ATI Technologies QC-303 User manual

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
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-303—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 ........................................................................................................ 5
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 ....................................................................................................................... 7
3.1Coupling Sequence .............................................................................................. 7
3.2Fail-Safe Operation .............................................................................................. 8
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-303 Master Plate Assembly ......................................................................... 16
8.2QC-303 Tool Plate Assembly ............................................................................. 17

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
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-303—Robotic Tool Changer
1. Product Overview
1.1 Master Plate Assembly
The Master base assembly includes an anodized aluminum body, a hardened stainless-steel
locking mechanism, hardened steel alignment pins and self-sealing ports. (See Figure 3.1)
The body or 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 body mate with holes in the tool body
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.
A 1/4 NPT connection is available to supply air pressure for coupling and uncoupling the Tool
Changer.
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 through the control/signal
Master Module.
Figure 1.1—Master Plate Assembly
Master Plate (Body)
(9) Ball Bearings
Prox Sensor RTL
(2) Tapered
Alignment Pins
Locking Mechanism
Air Supply Lock/Unlock
Self-sealing Port

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 3
1.2 Tool Plate Assembly
The Tool base assembly includes an anodized aluminum body and a hardened stainless-steel
bearing race. The Tool plate has (4) flat sides for mounting of optional modules.
Figure 1.2—Tool Plate Assembly
2. Installation
2.1 Master Interface
The Master assembly 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) is utilized
to adapt the Master plate to a specific robot flange that is not compatible with the Master plate
mounting features. Custom RIP’s are available upon request. (Refer to drawings in Section
8—Drawings of this manual for technical information on mounting features).
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. Also, removable (blue) Loctite 242 must
be used on these fasteners. Fasteners must have an engagement of at least 2X fastener
diameter.
A sensor interface plate (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 4.1 for a typical installation arrangement.)
Tool Plate (Body)
RTL Sensor
Target
Bearing Race Self-sealed Ports
Bushings (2) for
Alignment Pin Location

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 4
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.
Master Plate Assembly with
DC45 and PV3 Modules
Tool Plate Assembly with
DC45 and PV3 Modules

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 5
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.
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 plates, and in a direction perpendicular to this plane towards
the Master
p
late.
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-303
Document #9620-20-B-303 Base Tool Changer-09
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 6
Model
No-Touch Zone
Z Offset (Max)*
(mm)
X and Y Offset
(Max)†
(mm)
Cocking Offset
(Max)
(degrees)
Twisting Offset
(Max)
(degrees)
QC-303 ±2.5 ±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-303
Document #9620-20-B-303 Base Tool Changer-09
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 7
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 80 psi suggested. The air should be filtered 50
micron or better.
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.
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.
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.
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.
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

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 8
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.
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.
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.
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.

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 9
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: This Tool Changer is equipped with a Tool Stand Interlock
(TSI) feature that physically breaks the unlock solenoid circuit. Use of the
TSI will prevent any unwanted unlock software commands from being
recognized until the circuit is made.

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 10
4. Maintenance
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 S
p
ecia
l
is a NLGI #2 lithium com
p
lex
g
rease with

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
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-303
Document #9620-20-B-303 Base Tool Changer-09
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 surfaces of
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-303
Document #9620-20-B-303 Base Tool Changer-09
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-303
Document #9620-20-B-303 Base Tool Changer-09
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 9120-303NM-0-000-0 Complete QC-303 Master Plate, No Options
8590-9909999-08 PNP Proximity Sensor
9005-20-1060 Alignment Pin
9120-F2-M-KIT
Includes U-cup (3410-0001068-01),
14mm x 2mm Buna O-ring (3410-0001065.01),
6mm x 2mm Buna O-ring (3410-0001066-01),
8mm x 1mm Buna O-ring (3410-0001064-01),
Spring (3700-20-1459)
3700-20-1452 Check Valve
3700-20-1453 Valve Stem
9120-303M-Seals QC-303 Master Seal Kit
9000-20-1009 Prox Cable Assembly (3 Inputs)
Locking Mechanism 3700-20-1511 Male coupling
3700-20-1514 Ball bearing, 24m
3410-0001046-01 O-ring, P30, 1.16” ID, 0.137” CS
3410-0001048-01 O-ring, AS568A Nitrile, 133mm ID, 1.5mm CS
Tool Plate 9120-303NT-0-000-0 Complete QC-303 Tool Plate, No Options
3700-20-1508 Bearing Race
3410-00011370-01 O-ring, 16mm x 1.5mm, Buna N
3410-0001067-01 O-ring, 10mm x 2mm, Buna N
3700-20-1457 Check Valve Piston
3700-20-1460 Spring
3540-0101750-21 1/16” Dia. X ¾” Dowel Pin, SS
3700-20-3289 Plug, Plastic
3690-2600001-11 Retaining Ring, Internal, 13/16”

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 15
7. Specifications
Master and Tool Plates
Suggested Payload Limit 1003 lbs
(455kg)
The mass attached to the Tool Changer.
Operating Temperature Range -20–150oF
(-30–66oC)
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 7940lbs
(35333N)
Axial holding force.
Static Moment Capacity (x, y) 29,100in-lb
(3870Nm)
Maximum recommended working load for
optimum performance of the Tool Changer.
(z) 25,000in-lb
(2825 Nm)
(Torsion).
Positional Repeatability 0.0006in
(0.015mm)
Repeatability tested at rated load at one
million cycles.
Weight (coupled) 25.5 lbs.
14.2 lbs.
Master
Tool
Max. Recommended distance
between Master and Tool
Plate
0.10in
(2.5mm)
No-Touch
TM
locking technology allows the
Master and Tool Plates to lock with
separation when coupling.
Sensor Information, signal
name
L/U
(Lock/Unlock)
Proximity sensors (2) with quick disconnect
connectors wired into the DeviceNet Master
Module to indicate locking mechanism
position.
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.
Mounting Surface/Customer
Interface
Master Plate SIP Customer-Specified Robot Pattern
Tool Plate Meets ISO 9409-1-A160

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
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-303 Master Plate Assembly

Manual, Tool Changer, QC-303
Document #9620-20-B-303 Base Tool Changer-09
Pinnacle Park  1031 Goodworth Drive  Apex, NC 27539  Tel: [phone]  Fax: [phone]  www.ati-ia.com  Email: [email protected]
B - 17
8.2 QC-303 Tool Plate Assembly