ATI Technologies QC-40 User manual

Engineered Products for Robotic Productivity
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
Tool Changer Teaching Aid Assemblies
QC-40, QC-110, QC-160, QC-210, QC-213, QC-310,
QC-510, and QC-1210
Manual
Document #: 9610-20-1419

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
2
Foreword
This manual contains basic information applicable to all ATI 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 are 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 (2019) by ATI Industrial Automation. All rights reserved.
How to Reach Us
Sale, Service and Information about ATI products:
ATI Industrial Automation
1041 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel: [phone]
Fax: [phone]
Technical support and questions:
Application Engineering
Tel: [phone], Option 2, Option 2
Fax: [phone]
E-mail: [email protected]

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
3
Table of Contents
Foreword.......................................................................................................................................... 2
Glossary........................................................................................................................................... 4
1. Safety......................................................................................................................................... 4
1.1 ExplanationofNotications.........................................................................................................4
1.2 General Safety Guidelines............................................................................................................5
1.3 Safety Precautions........................................................................................................................6
2. Product Overview..................................................................................................................... 7
2.1 Master Teaching Aid......................................................................................................................7
2.2 Tool Teaching Aid..........................................................................................................................7
3. Installation and Alignment Procedure.................................................................................... 9
4. Maintenance............................................................................................................................ 13
5. Troubleshooting and Service Procedures ........................................................................... 14
5.1 Troubleshooting Procedures .....................................................................................................14
5.2 Service Procedures.....................................................................................................................15
5.2.1 Adjustment or Installation of Magnets in Tool Teaching Aid Assembly.............................15
6. Serviceable Parts ................................................................................................................... 16
6.1 Tool Teaching Aid Serviceable Parts.........................................................................................16
7. Specications ......................................................................................................................... 17
8. Drawings ................................................................................................................................. 18
8.1 QC-40 Teaching Aid Assembly...................................................................................................18
8.2 QC-110 Teaching Aid Assembly ................................................................................................19
8.3 QC-160 Teaching Aid Assembly.................................................................................................20
8.4 QC-210 Teaching Aid Assembly.................................................................................................21
8.5 QC-213 Teaching Aid Assembly.................................................................................................22
8.6 QC-310 Teaching Aid Assembly.................................................................................................23
8.7 QC-510 Teaching Aid Assembly.................................................................................................24
8.8 QC-1210 Teaching Aid Assembly...............................................................................................26
9. Terms and Conditions of Sale............................................................................................... 28

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
4
Glossary
Term Denition
Bearing Race Hardened steel ring in the Tool Plate that is engaged by the locking balls during the
locking process.
End-Effector Tool used by the robot to perform a particular function.
Locking Mechanism
A pneumatic driven device that draws the Master and Tool plates together and
secures the plates in a fail-safe locked condition, until the mechanism is unlocked.
The locking mechanism contains the following components: locking balls, cam, ball
cage, bearing race, and a pneumatic cylinder.
Master Plate The half of the Tool Changer that the customer attaches to a robot. The Master plate contains the locking mechanism that couples and secures the Master plate to the
Tool plate.
Pick-Up Position The robot coordinate position at which the Master plate draws the Tool plate into a
locked position.
Tool Stand A xture that holds Tools that aren’t used for a portion of an automated process.
Tool Plate The half of the Tool Changer to which the customer attaches various tools or end-
effectors.
No-Touch™ An ATI Tool Changer design feature that allows the Master plate and Tool plate to
couple without physical contact prior to locking.
1. Safety
The safety section describes general safety guidelines to be followed with this product, explanations of the
notications found in this manual, and safety precautions that apply to the product. More specic notications are
imbedded within the sections of the manual where they apply.
1.1 ExplanationofNotications
The following notications 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,
installing, or setting up 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, best operating practices,
and maintenance tips.

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
5
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 Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
6
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 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 Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
7
2. Product Overview
The ATI robot TeachingAids are to be used with the followingATI No-Touch™ locking Tool Changers: QC-110,
QC‑160, QC‑210, QC‑213, QC‑310, QC‑510, and QC‑1210. With the Teaching Aids, a user requires less time to
program the robot to pick up and drop off customer tooling and ensure optimal X, Y, and Z alignment. Additionally,
teaching Aids help extend the life of the Tool Changer alignment pins and bushings by reducing unnecessary wear.
ATI teaching aids have high‑contrast alignment marks to aid the user in the set‑up process. When positioned, the
Master Teaching Aid and Tool Teaching Aid must have a 1 mm clearance between them (refer to Figure 2.1). This
distance will ensure the No-Touch™ Locking zone for the Tool Changer is set correctly. Figure 2.2 is an overview
of the different Teaching Aid assemblies. Refer to Section 8—Drawings, for more information.
2.1 Master Teaching Aid
The Master Teaching Aid assembly is a red, anodized aluminum body. The center interior has a tapered
feature that engages with the Tool Changer Master plate assembly’s locking balls and allows the Master
Teaching Aid assembly to lock to the Tool Changer Master plate assembly. Some of the Teaching Aids
have holes bored into the Master Teaching Aid plate at the opposite corners of the alignment pin bushings.
These holes provide a clearance to avoid activating the RTL sensors, if a user installs a Teaching Aid
assembly manually.
2.2 Tool Teaching Aid
The Tool Teaching Aid is a red, anodized aluminum body with hardened steel alignment pins and magnets.
Magnets secure the Tool Teaching Aid to the Tool plate’s bearing race. The different type of socket at head
cap screws that secure the magnets to the Tool Teaching Aid are called out in Figure 2.2.
Figure 2.1—Master and Tool Teaching Aid Assembly (QC-210 Shown)
Master Plate Assembly
(QC-210 Shown)
Robot Arm
Interfacing Plate
Master Teaching Aid
(9005-20-1380 Shown)
Tool Teaching Aid
(9005-20-1379 Shown)
Tool Plate Assembly
(QC-210 Shown)
Tool Interfacing Plate
(Place on Tool Stand)
1 mm

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Figure 2.2—Teaching Aid Assemblies
QC-213 Master
Teaching Aid Assembly
9005-20-2360
QC-213 Tool
Teaching Aid Assembly
9005-20-2359
(2) Alignment Pin
(3) 6-32 x 3/8/" Flat Head
Socket Head Cap Screw
QC-1210 Master
Teaching Aid Assembly
9005-20-2286
QC-1210 Tool
Teaching Aid Assembly
9005-20-2285
(2) Alignment Pin
(9) 6-32 x 3/8"
Flat Head Socket
Cap Screw
QC-160 Master
Teaching Aid Assembly
9005-20-2316
QC-160 Tool
Teaching Aid Assembly
9005-20-2317
(4) 6-32 x 3/8" Flat Head
Socket Cap Screw
(2) Alignment Pin
QC-210 Tool
Teaching Aid Assembly
9005-20-1379
(2) Alignment Pin
(3) 6-32 x 3/8" Flat Head
Socket Head Cap Screw
QC-210 Master
Teaching Aid Assembly
9005-20-1380
QC-510 Master
Teaching Aid Assembly
9005-20-2448
QC-510 Tool
Teaching Aid Assembly
9005-20-2449
(2) Alignment Pin
(6) 6-32 x 3/8" Flat Head
Socket Head Cap Screw
QC-310 Master
Teaching Aid Assembly
9005-20-1427
QC-310 Tool
Teaching Aid Assembly
9005-20-1426
(4) 6-32 x 3/8" Flat Head
Socket Head Cap Screw
(2) Alignment Pin
QC-110 Master
Teaching Aid Assembly
9005-20-2328
QC-110 Tool
Teaching Aid Assembly
9005-20-2329
(2) Alignment Pin
(3) 6-32 x 3/8" Flat Head
Cap Screw
QC-40 Master
Teaching Aid Assembly
9005-20-8801
QC-40 Tool
Teaching Aid Assembly
9005-20-8803

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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3. Installation and Alignment Procedure
On the Master Teaching Aid, there are labels with abbreviated installation and alignment instructions. To install and
align a TeachingAid, complete the following procedure:
1. Place the Tool plate in the tool stand. Robot programs should be written with the Tool plate resting in the Tool
stand.
2. Orient the Tool side Teaching Aid such that the ‘A’ at corresponds to the ‘A’ at on the Tool plate.
3. Mount the Tool side Teaching Aid over the Tool plate by inserting the alignment pins into the bushings.
Figure 3.1—Tool Teaching Aid Assembly Installation (QC-210 Shown)
Tool Teach Aid
Tool Plate Assembly
Flat A
(2) Alignment Pins
(2) Bushings
Tool Interface Plate

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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4. Verify the Tool Changer locking mechanism is in the Unlocked position.
DANGER: The gap between the Master and Tool sides are pinch points. Physical contact
in these pinch points will result in serious or permanent injury to personnel. Prevent all
personnel from placing any body part or clothing in the gap, especially during actuation of the
locking mechanism.
5. Orient the Master side Teaching Aid such that the ‘A’ at corresponds to the ‘A’ at on the Master plate.
6. Mount the Master side Teaching Aid to the Tool Changer Master plate by inserting the alignment pins into the
corresponding holes in the Master side Teaching Aid.
7. Energize the locking mechanism to secure the Master side Teaching Aid in place.
Figure 3.2—Master Teaching Aid Assembly Installation (QC-210 Shown)
Master Plate
Assembly
Master Aid
Flat A
(2) Alignment Pins
Robot and
Interfacing Plate
(For Reference Only)

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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8. Position the Master plate directly over and parallel to the Tool plate. Align the Master and Tool ats; for
example: the ‘A’ at on the Master plate is aligned with the ‘A at’ on the Tool plate.
Figure 3.3—Positioning the Master plate towards the Tool plate
Master Teach Aid
Flat IDs must
match (Flat A shown)
Tool Teach Aid
Tool Aid face must be
parallel with the Master Aid face
9. Move the Master plate assembly slowly toward the Tool plate until the Master and Tool side Teaching Aids are
1 mm apart.
10. Use the alignment marks to align the Tool side and Master side Teaching Aids.
Figure 3.4—Final Alignment Position of the Teaching Aid Plate Assembly
1 mm
Use marks to precisely align
Master and Tool

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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11. Support the Master side Teaching Aid, and unlock the Tool Changer.
12. Remove the Master and Tool Teaching Aids from the Tool Changer.
NOTICE:
• Refer to the applicable Tool Changer manual for the maximum recommended offsets.
• Depending on the customer application, the pick-up position is not always vertical.
13. Move the Tool Changer Master plate to the Tool plate until the Master plate is in the pick‑up position.
14. Record the pick-up position.

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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4. Maintenance
WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless
the Tool is safely supported or placed in the tool stand, all energized circuits (e.g. electrical,
air, water, etc.) are turned off, pressurized connections are purged and power is discharged
from circuits in accordance with the customer specic safety practices and policies. Injury
or equipment damage can occur with the Tool not placed and energized circuits on. Place
the Tool in the tool stand, turn off and discharge all energized circuits, purge all pressurized
connections, and verify all circuits are de-energized before performing maintenance or
repair(s) on the Tool Changer or modules.
If the Tool Changer is used in environments susceptible to contamination; for example: welding or deburring
applications, limit the exposure of the Tool Changer and Teaching Aid to this environment. Cover idle
Tool assemblies and Teaching Aids to prevent debris from settling on the mating surface. Keep the Tool
Changer’s Master plate assembly exposed to this environment for a short period of time, during the Tool
change and down time.
Under normal conditions, no special maintenance is necessary. If needed, inspect and clean the following:
• Inspect the at head socket head screws in the Tool Teaching Aid to verify that they are tight. If loose, refer to
Section 5.2.1—Adjustment or Installation of Magnets in Tool Teaching Aid Assembly.
• Use a clean rag to thoroughly remove existing lubricant and debris from the bearing race and bores for Master
Plate Alignment Pins from the Master Teaching Aid. Refer to Figure 4.1.
• Use a clean rag to thoroughly remove any existing lubricant and debris from the alignment pins and magnets.
Refer to Figure 4.1.
Figure 4.1—Cleaning of Master and Tool Teaching Aid Assemblies
Clean
Alignment Pins
Clean
Magnets’
Surfaces
Tool Teaching Aid Assembly
(QC-210 Shown)
Clean Surfaces of Holes
for Master Plate
Alignment Pins
Clean Bearing
Race Surface
Master Teaching
Aid Assembly
(QC-210 Shown)

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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5. Troubleshooting and Service Procedures
Troubleshooting and service information to help identify symptoms and resolve problems are available in the
following sections.
WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless
the Tool is safely supported or placed in the tool stand, all energized circuits (e.g. electrical,
air, water, etc.) are turned off, pressurized connections are purged and power is discharged
from circuits in accordance with the customer specic safety practices and policies. Injury
or equipment damage can occur with the Tool not placed and energized circuits on. Place
the Tool in the tool stand, turn off and discharge all energized circuits, purge all pressurized
connections, and verify all circuits are de-energized before performing maintenance or
repair(s) on the Tool Changer or modules.
5.1 Troubleshooting Procedures
Troubleshooting information is in the following table.
Table 5.1—Troubleshooting
Symptom Cause Resolution
Master Teaching
Aid plate will not
lock with the Tool
Changer Master.
The bearing race has
debris. Clean bearing race and aliment pin bushings. Refer to
Section 4—Maintenance.
Refer to applicable Tool Changer or control module.
Tool Changer
Master plate will not
unlock and release
the Master Teaching
Aid plate.
The control module on the
Tool Changer has safety
features that may not allow
the Master plate to unlock.
Refer to the applicable Tool Changer or control module
manual
Tool Teaching Aid
plate is not secure
to the Tool Changer
Tool plate.
The surfaces of the Tool
Teaching Aid plate have
debris.
Clean Tool Teaching Aid assembly surfaces in
accordance with Section 4—Maintenance.
The fasteners that secure
the magnets to the Tool
Teaching Aid plate are
loose.
Tighten fasteners. Refer to Section 5.2.1—Adjustment
or Installation of Magnets in Tool Teaching Aid
Assembly.

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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5.2 Service Procedures
Instructions for component replacement and adjustment are in the following section.
5.2.1 Adjustment or Installation of Magnets in Tool Teaching Aid Assembly
Parts required: Refer to Section 6.1—Tool Teaching Aid Serviceable Parts.
Tools required: 5/64” hex key, torque wrench
Supplies required: Loctite Primer 7649®and Loctite 262®
1. Remove the #6‑32 x 3/8” socket at head cap screw(s) in the Tool. Refer to Figure 5.1.
2. Remove the existing magnet, if necessary.
3. Place new magnet in the Tool Teaching Aid plate.
4. Apply Loctite Primer 7649® and Loctite 262® to the threads of the #6‑32 x 3/8” socket at
head cap screw(s).
5. Using a 5/64” hex key, secure the magnet in the Tool side Teaching Aid with a #6‑32 x 3/8”
socket at head cap screw. Tighten to 15 in‑lbs (1.69 Nm).
Figure 5.1—Adjustment or Installation of Magnets
(3) #6-32 x 3/8" Flat Head
Socket Head Cap Screws
(3) Magnets
Tool Teaching Aid Assembly
(QC-210 Tool Teaching Aid
Assembly Shown)

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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6. Serviceable Parts
6.1 Tool Teaching Aid Serviceable Parts
Figure 6.1—Tool Teaching Aid Plate (QC-210 Shown)
2
1
Table 6.1—Tool Teaching Aid Plate
QC-40
ITEM NO. QTY PART NUMBER DESCRIPTION
1 4 3710-20-3484 Magnet, 0.625’’ x .18’’ K&J Magnets MMS-H-A
2 2 3500-1010050-21 #4-40 x 1/2 Stainless Steel Socket Head Cap Screw
3 2 3500-1010062-1 #4-40 x 5/8 Socket Head Cap Screw
QC-110, QC-210
ITEM NO. QTY PART NUMBER DESCRIPTION
1 3 3710-20-3355 Encased Alinco 5 Magnet 1/2” Dia, 1/2” Thick, 6-32 Hole, 1.4
Pull lbs
2 3 3500-1215037-21 #6-32 x 3/8” Stainless Steel Flat Head Socket Cap Screw
QC-160, QC-213
ITEM NO. QTY PART NUMBER DESCRIPTION
1 4 3710-20-3355 Encased Alinco 5 Magnet 1/2” Dia, 1/2” Thick, 6-32 Hole, 1.4
Pull lbs
2 4 3500-1215037-21 #6-32 x 3/8” Stainless Steel Flat Head Socket Cap Screw
QC- 310
ITEM NO. QTY PART NUMBER DESCRIPTION
1 6 3710-20-3355 Encased Alinco 5 Magnet 1/2” Dia, 1/2” Thick, 6-32 Hole, 1.4
Pull lbs
2 6 3500-1215037-21 #6-32 x 3/8” Stainless Steel Flat Head Socket Cap Screw
QC-510
ITEM NO. QTY PART NUMBER DESCRIPTION
1 8 3710-20-3355 Encased Alinco 5 Magnet 1/2” Dia, 1/2” Thick, 6-32 Hole, 1.4
Pull lbs
2 8 3500-1215037-21 #6-32 x 3/8” Stainless Steel Flat Head Socket Cap Screw
QC-1210
ITEM NO. QTY PART NUMBER DESCRIPTION
1 9 3710-20-3355 Encased Alinco 5 Magnet 1/2” Dia, 1/2” Thick, 6-32 Hole, 1.4
Pull lbs
2 9 3500-1215037-21 #6-32 x 3/8” Stainless Steel Flat Head Socket Cap Screw

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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7. Specications
Table 7.1—TeachingAidSpecications
Part Number Description Material Weight Stack Height
9120-40-TEACH QC-40 Teaching Aids 6061-T6
Aluminum 1.6 lb (0.74 kg) 1.5 in (40 mm)
9005-20-8801 QC-40 Master Side Teaching Aid 6061-T6
Aluminum N/A N/A
9005-20-8803 QC-40 Tool Side Teaching Aid 6061-T6
Aluminum N/A N/A
9120-110-Teach QC-110 Teaching Aids 6061-T6
Aluminum 5.9 lb (2.68 kg) 2.2 in (55 mm)
9005-20-2328 QC-110 Master Side Teaching Aid 6061-T6
Aluminum N/A N/A
9005-20-2329 QC-110 Tool Side Teaching Aid 6061-T6
Aluminum N/A N/A
9120-160-TEACH QC-160 Teaching Aids 6061-T6
Aluminum 7 lb (3.18 kg) 2.2 in (55 mm)
9005-20-2316 QC-160 Master Side Teaching Aid 6061-T6
Aluminum N/A N/A
9005-20-2317 QC-160 Tool Side Teaching Aid 6061-T6
Aluminum N/A N/A
9120-210-TEACH QC-210 Teaching Aids 6061-T6
Aluminum 5.5 lb (2.49 kg) 2.2 in (55 mm)
9005-20-1380 QC-210 Master Side Teaching Aid 6061-T6
Aluminum N/A N/A
9005-20-1379 QC-210 Tool Side Teaching Aid 6061-T6
Aluminum N/A N/A
9120-213-TEACH QC-213 Teaching Aids 6061-T6
Aluminum 8.9 lb (4.04 kg) 2.2 in (55 mm)
9005-20-2360 QC-213 Master Side Teaching Aid 6061-T6
Aluminum N/A N/A
9005-20-2359 QC-213 Tool Side Teaching Aid 6061-T6
Aluminum N/A N/A
9120-310-TEACH QC-310 Teaching Aids 6061-T6
Aluminum 12.6 lb (5.72 kg) 2.6 in (66 mm)
9005-20-1427 QC-310 Master Side Teaching Aid 6061-T6
Aluminum N/A N/A
9005-20-1426 QC-310 Tool Side Teaching Aid 6061-T6
Aluminum N/A N/A
9120-510-TEACH QC-510 Teaching Aids 6061-T6
Aluminum 17 lb (7.71 kg) 2.4 in (61 mm)
9005-20-2448 QC-510 Master Side Teaching Aid 6061-T6
Aluminum N/A N/A
9005-20-2449 QC-510 Tool Side Teaching Aid 6061-T6
Aluminum N/A N/A
9120-1210-TEACH QC-1210 Teaching Aids 6061-T6
Aluminum 15.9 lb (7.21 kg) 2.8 in (70 mm)
9005-20-2286 QC-1210 Master Side Teaching
Aid 6061-T6 Aluminum N/A N/A
9005-20-2285 QC-1210 Tool Side Teaching Aid 6061-T6
Aluminum N/A N/A

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
18
8. Drawings
8.1 QC-40 Teaching Aid Assembly
3rd ANGLE PROJECTION
1 2
9120-40-TEACH
NOTE 1 NOTE 1
NOTES:
NOTCHES USED FOR END EFFECTOR ALIGNMENT.
1.
REV.
DESCRIPTION
INITIATOR
DATE
01
INITIAL DRAWING
JR
2/6/2019
02
REMOVED SHEET 3.
JR
4/22/2019
ITEM NO.
QTY
PART NUMBER
DESCRIPTION
1 1
9005-20-8801
QC-40 Master Side Teaching Aid
2 1
9005-20-8803
QC-40 Tool Side Teaching Aid
B
2:3
1
2
REVISION
NOTES: UNLESS OTHERWISE SPECIFIED. DO NOT SCALE DRAWING. ALL DIMENSIONS ARE IN MILLIMETERS.
DRAWN BY:
CHECKED BY:
J.Ray, 2/6/18 J.Winterroth, 2/7/19
TITLE
SCALE
SIZE
DRAWING NUMBER
PROJECT #
SHEET OF
9230-20-8078
181226-2
02
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
1031 Goodworth Drive, Apex, NC 27539, USA
Tel: [phone] Email: [email protected]
Fax: [phone] www.ati-ia.com
ISO 9001 Registered Company
QC-40 Teaching Aid Customer Drawing

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
19
8.2 QC-40 Teaching Aid Assembly
3rd ANGLE PROJECTION
TOOL PLATE
BUSHINGS
STEP 2: MOUNT THE TOOL SIDE AID OVER THE TOOL PLATE BY INSERTING THE LOCATING BOSSES INTO THE BUSHINGS. MAGNETS WILL ENSURE THE TOOL SIDE AID WILL REMAIN IN PLATE.
STEP 3: MOUNT THE MASTER SIDE AID TO THE QC MASTER PLATE ENSURING THAT THE TAPER PINS ENTER THE HOLES IN THE MASTER SIDE AID. MAGNETS WILL ENSURE THE MASTER SIDE AID WILL REMAIN IN PLACE.
MASTER SIDE AID
MASTER PLATE
LOCATE FLAT ID 'A' ON FLAT SURFACE OF MASTER PLATE LOCATE FLAT ID 'A' ON FLAT SURFACE OF TOOL PLATE
FACES MUST BE PARALLEL
STEP 4: BRING THE MASTER PLATE ASSEMBLY TO A POSITION DIRECTLY OVER THE TOOL PLATE ASSEMBLY. THE MASTER PLATE ASSEMBLY FACE SHOULD BE PARALLEL TO THE TOOL PLATE ASSEMBLY FACE. ENSURE THAT THE ORIENTATION OF THE MASTER AND THE TOOL ASSEMBLIES ARE SUCH THAT THE FLAT ID'S CORRESPOND (I.E. 'A' MASTER TO 'A' TOOL).
1
STEP 5: MOVE THE MASTER PLATE ASSEMBLY SLOWLY DOWNWARD UNTIL THE MASTER AND TOOL SIDE AIDS ARE APPROXIMATELY 1MM APART.
STEP 6: ADJUST THE POSITION OF THE ROBOT TO CORRECT FOR ANY LATERIAL MISALIGNMENT. USE THE EDGES OF THE TEACHING AID TO ALIGN THE TOOL SIDE AND MASTER SIDE.
+Z Direction
STEP 1: PLACE THE TOOL PLATE IN THE TOOL STAND. PROGRAMS SHOULD BE WRITTEN WITH THE TOOL PLATE STARTING IN THE TOOL STAND.
STEP 7: RECORD THE ROBOT COORDINATES FROM STEP 6. A CORRECTION MUST NOW BE MADE TO THE Z COORDINATE TO ACCOUNT FOR THE THICKNESS OF THE MASTER AND TOOL SIDE TEACHING AIDS. ONLY IN THIS WAY CAN THE CORRECT "PICK UP" AND "REPLACEMENT" COORDINATES BE DETERMINED. PERFORM THE FOLLOWING CALCULATION TO DETERMINE THE "PICK-UP" AND "REPLACEMENT" LOCATIONS: AXIAL TOOL "PICK-UP" COORDINATE = (Z COORDINATE FROM STEP 6) - (40MM)
REV.
DESCRIPTION
INITIATOR
DATE
01
INITIAL DRAWING
JR
4/22/2019
B
1:2
1 1
REVISION
NOTES: UNLESS OTHERWISE SPECIFIED. DO NOT SCALE DRAWING. ALL DIMENSIONS ARE IN MILLIMETERS.
DRAWN BY:
CHECKED BY:
J.Ray, 2/6/18 J.Winterroth, 2/7/18
TITLE
SCALE
SIZE
DRAWING NUMBER
PROJECT #
SHEET OF
9230-20-8084
181226-2
01
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
1031 Goodworth Drive, Apex, NC 27539, USA
Tel: [phone] Email: [email protected]
Fax: [phone] www.ati-ia.com
ISO 9001 Registered Company
QC-40 TEACH Instruction Drawing

Manual, Robotic Tool Changer Teaching Aids
Document #9610-20-1419-07
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
20
8.3 QC-160 Teaching Aid Assembly
3rd ANGLE PROJECTION
+Z Direction
Tool Side Aid Tool Plate
Locating Pins
Bushings
Master Side Aid Master Plate
Master and Tool Flat ID's match.
These faces must be parallel.
1mm
Ensure the Tool Side and
Master Side Alignment
Marks are precisely aligned.
Step 2: Mount the Tool Side Aid over the Tool Plate by inserting the Locating Pins into the Bushings. Orient the Tool Side Aid such that the 'A' Flat corresponds to the 'A' Flat on the Tool Plate.
Step 3: Mount the Master Side Aid to the QC Master Plate ensuring that the Taper Pins enter the corresponding holes in the Master Side Aid. Orient the Master Side Aid such that the 'A' Flat corresponds to the 'A' Flat on the Master Plate. Energize the Locking Mechanism to secure the Master Side Aid in place.
Step 4: Bring the Master Plate Assembly to a position directly over the Tool Plate Assembly. The Master Plate Assembly Face should be parallel to the Tool Plate Assembly Face. Ensure the orientation of the Master and Tool assemblies is such that the Flat ID's correspond (i.e. 'A' Master to 'A' Tool, etc.).
Step 1: Place the Tool Plate in the Tool Stand. Programs should be written with the Tool Plate resting in the Tool Stand.
Step 5: Move the Master Plate Assembly slowly downward until the Master and Tool Side Aids are approximately 1mm apart.
Step 6: Adjust the position of the robot to correct for any lateral misalignment. Use the Alignment Marks to align the Tool Side and Master Side Aids.
Step 7: Record the robot coordinates from Step 6. A correction must now be made to the Z coordinate to account for the thickness of the Master and Tool Side Teaching Aids. Only in this way can the correct "Pick-up" and "Replacement" coordinates be determined. Perform the following calculation to determine the "Pick-up" and "Replacement" locations: Z "Pick-up" Coordinate = (Z Coordinate from Step 6) - 55mm
Rev.
Description
Initiator
Date
01
Initial drawing
BVK
7/14/2014
02
Update drawing views
BVK
10/1/2014
B
1:4
1 1
REVISION
NOTES: UNLESS OTHERWISE SPECIFIED. DO NOT SCALE DRAWING. ALL DIMENSIONS ARE IN MILLIMETERS.
DRAWN BY:
CHECKED BY:
B. Kendrick 7/14/14 M. Gala 7/14/14
TITLE
SCALE
SIZE
DRAWING NUMBER
PROJECT #
SHEET OF
9230-20-7755
140512-1
02
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
1031 Goodworth Drive, Apex, NC 27539, USA
Tel: [phone] Email: [email protected]
Fax: [phone] www.ati-ia.com
ISO 9001 Registered Company
QC-160 Teaching Aid Customer Drawing