing the fasteners.
6. Using a 10 mm Allen wrench, remove the (6) M12 socket head cap screws that secure the Master plate to
the interface plate or SIP.
7. Remove the Master plate.
Figure 3.2—Typical Master Plate Installation
Sensor Interface Plate
Master Plate Assembly
(QC-300 with RF19 and
FN2 modules Shown)
(6) M12 Socket Head
Cap Screw
(Customer Supplied)
(6) M12 Socket Head
Cap Screw
Dowel Pin
(Customer Supplied)
Sensor Plate
(Replaces Cover Plate)
Robot Arm
(6) M12 Socket Head
Cap Screw
Robot Arm
Interface Plate
(Customer Supplied)
The cover plate can remain
in place if interface plate is designed
to accomodate the plate
(2) M3 Socket Flat Head
Screw to temporaraly
hold cover plate in place
Dowel Pin
(Customer Supplied)
Socket Head Cap Screw
(Customer Supplied)
Master Plate Assembly
(QC-300 with RF19 and
FN2 modules Shown)
Remove Plugs from Modules
Remove Plugs from Modules

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
17
3.4 Tool Interface Plate
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 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 to 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.

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
18
3.5 Tool Plate Installation
Tools required: 10 mm Allen wrench, torque wrench
Supplies required: Clean rag, Loctite 242
The end‑effector is typically attaches to the Tool plate with an interface plate, refer to Section 3.4—Tool
Interface Plate for specic requirements for your application.
1. Clean the mating surfaces.
2. If not using fasteners with pre‑applied adhesive, apply Loctite 242 to supplied fasteners. (Note:
Mounting fasteners are supplied with ATI custom interface plates).
3. Align the dowel pins in the interface plate or customer tooling to the corresponding holes in the Tool
plate and secure with customer supplied (6) M12 socket head cap screws using an 10 mm Allen wrench.
4. Connect utilities to the modules and Tool plate connections.
5. After the procedure is complete, resume normal operation.
Figure 3.3—Typical Tool Plate Installation
(6) M12 Socket Head Cap Screws
(Customer Supplied)
Tool Plate Assembly
(QC-300 with RF19 and
FN2 Modules Shown)
Interface Plate
(Customer Supplied)
Dowel Pin
(Customer Supplied)
Note: Mounting Fasteners
and Dowel Pin included
with ATI Interface Plates
3.6 Tool Plate Removal
Tools required: 10 mm Allen wrench
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 all utilities (e.g. electrical, air, water, etc.).
5. Using an 10 mm Allen wrench, remove the (6) M12 socket head cap screws that secure the Tool plate to
the interface plate or customer tooling. Refer to Figure 3.3.
6. Remove the Tool plate.

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
19
3.7 Optional Module Installation
Tools required: 2.5 mm and 3 mm Allen wrench, torque wrench
Supplies required: Clean rag, Loctite 222
The optional modules are typically installed on Tool Changers prior to shipment. The following steps
outline installation and removal. Tool Changers are compatible with many different types of modules. Some
modules require an adapter plate to be installed to the Tool Changer.
1. Clean the mating surfaces.
2. Align the optional module on the Master or Tool plate as shown in Figure 3.4.
3. If not using fasteners with pre‑applied adhesive, apply Loctite 222 to supplied fasteners.
4. Using an Allen wrench, secure module with (4) M4 mounting fasteners. Refer to Table 3.1 for torque.
5. Remove all protective caps, plugs, tape, etc from the module prior to operation.
6. After the procedure is complete, resume normal operation.
Figure 3.4—Optional Module Installation
Tool Plate
Assembly
Master Plate
Assembly
(4) M4 Socket Head
Cap Screw
Fluid/Air Module
(9120-FN2-T Shown)
(4) M4 Socket Head
Cap Screw
Fluid/Air Module
(9120-FN2-M Shown)
(4) M4 Socket Flat
Head Cap Screw
(4) M4 Socket Flat
Head Cap Screw
Electrical Module
(9120-RF19-M Shown)
Electrical Module
(9120-RF19-T Shown)
3.8 Optional Module Removal
Tools required: 2.5 mm and 3 mm Allen wrench
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 any cables, air line, etc. if required.
5. Supporting the module and using an Allen wrench, remove the M4 mounting fasteners.
6. Remove the module from the Master or Tool plate.

Manual, Robotic Tool Changer, QC‑300
Document #9610‑20‑2363‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
20
3.9 Installing an Optional (SIP) Sensor Interface Plate Assembly
The optional sensor interface plate is typically installed on Tool Changers by ATI prior to shipment. The
following steps outline installation. The sensor interface plate assembly includes a custom interface plate.
This may replace the existing interface plate. For interface plate installation refer to Section 3.2—Master
Plate Installation.
The SIP assembly comes partially assembled, the Lock and Unlock sensors are assembled to the proper
position in the sensor plate. There is no need to remove the sensors or adjust the position. The small
detection shaft O‑ring is lubricated and installed in the sensor plate.
Parts required: 9120‑150M‑SIP‑yyyy, (where yyyy is the custom SIP interface plate)
Tools required: 2 mm, 2.5 mm, 3 mm, and 5 mm Allen®wrenches (hex key), torque wrench
Supplies required: Loctite®222 and Loctite®Primer 7649, MagnaLube, tape
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. Remove the Tool Changer Master plate from the robot and the interface plate , refer to Section 3.3—
Master Plate Removal.
5. If the Tool Changer has a cover plate, remove the (2) M3 socket at head screws securing the cover plate
to the Tool Changer Master plate using a 2 mm Allen wrench. Refer to Figure 3.5.
6. Lift the cover plate off the Master plate.
7. Make sure the O‑ring in the Master plate is present and in good condition, lubricate with Magnalube.
Figure 3.5—Cover Plate Removal
Cover Plate
O-ring
Master Plate
(2) M3 Socket Flat Head Screw
NOTICE: The sensor plate assembly comes assembled with the lock and unlock sensor
installed. Do not remove the sensors, the sensors have been position properly from the factory.
The sensor plate assembly has the detection shaft O‑ring installed and lubricated, make sure it
is present as shown in Figure 3.6.
Figure 3.6— Sensor Plate Assembly with Lock/Unlock sensors and O‑ring
O-ring
Sensor Plate Assembly