ATI Technologies QC-210 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: [email protected]
Tool Changer
Teaching Aids,
Third Generation
Manual
Document #: 9610-20-3370

Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA•Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
2
Foreword
This manual contains basic information applicable to all ATI robotic Tool Changers. Certain 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 by ATI Industrial Automation. All rights reserved.
How to Reach Us
Sale, Service and Information about ATI products:
ATI IndustrialAutomation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel: [phone]
Fax: [phone]
E-mail: [email protected]
Technical support and questions:
Application Engineering
Tel: [phone], Option 2, Option 2
Fax: [phone]
E-mail: [email protected]

Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
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Table of Contents
Foreword.......................................................................................................................................... 2
Glossary........................................................................................................................................... 4
1. Safety......................................................................................................................................... 5
1.1 ExplanationofNotications.........................................................................................................5
1.2 General Safety Guidelines............................................................................................................5
1.3 Safety Precautions........................................................................................................................6
2. Product Overview..................................................................................................................... 7
2.1 Master Side Teaching Aid.............................................................................................................7
2.2 Tool Side Teaching Aid.................................................................................................................8
3. Installing and Aligning (Tool Changer Set-up) ...................................................................... 9
4. Maintenance........................................................................................................................... 12
5. Troubleshooting and Service Procedures ............................................................................................ 12
5.1 Troubleshooting Procedures .....................................................................................................12
5.2 Service Procedures.....................................................................................................................13
5.2.1 Replacing Magnets...........................................................................................................13
6. Serviceable Parts ................................................................................................................... 14
6.1 Master Teaching Aid Serviceable Parts.....................................................................................14
6.2 Tool Teaching Aid Serviceable Parts.........................................................................................15
7. Specications ......................................................................................................................... 15
8. Drawings ................................................................................................................................. 16
8.1 QC-210 Teaching Aid Assembly ................................................................................................16
9. Terms and Conditions of Sale............................................................................................... 17

Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
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Glossary
Term Denition
Bearing Race Hardened steel ring in the Tool plate that is engaged by the locking balls during the locking
process.
Master Plate The half of the Tool Changer that is mounted to a robot. The Master plate contains the
locking mechanism.
No-Touch™ Design feature of all ATI products that allows coupling the Master plate and Tool plate
without physical contact prior to locking.
Tool Plate The half of the Tool Changer to which various tools or end-effectors are mounted.
Tool Stand Holds Tools not being used by the robot. This is usually supplied by the customer and is
specic to the application.

Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
5
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.
1.2 General Safety Guidelines
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.
The customer is responsible for understanding the function of the Tool Changer and implementing the
proper hardware and/or software to operate the Tool Changer safely.

Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
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1.3 Safety Precautions
DANGER: The gap between the Master and Tool sides as well as the gap between
the Master plate and Master side teaching aid are pinch points. Physical contact in
these pinch points will result in serious or permanent injury to personnel. All personnel
should be prevented from placing any body part or clothing in the gap, especially during
actuation of the locking mechanism.
WARNING: During set-up and installation, the area between the Master and Tool
Teaching Aids must be kept clear. Failure to keep area clear will result in damage
to Tool Changer, Aids, modules, or end-of-arm tooling and could cause injury to
personnel.
WARNING: The Master and Tool teaching aids are only to be used with the Tool
Changer for intended applications and applications approved by the manufacturer.
Using these products in applications other than intended will result in damage to Tool
Changer, Teaching Aids, modules, or 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.

Manual, Robotic Tool Changer Third Generation Teaching Aids
Document #9610-20-3370-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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2. Product Overview
Teaching Aids facilitate the programming of a robot to work with ATI Tool Changers. Without using fasteners
or special tools, Teaching Aids can reduce the time required to teach the robot to pick up and drop off customer
tooling and ensure optimal X, Y, and Z alignment. 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 Side Teaching Aid and Tool Side Teaching Aid must
have a 1 mm clearance between them. This distance ensures the No-Touch Locking zone for the Tool Changer is
set correctly. Refer to the drawings in Section 8—Drawings for more information. The following is a hyperlink to a
video that demonstrates how to use ATI’s Teaching Aids for robotic Tool Changers: http://www.ati-ia.com/library/
video_listing.aspx.
2.1 Master Side Teaching Aid
The Master Side Teaching Aid is a red, aluminum body. The interior bore ts over the Tool Changer locking
mechanism. Alignment holes are custom tted for ATI Tool Changer alignment pins. Unlike the rst
generation of Teaching Aids, the Tool Changer Master plate locking mechanism can be locked or unlocked,
when installing the Teaching Aid to the Master plate. Magnets secure the Teaching Aid to the ange of the
Master plate male coupling.
Figure 2.1—Master Side Teaching Aid (QC-210 Shown)
Label with directions.
Label with Part Number
and Flat A designation
Notch(s) for
Alignment
(3) Magnets
(2) Hole for
Alignment Pin
in the Master plate
Master Side Teaching Aid
(QC-210 Shown)

Manual, Robotic Tool Changer Third Generation Teaching Aids
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2.2 Tool Side Teaching Aid
The Tool Side Teaching Aid is a red, aluminum body. (2) location bosses t into the Tool plate alignment
bushings. Magnets attach to the Tool plate interior race and secure the Teaching Aid to the Tool plate.
Figure 2.2—Tool Side Teaching Aid (QC-210 Shown)
Label with Part Number
and Face A designation
Notch(es) for alignment
(2) Location Boss
(3) Magnet
Tool Side
Teaching Aid
(QC-210 Shown)

Manual, Robotic Tool Changer Third Generation Teaching Aids
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3. Installing and Aligning (Tool Changer Set-up)
DANGER: The gap between the Master and Tool Side Teaching Aids is a pinch point.
Physical contact in these pinch points will result in serious or permanent injury to personnel.
All personnel should be prevented from placing any body part or clothing in the gap,
especially during actuation of the locking mechanism.
The following instructions apply to all Teaching Aids. Additionally, labels with abbreviated operating instructions
are on the Master side. On the ATI website, http://www.ati-ia.com/library/video_listing.aspx, there is a video that
demonstrates how to use ATI’s Teaching Aids for robotic Tool Changers. To install and align a Teaching Aid,
complete the following steps:
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 (2) locating bosses into the alignment
bushings. The magnets in the Teaching Aid attach to the Tool plate.
Figure 3.1—Tool Teaching Aid Installation (QC-210 Shown)
(2) Locating Boss
Flat A on the
Tool Plate
Bearing Race
Flat A (Label) on the
Tool Teaching Aid
(2) Alignment
Bushing
Tool
(3) Socket Head Cap Crew
that secures (3) magnet

Manual, Robotic Tool Changer Third Generation Teaching Aids
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4. Align the Master plate at A to the Master Side Teaching Aid at A.
5. Mount the Master Side Teaching Aid to the Tool Changer Master plate by inserting the alignment pins into the
corresponding holes in the Teaching Aid. The magnets secure the Teaching Aid to the Master plate.
Figure 3.2—Master Side Teaching Aid Installation (QC-210 Shown)
(2) Alignment pin
(2) Hole for
alignment pin
in the Master plate
Flat A on the
Master Plate
Flat A (Label) on the
Master Teaching Aid
Robot and
Interfacing Plate
(For Reference Only)
Flange of the
Male Coupling
Master Plate
(4) Magnet
6. Position the Master plate directly over and parallel to the Tool plate. Align the Master and Tool ats; for
example: Master plate at A is aligned with Tool plate at A.
Figure 3.3—Positioning the Master Plate Towards the Tool Plate
Master Teach Aid
Tool Teach Aid
Tool Teaching Aid face must
be parallel with the
Master Teaching Aid face.
Flat IDs must match
(Flat A shown)

Manual, Robotic Tool Changer Third Generation Teaching Aids
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7. Move the Master plate slowly toward the Tool plate until the Master Side and Tool Side Teaching Aids are 1
mm apart.
8. Use the alignment marks or ats to align the Tool Side and Master Side Teaching Aids.
Figure 3.4—Final Alignment Position of the Teaching Aids
1 mm
Use marks to precisely
align the Master and Tool
9. Record the robot coordinates.
10. Move the Master plate away from the Tool plate so that the Master Side and Tool Side Teaching Aids can be
removed from the Tool Changer.
11. To account for the thickness of the Tool and Master Side Teaching Aids, the user must calculate a correction so
that the “pick-up” and “replacement” coordinates are correct. Perform the applicable calculation from Table 3.1
to determine the pick-up and replacement location.
Table 3.1—Calculating the Correct “Pick-Up” Coordinate
Teaching Aid Formula for “Pick-Up” Coordinate
(QC-210) 9120-210-TEACH3 ‘Z’ Pick-up Coordinate = (‘Z’ coordinate from Step 9)-(50 mm)

Manual, Robotic Tool Changer Third Generation Teaching Aids
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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’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.
If the Tool Changer is used in environments susceptible to contamination; for example, welding or deburring
applications, you can minimize exposure by covering idle Tool assemblies. Also limit the Tool Changer Master
plate exposure. ATI offers a full range of dust covers for a variety of applications. To learn more, consult the ATI
website.
Under normal conditions, no special maintenance is necessary. If needed, use a clean rag to thoroughly remove
lubricant and debris from surfaces of the Teaching Aid plates.
5. Troubleshooting and Service Procedures
The following section provides troubleshooting and service information to help diagnose conditions with the
Teaching Aid plates.
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.
5.1 Troubleshooting Procedures
Refer to Table 5.1 for troubleshooting information.
Table 5.1—Troubleshooting
Symptom Cause Resolution
The Teaching Aid
plate is not secure
to the Tool Changer
plate.
The surfaces of the
Teaching Aid plate have
debris.
Use a clean rag to remove debris and lubrication
from the Teaching Aid plate surfaces (especially the
magnets).
The fasteners that attach
the magnets to the
Teaching Aid plate are
loose.
Tighten fasteners with thread locker. Refer to
Section 5.2.1—Replacing Magnets step 5.

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5.2 Service Procedures
The following procedures provide instructions for component replacement and adjustment.
5.2.1 Replacing Magnets
Parts required: Refer to Section 6—Serviceable Parts
Supplies required: Loctite®Primer 7649 and Loctite 262, 3/32 (for 4-40 Socket Head Cap Screw),
torque wrench
1. Using the appropriate Allen wrench, remove the fasteners from the Teaching Aid plate. Refer to
Figure 5.1.
2. Remove the magnets that require replacement.
3. Place the new magnet(s) in the Teaching Aid plate.
4. Apply Loctite Primer 7649 and Loctite 262 to the fastener threads.
5. Insert the fasteners into the Teaching Aid plate. Using the appropriate Allen wrench, thread into
the magnet. Tighten to 12 in-lbs (0.8 Nm).
Figure 5.1—Adjustment or Installation of Magnets
Magnet
Teaching Aid
Socket Head
Cap Screw

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6. Serviceable Parts
6.1 Master Teaching Aid Serviceable Parts
3
1
2
Table 6.1—Tool Teaching Aid Master Side Plate
Item No. Conguration Qty Part Number Description
-
QC-210
9005-20-8660 Master Side Teaching Aid Assembly, 3rd
Generation
1 1 3700-20-10468 Master Side Teaching Aid, 3rd Generation
2 3 3500-1010100-21 4-40 x 1 Socket Head Cap Screw,
Stainless Steel
3 4 3710-20-3484 Magnet, 0.625” x 0.18” K&J Magnets
MMS-H-A

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6.2 Tool Teaching Aid Serviceable Parts
2
3
1
Table 6.2—Tool Teaching Aid Tool Side Plate
Item No. Conguration Qty Part Number Description
-
QC-210
9005-20-8465 Tool Side Teaching Aid Assembly, 3rd
Generation
1 1 3700-20-10469 Tool Side Teaching Aid, 3rd Generation
2 3 3500-1010050-21 4-40 x 1/2 Socket Head Cap Screw,
Stainless Steel
3 3 3710-20-3484 Magnet, 0.625” x 0.18” K&J Magnets
MMS-H-A
7. Specications
Table 7.1—TeachingAidSpecications
Part Number Description Weight Stack Height
9120-210-TEACH3 QC-210 Teaching Aids 4.26 lb (1.93 kg) 50 mm (1.97 in)

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8. Drawings
8.1 QC-210 Teaching Aid Assembly
3rd ANGLE PROJECTION
QC-210 Master Plate
Master Side Aid
These faces
must be
parallel
Locate Flat ID 'A' on mating surface of Master Plate
Tool Side Aid
QC-210 Tool Plate
Bushings
Locating Boss
1mm
1mm
+ Z Direction
Step 1:
Place the Tool Plate in the Tool Stand. Programs should be written with the Tool Plate resting in the Tool Stand.
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 place.
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.
Step 4:
Bring the Master Plate Assembly to a position directly over the Tool Plate Assembly. The Master Plate Assembly's face should be parallel to the Tool Plate Assembly's face. Ensure that the orientation of the Master and Tool assemblies are such that the Flat ID's correspond (i.e. 'A' Master to 'A' Tool, etc.).
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 edges of the Teaching Aid to align the Tool Side and Master Side.
Step 7:
Record the robot coordinates from Step 6. A correction must now be made to the Axial Tool Coordinate to account for the thickness of the Tool and Master 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" location: Z "Pick-up" Coordinate = (+ Z Coordinate from Step 6) - (50mm)
Master and Tool
Flat ID's must match
Rev.
Description
Initiator
Date
01
Initial Drawing
DJB
8/31/2017
B
1:5
1 1
REVISION
NOTES: UNLESS OTHERWISE SPECIFIED. DO NOT SCALE DRAWING. ALL DIMENSIONS ARE IN MILLIMETERS.
DRAWN BY:
CHECKED BY:
D. Bohle 8/31/2017 M. Gala 9/18/2017
TITLE
SCALE
SIZE
DRAWING NUMBER
PROJECT #
SHEET OF
9230-20-8004
170828-3
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-210 TEACH3 Instruction Drawing

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9. Terms and Conditions of Sale
The following Terms and Conditions are a supplement to and include a portion of ATI Standard Terms and
Conditions, which are on le at ATI and available upon request.
ATI warrants to Purchaser that robotic Tool Changer products purchased hereunder will be free from defects in
material and workmanship under normal use for a period of three (3) years from the date of shipment. The warranty
period for repairs made under a RMA shall be for the duration of the original warranty, or ninety (90) days from the
date of repaired product shipment, whichever is longer. ATI will have no liability under this warranty unless: (a)
ATI is given written notice of the claimed defect and a description thereof within thirty (30) days after Purchaser
discovers the defect and in any event not later than the last day of the warranty period; and (b) the defective item is
received by ATI not later ten (10) days after the last day of the warranty period. ATI entire liability and Purchaser
sole remedy under this warranty is limited to repair or replacement, at ATI election, of the defective part or item or,
at ATI election, refund of the price paid for the item. The foregoing warranty does not apply to any defect or failure
resulting from improper installation, operation, maintenance or repair by anyone other than ATI.
ATI will in no event be liable for incidental, consequential or special damages of any kind, even if ATI has been
advised of the possibility of such damages. ATI aggregate liability will in no event exceed the amount paid by
purchaser for the item which is the subject of claim or dispute. ATI will have no liability of any kind for failure of
any equipment or other items not supplied by ATI.
No action against ATI, regardless of form, arising out of or in any way connected with products or services supplied
hereunder may be brought more than one (1) year after the cause of action accrued.
No representation or agreement varying or extending the warranty and limitation of remedy provisions contained
herein is authorized by ATI, and may not be relied upon as having been authorized by ATI, unless in writing and
signed by an executive ofcer of ATI.
Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software and other technology
made or developed by ATI in the course of providing products and services hereunder, and all rights therein under
any patent, copyright or other law protecting intellectual property, shall be and remain ATI property. The sale of
products or services hereunder does not convey any express or implied license under any patent, copyright or other
intellectual property right owned or controlled by ATI, whether relating to the products sold or any other matter,
except for the license expressly granted below.
In the course of supplying products and services hereunder, ATI may provide or disclose to Purchaser condential
and proprietary information of ATI relating to the design, operation or other aspects of ATI products. As between
ATI and Purchaser, ownership of such information, including without limitation any computer software provided
to Purchaser by ATI, shall remain in ATI and such information is licensed to Purchaser only for Purchaser use in
operating the products supplied by ATI hereunder in Purchaser internal business operations.
Without ATI prior written permission, Purchaser will not use such information for any other purpose or provide or
otherwise make such information available to any third party. Purchaser agrees to take all reasonable precautions to
prevent any unauthorized use or disclosure of such information.
Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is in the public
domain when received from ATI; (b) is thereafter published or otherwise enters the public domain through no fault
of Purchaser; (c) is in Purchaser possession prior to receipt from ATI; (d) is lawfully obtained by Purchaser from a
third party entitled to disclose it; or (f) is required to be disclosed by judicial order or other governmental authority,
provided that, with respect to such required disclosures, Purchaser gives ATI prior notice thereof and uses all legally
available means to maintain the condentiality of such information.