ATI Technologies 9150-CDB-8-11-ATC User manual

Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com
ATI Compliant Deburring Blade
(Models 9150-CDB-8-11-ATC,
9150-CDB-8-11-000)
Product Manual
Document #: 9610-50-1030

Manual, Compliant Deburring Blade
Document #9610-50-1030-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
2
Foreword
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 this product. Failure to do so may result in personnel injury and/or damage to equipment.
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.
©Copyright (2019) by ATI Industrial Automation. All rights reserved.
How to Reach Us
Sale, Service and Information about ATI products:
ATI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati‑ia.com
Tel: [phone]
Fax: [phone]
Application Engineering
Tel: [phone]
Fax: [phone]
E‑mail: applicationsengineers@ati‑ia.com

Manual, Compliant Deburring Blade
Document #9610-50-1030-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
3
Table of Contents
Foreword.......................................................................................................................................... 2
Glossary........................................................................................................................................... 5
1. Safety......................................................................................................................................... 6
1.1 ExplanationofNotications.........................................................................................................6
1.2 General Safety Guidelines............................................................................................................6
1.3 Safety Precautions........................................................................................................................7
2. Product Overview..................................................................................................................... 8
2.1 ATC Collet System ........................................................................................................................9
2.2 Tool Stand......................................................................................................................................9
2.3 Technical Description ...................................................................................................................9
2.3.1 Environmental Limitations..................................................................................................9
2.3.2 Compliance Unit Performance .........................................................................................10
3. Installation of the Compliance Device...................................................................................11
3.1 Transportation and Protection during Transportation............................................................. 11
3.2 Inspection of Condition When Delivered.................................................................................. 11
3.3 Unpacking and Handling............................................................................................................ 11
3.4 Storage and Preventive Maintenance during Storage............................................................. 11
3.5 Axial Mounting Installation.........................................................................................................12
3.6 ATC Tool Stand Installation........................................................................................................12
3.7 Pneumatics..................................................................................................................................13
4. Operation ................................................................................................................................ 14
4.1 Working Environment.................................................................................................................14
4.2 Normal Operation........................................................................................................................15
4.3 Programming for ATC Tool Stand..............................................................................................16
4.4 Installing the Customer Supplied Blade Holder in the Manual Collet....................................17
4.5 Removing the Customer Supplied Blade Holder in the Manual Collet ..................................18
4.6 Locking and Unlocking Single Axis Compliance.....................................................................19
5. Preventive Maintenance ........................................................................................................ 20
5.1 Pneumatics..................................................................................................................................20
5.2 Lubrication...................................................................................................................................20
5.3 Blade Inspection..........................................................................................................................20

Manual, Compliant Deburring Blade
Document #9610-50-1030-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
4
6. Troubleshooting and Service Procedures ........................................................................... 21
6.1 Troubleshooting..........................................................................................................................21
6.2 Service Procedures.....................................................................................................................22
6.2.1 Replacement of Bit Holders in ATC Tool Stand................................................................22
7. Serviceable Parts ................................................................................................................... 23
8. Specications ......................................................................................................................... 23
9. Drawings ................................................................................................................................. 24
9.1 9630-50-CDB-8-11-ATC................................................................................................................24
9.2 9630-50-CDB-8-11-000.................................................................................................................28
9.3 9630-50-CDB-PNEUMATIC..........................................................................................................30
10. Terms and Conditions............................................................................................................ 32

Manual, Compliant Deburring Blade
Document #9610-50-1030-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
5
Glossary
Term Denition
AC Axially Compliant.
Air Filter Device for removing contamination from air supply lines. Typically refers to removal of
particulates.
ATC Auto Tool Changer
Blade Cutting tool used to remove burrs from the work piece.
Burr Any unwanted, raised protrusion on the work piece.
CDB Compliant Deburring Blade
Coalescing Filter Device designed to remove liquid aerosols from the supply air lines.
Collet Gripping device used to hold cutting tools in the spindle.
Compliance The ability of the spindle to passively move in response to protrusions on or
deviations of the work piece.
Deburr To remove the burrs from (a piece of machined work).
Positive Stop The tool has contacted a physical limitation and can no longer move.
RC Radially Compliant.
Rear Housing Rear cover to the main housing. This body includes a connection port for the
compliance air supply.
Regulator Device used to set and control the supplied air pressure to lower acceptable levels.
Solenoid Valve Electrically controlled device for switching air supplies on and off.
Tool Stand Storage location for tools while not in use.

Manual, Compliant Deburring Blade
Document #9610-50-1030-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
6
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
Prior to purchase, installation, and operation of the CDB, the customer should rst read and understand the
operating procedures and information described in this manual. Never use the CDB tool for any purposes,
or in any ways, not explicitly described in this manual. Follow installation instructions and pneumatic
connections as described in this manual.
All pneumatic ttings and tubing must be capable of withstanding the repetitive motions of the application
without failing. The routing of pneumatic lines must minimize the possibility of stress/strain, kinking,
rupture, etc. Failure of critical pneumatic lines to function properly may result in equipment damage.

Manual, Compliant Deburring Blade
Document #9610-50-1030-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
7
1.3 Safety Precautions
WARNING: Never operate the CDB tool without wearing eye protection. Flying debris
can cause injury. Always use eye protection while working in the neighborhood of the
CDB tool.
CAUTION: Do not use spare parts other than original ATI spare parts except for
consumables. Use of spare parts not supplied by ATI can damage equipment and void
the warranty. Always use original ATI serviceable parts.
CAUTION: Never be present near the CDB tool while it is in operation. Flying debris
can cause injury. If it is necessary to approach the CDB tool while in motion, stand
behind appropriate clear guards or similar windows. Provide a barrier to prohibit people
from approaching the CDB tool.
CAUTION: Do not perform maintenance or repair on the CDB tool unless the tool
is safely supported or placed in the tool stand and air has been turned off. Injury or
equipment damage can occur with tool not placed in a tool stand and air remaining
on. Place the tool safely in the tool stand and turn off the air before performing
maintenance or repair on the CDB tool.

Manual, Compliant Deburring Blade
Document #9610-50-1030-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
8
2. Product Overview
The Compliant Deburring Blade (CDB) is especially suited for removal of parting lines and ash from parts. The
CDB’s Auto Tool Changer (ATC) allows it to be used in a wide variety of applications without human interaction.
The CDB’s pneumatically controlled, articulated compliance allows the blade to follow the part prole and
compensate for surface irregularities while maintaining a constant force. As a result, high feed rates with uniform
quality in any orientation is achievable. The tool requires no oil.
When the customer supplies air pressure to the compliance air tting, the tool activates a compliance feature (or
complies) for consistent deburring on irregular part patterns. The CDB utilizes standard industrial blades that allow
for adaptation to changing assembly lines and part requirements.
Axially mount the CDB tool to the customer robot. The customer can mount the tapered ange of the CDB to
an interface plate that adapts to a robot. The customer can purchase custom interface plates fromATI (refer to
Section 3.5—Axial Mounting Installation and Section 9—Drawings for more information)
The CDB can be manually locked to single axis compliance using the single axis lockout (refer to Section 4.6—
Locking and Unlocking Single Axis Compliance for more information)
Figure 2.1—CDB Tool
Single Axis Lockout
ATC Collet
(2) ATC Air Supply Fitting
3 mm Push to Connect
Compliance Air Supply Fitting
Axial Mounting Flange
CDB Body

Manual, Compliant Deburring Blade
Document #9610-50-1030-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
9
2.1 ATC Collet System
The ATC’s pneumatically controlled collet system allows the tool holder to be locked and unlocked to the
CDB without human interaction, once a program is in place. TheATC’s pneumatically controlled tool stand
allows the tool holder to be locked and unlocked to the storage location As a result, faster tool changeovers
are achievable. TheATC requires no oil.
2.2 Tool Stand
A tool stand is a pneumatic controlled locking and unlocking storage location for tool holders.
Figure 2.2—Tool Stand
T-nut
Mounting Fastener
Latch
(2) 3 mm Push to Connect Fitting
2.3 Technical Description
The technical overview of the product is in the following tables and graphs. For additional technical
specications, refer to Section8—Specications.
2.3.1 Environmental Limitations
2.3.1.1 Operation
Table 2.1—Operation
Installation
position
Mounted to robot by means of the axial mounting
ange. Refer to Section 3.5—Axial Mounting
Installation. The ange is specic to each type of robot.
This optional ange is normally supplied by ATI in a
blank form suitable for customer modication.
Mounted to a table or stand by means of the bench
adapter (the robot is carrying the work piece).
Utilities
The tool requires the following:
• Clean, dry, ltered, non‑lubricated air.
• A coalescing lter and lter elements rated
5 micron or better.
• The compliance (centering) air must be supplied
from a regulated source between
1‑4.1 bar (15‑60 psi).
• The lock/unlock air must be supplied from a
regulated source of
4.1 bar (60 psi).
2.3.1.2 Storage
Table 2.2—Storage
Conditions
Store the tool in its case and in a dry place.
When not in use, keep the unit in its case if possible.
Consult Section 3.4—Storage and Preventive
Maintenance during Storage of this manual.

Manual, Compliant Deburring Blade
Document #9610-50-1030-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
10
2.3.2 Compliance Unit Performance
The graphs in Figure 2.3 and Figure 2.4 illustrates the variation of compliance force with applied
air pressure in the vertical orientation with the collet pointed toward the ground. Measurements
may vary from one product to another and should only be treated as nominal.
The actual force characteristics depend on mounting orientation and condition of the unit.
Compliance pressure is also dependent upon the material of the work piece, type of blade tool, and
the amount of material that is removed.
Figure 2.3—Radial Compliance Force (Measured at the Collet)
0
2
4
6
8
10
12
14
16
18
510 15 20 25 30 35 40 45 50 55 60
Radial Compliance Force (lbs)
Supply Pressure (psi)
Supply Pressure vs Average Radial
Compliance Force
Figure 2.4—Axial Compliance Force (Measured at the Tool Tip)
0.00
2.00
4.00
6.00
8.00
10.00
12.00
14.00
16.00
0 10 20 30 40 50 60
Axial Compliance Force (lbs)
Supply Pressure (psi)
Supply Pressure vs Axial Compliance Force
Series1