ATI Technologies Flexdeburr 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]
ATI Single-Axis, Radially-Compliant
Robotic Deburring Tools
Flexdeburr™
(Model 9150-RS-340)
Product Manual
Document #: 9610-50-1016

Manual, Flexdeburr, RS-340
Document #9610-50-1016-08
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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 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, Flexdeburr, RS-340
Document #9610-50-1016-08
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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 Tool Collet Systems......................................................................................................................9
2.2 Technical Description ...................................................................................................................9
2.2.1 Environmental Limitations..................................................................................................9
2.2.1.1 Operation............................................................................................................9
2.2.1.2 Storage.............................................................................................................10
2.2.2 Compliance Unit Performance ......................................................................................... 11
3. Installation .............................................................................................................................. 12
3.1 Transportation and Protection during Transportation.............................................................12
3.2 Inspection of Condition When Delivered..................................................................................12
3.3 Unpacking and Handling............................................................................................................12
3.4 Storage and Preventive Maintenance during Storage.............................................................12
3.5 Side Mounting Installation..........................................................................................................13
3.6 Axial Mounting Installation.........................................................................................................14
3.7 Pneumatics..................................................................................................................................15
4. Operation ................................................................................................................................ 17
4.1 Safety Precautions......................................................................................................................17
4.2.1 Air Quality.........................................................................................................................18
4.2.2 No Lubrication..................................................................................................................18
4.2.3 Bur Selection, Design, and Maintenance.........................................................................18
4.2.4 Deburring Tool Approach Path Should be Slow and at an Angle .....................................18
4.2.5 No Axial Loading ..............................................................................................................18
4.2.6 Perpendicular Loading .....................................................................................................18
4.2 Normal Operations......................................................................................................................18
4.3 Flexdeburr Working Environment .............................................................................................19
4.2.7 Program the Robot to Incorporate 50% Compliance Travel of the Tool...........................19
4.4 Tool Center Point (TCP) Position and Programming...............................................................20
4.5 Cutter Operation and Bur Selection..........................................................................................22
4.5.1 Bur Selection....................................................................................................................22

Manual, Flexdeburr, RS-340
Document #9610-50-1016-08
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
4
5. Maintenance............................................................................................................................ 25
5.1 Pneumatics..................................................................................................................................25
5.2 Lubrication...................................................................................................................................25
5.3 Boot Inspection...........................................................................................................................25
5.4 Bur Inspection.............................................................................................................................25
6. Troubleshooting and Service Procedures ........................................................................... 26
6.1 Troubleshooting..........................................................................................................................26
6.2 Service Procedures.....................................................................................................................27
6.2.1 Bur and Collet Replacement ............................................................................................27
6.2.2 Turbine Motor Replacement.............................................................................................29
6.2.3 Ring Cylinder Assembly Replacement.............................................................................31
7. Serviceable Parts ................................................................................................................... 33
7.1 Accessories Tools, and Optional Replacement Parts .............................................................33
8. Specications ......................................................................................................................... 34
9. Drawings ................................................................................................................................. 35
9.1 RS-340 Geometry and Mounting................................................................................................35
9.2 RS-340 Serviceable Parts Drawing............................................................................................36
10. Terms and Conditions of Sale............................................................................................... 37
10.1 Motor Life and Service Interval Statement................................................................................38
10.1.1 Turbine Motor Products (Flexdeburr (RS) models) ..........................................................38

Manual, Flexdeburr, RS-340
Document #9610-50-1016-08
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
5
Glossary
Term Denition
Adapter Plate Device for attaching the deburring tool to either a robot ange or a stationary
mounting surface.
Air Filter Device for removing contamination from the air supply lines. Typically refers to
removal of the particulates.
Air Turbine Air motor that drives the spindle.
Bur Cutting tool used to remove the burrs from the work piece. Alternatively
referred to as a rotary le, cutter, or bit.
Burr Any unwanted, raised protrusion on the work piece.
Climb Milling Cutting method where the direction of the cutter rotation and tool motion are
the same.
Chattering Machine vibrations. The cutting tool bounces as it contacts the work surface.
Coalescing Filter Device designed to remove the 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 the response to protrusions on
the or deviations of the work piece.
Conventional Milling Method of cutting where the direction of the tool motion is opposite that of the
tool rotation.
End-Effector Tool used by the robot to perform a particular function
Flexdeburr Product family name for ATI’s line of radially compliant deburring tools.
Main Housing The main cylindrical body of the unit which includes the mounting features.
Positive Stop The tool has contacted a physical limitation and can no longer move.
Qty Quantity.
Regulator Device used to set and control the supplied air pressure to lower acceptable
levels.
Rear Housing Rear cover to the main housing. The body includes a connection port for
compliance and motor air.
RS Single-axis radially-compliant.
Solenoid Valve Electrically controlled device for switching air supplies on and off.
Spindle The rotating portion of the deburring tool assembly.
Turbine Air motor that drives the spindle.

Manual, Flexdeburr, RS-340
Document #9610-50-1016-08
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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 Flexdeburr product, the customer should rst read and
understand the operating procedures and information described in this manual. Never use the deburring 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 the pneumatic lines must minimize the possibility of stress/strain, kinking,
rupture, etc. Failure of the critical pneumatic lines to function properly may result in the equipment damage.

Manual, Flexdeburr, RS-340
Document #9610-50-1016-08
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
7
1.3 Safety Precautions
CAUTION: Do not use spare parts other than original ATI spare parts. Use of spare
parts not supplied by ATI can damage equipment and void the warranty.Always use
original ATI spare parts.
CAUTION: Do not perform maintenance or repair on the Flexdeburr product 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 Flexdeburr product.
NOTICE: Turbine motors are not serviceable at this time. Refer to Section 10—Terms and
Conditions of Sale. To maximize the life of turbine motor products the customer should follow
closely the normal operation procedures outlined in the product manual. The air must be totally
lube free and ltered to remove particulates and moisture. Exposing the turbine motors to oil in
the air supply results in premature failure.

Manual, Flexdeburr, RS-340
Document #9610-50-1016-08
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
8
2. Product Overview
The single-axis radially-compliant (RS) Deburring tool, also known as Flexdeburr, is robust, high-speed and
lightweight air turbine-driven deburring units for deburring aluminum, plastic, steel, etc. with a robot or CNC
machine. The RS deburring tool is especially suited for removal of parting lines and ash from the parts. However,
its exible design allows it to be used in a wide variety of applications.
The RS deburring tool’s pneumatically controlled, articulated design allows the cutting bit to follow the part prole
and compensate for surface irregularities while maintaining a constant, settable force. This allows high feed rates
with uniform quality in any orientation. The tool requires no oil, allowing clean exhaust air to be vented directly
into the work environment.
Compliance is supported by air pressure applied to the shaft of the unit and is used to perform consistent deburring
on irregular part patterns. The motors internal governor maintains high spindle speeds for optimum surface
nish. The RS deburring tool also utilizes standard industrial tungsten-carbide bits which allows for adaptation to
changing assembly lines and part requirements.
The RS-340 provides for (2) mounting types, a side mounting and an axial mounting. The side mounting provides
(2) locating dowel pins and (4) threaded holes. The axial mounting utilizes a tapered ange that requires an adapter
plate. Custom adapter plates for both side and axial mounting are available from ATI. Refer to Section 9—Drawings
for more information.
The RS-340 is equipped with a 1/2" (12 mm on the Euro models) push-to connect tting to supply the motor air and
a 5/32" (4 mm) Push-to Connect tting to supply the compliance air.
A tool collet system secures the bur tool. Many collet sizes and a various selection of tools are available to
accommodate a wide variety of applications.
Figure 2.1—RS-340 Deburring Tool
Tool Collet System
Side Mounting
Motor Air
Connection
Compliance Air
Connection
Axial
Mounting

Manual, Flexdeburr, RS-340
Document #9610-50-1016-08
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
9
2.1 Tool Collet Systems
All Flexdeburr products utilize removable collets to grip customer supplied cutting tools. Different collet
diameters may be substituted to retain numerous cutter shank diameters. The collet retaining nut is loosened
to open the collet allowing cutting tools to be removed and inserted. Once the tool is set to the desired depth,
spanner wrenches are used to tighten the collet nut causing the collet to collapse and secure the cutting tool.
The turbine motor design does not allow the installation of the quick-change or drawbar collet systems.
The standard tool holding system for Flexdeburr products is an economical, proprietary, single-angle collet
design utilizing (3) gripping ngers. This is suitable for most applications where industry standard shank
diameter cutting tools are used and runout tolerances of up to 0.001” (0.025 mm) are acceptable. Special
sizes are available upon request but require custom machining.
2.2 Technical Description
A technical overview of the product is provided in the following tables and graphs. For additional technical
specications, refer to Section8—Specications.
2.2.1 Environmental Limitations
2.2.1.1 Operation
Table 2.1—Operation
Installation
position
Mounted to robot by means of the side mounting
pattern or rear adapter ange. Refer to Section 3.5—
Side Mounting Installation and Section 3.6—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. Refer to Section 9.1—RS-340 Geometry
and Mounting.
Mounted to a table or stand by means of the bench
adapter (the robot is carrying the work piece).
Temperature
range 5°C–35°C 41°F–95°F
Utilities
The tool requires the following:
• Clean, dry, ltered, non‑lubricated air.
• A coalescing lter and lter elements rated
5 micron or better.
• The motor spindle must be supplied air at
6.2 bar (90 psi).
• The radial compliance (centering) air must be
supplied from a regulated source between
1.0–4.1 bar (15–60 psi).

Manual, Flexdeburr, RS-340
Document #9610-50-1016-08
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
10
2.2.1.2 Storage
Table 2.2—Storage
Temperature
range 0°C–45°C 32°F–113°F
Conditions
The tool should be stored in its crate and in a dry
place.
When not in use, keep the unit in its crate If possible.
Consult Section 3.7—Storage and Preventive
Maintenance during Storage of this manual.