ATI Technologies QC-5 User manual

Engineered Products for Robotic Productivity
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
Robotic Tool Changers
QC-5 through QC-27
Manual
Document #: 9610-20-2254

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
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 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
1031 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, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
3
Table of Contents
Foreword.......................................................................................................................................... 2
1. Safety......................................................................................................................................... 7
1.1 ExplanationofNotications.........................................................................................................7
1.2 General Safety Guidelines............................................................................................................7
1.3 Safety Precautions........................................................................................................................8
2. Product Overview..................................................................................................................... 9
2.1 Master Plate Assembly ............................................................................................................... 11
2.2 Tool Plate Assembly.................................................................................................................... 11
2.3 Master Plate/Tool Plate Locking Mechanism............................................................................12
2.4 Optional Sensor Interface Plate (SIP)........................................................................................12
2.5 Optional Modules........................................................................................................................13
3. Installation .............................................................................................................................. 13
3.1 Robot Interface Plates ................................................................................................................15
3.2 Master Plate Installation.............................................................................................................16
3.3 Master Plate Removal.................................................................................................................18
3.4 Tool Interface Plate .....................................................................................................................19
3.5 Tool Plate Installation .................................................................................................................20
3.6 Tool Plate Removal .....................................................................................................................20
3.7 Optional Module Installation......................................................................................................21
3.7.1 QC-5 and QC-11 Simple Electrical Module Installation....................................................21
3.7.2 QC-5 and QC-11 Simple Electrical Module Removal.......................................................21
3.7.3 QC-5 and QC-11 Master Electrical Module Installation....................................................22
3.7.4 QC-5 and QC-11 Master Electrical Module Removal.......................................................22
3.7.5 QC-5 and QC-11 Tool Electrical Module Installation ........................................................23
3.7.6 QC-5 and QC-11 Tool Electrical Module Removal ...........................................................23
3.7.7 QC-20, QC-21, and QC-27 Flat A Optional K Series Module Installation.........................24
3.7.8 QC-20, QC-21, and QC-27 Flat A Optional K Series Module Removal............................24
3.7.9 QC-21 Flat B Optional Module Installation.......................................................................25
3.7.10 QC-21 Flat B Optional Module Removal..........................................................................26
3.8 Installing an Optional SIP...........................................................................................................26
3.8.1 QC-11 SIPAssembly Installation......................................................................................26
3.8.2 QC-20 and QC-21 SIPAssembly Installation...................................................................29
3.9 Lock and Unlock Pneumatic and Valve Requirements............................................................33
3.10 Electrical Connections................................................................................................................34
3.10.1 PNP Type Lock and Unlock Sensors................................................................................34
3.10.2 NPN Type Lock and Unlock Sensors...............................................................................35

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
4
4. Operation ................................................................................................................................ 36
4.1 Coupling Sequence.....................................................................................................................37
4.2 Fail-Safe Operation .....................................................................................................................37
4.3 Uncoupling Sequence.................................................................................................................38
4.4 ToolIdentication........................................................................................................................38
4.5 Tool Storage Considerations .....................................................................................................39
5. Maintenance............................................................................................................................ 40
5.1 Preventive Maintenance .............................................................................................................41
5.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins...........................42
5.3 Optional Electrical Module Pin Block Inspection and Cleaning.............................................44
6. Troubleshooting and Service Procedures ........................................................................... 45
6.1 Troubleshooting..........................................................................................................................45
6.2 Service Procedures.....................................................................................................................46
6.2.1 QC-11 and QC-27 Proximity Sensor Adjustment, Test, or Replacement..........................46
6.2.2 QC-20 and QC-21 Proximity Sensor Adjustment, Test, or Replacement .........................49
6.2.3 Rubber Bushing Inspection and Replacement.................................................................52
6.2.4 QC-27M Alignment Pin Replacement...............................................................................53
6.2.5 Optional Electrical Module V-ring Seal Inspection and Replacement ..............................54
7. Specications ......................................................................................................................... 55
8. Serviceable Parts ................................................................................................................... 56
8.1 Models QC-5 Serviceable Parts .................................................................................................56
8.2 Models QC-11 Serviceable Parts................................................................................................57
8.3 Models QC-20 PM5 Model Serviceable Parts............................................................................58
8.4 Models QC-20 with 16 M5 X 0.8 Pass through Ports Serviceable Parts.................................59
8.5 Models QC-21 Serviceable Parts ...............................................................................................60
8.6 Models QC-27 Serviceable Parts ...............................................................................................61
9. Drawings ................................................................................................................................. 62
9.1 QC-5 Tool Changer with EA2 Module........................................................................................62
9.2 QC-11 Tool Changer with A15 Module.......................................................................................63
9.3 QC-20 Tool Changer with K19 Module ......................................................................................64
9.4 QC-21 Tool Changer with K19 Module ......................................................................................65
9.5 QC-21 Euro Tool Changer...........................................................................................................66
9.6 QC-27 Tool Changer....................................................................................................................69
10. Terms and Conditions of Sale............................................................................................... 72

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
5
Glossary
Table 1.1—Tool Changer and Module Glossary
Term Denition
Bearing Race A steel ring in the Tool plate that is engaged by the locking balls during the
coupling of the Tool Changer.
Cam A multi tapered sliding cylinder attached to the piston that forces the locking balls
outward during the locking process.
Coupling The physical action of the locking the Master and Tool plates together. See Lock.
Cover Plate A protective closure plate on the standard Master assemblies which closes the
pneumatic chamber.
Detection Shaft A threaded stem inserted into the robot side of the piston and functions as a
target to actuate the Lock/Unlock sensors.
Electrical Module Utility modules that pass electrical power and signals through the Master and
Tool modules to the end-effector.
End-Effector Tool used by the robot to perform a particular operation or function.
Fluid Module Utility modules that pass uids through the Master and Tool modules to the end-
effector.
High Current Module Utility modules that pass electrical power through the Master and Tool modules to
the end-effector.
Interface Plate (IP) An optional customized component that is used to adapt a Tool Changer to the
user’s robot or tooling.
Lock The lock air pressure that is provided to the Master plate locking mechanism to force the cam to press the locking balls against the bearing race and lock the
Master and Tool plates together.
Lock Port A pneumatic port on the Master plate through which air pressure is supplied to
Lock the Master plate to the Tool plate.
Lock Sensor A proximity sensor that detects the position of the pneumatically actuated piston
when it is in the locked or missed tool position.
Locked An output signal provided by a proximity sensor that indicates the coupling
mechanism is in the Locked position.
Locking Balls Hardened steel ball bearings used in the fail-safe locking mechanism. The locking balls are forced outward by the cam against the bearing race to pull the
Master and Tool plates together.
Locking Mechanism
A manual, pneumatic or electrical driven device that draws the Master and
Tool plates together and secures them in a fail-safe locked condition until the
mechanism is unlocked. The locking mechanism consists of locking balls, cam,
ball cage, bearing race, and either an lever, pneumatic cylinder, or an electric
motor.
L/U Lock/Unlock sensing capability that allows the customer to determine the state of
the Master assembly locking mechanism.
Master plate The half of the Tool Changer that is mounted to a robot. The Master plate
contains the locking mechanism.
Moment The applied force multiplied by the distance it is from a point.
No-Touch™ A design feature of all ATI Tool Changer products that allows the Master plate
and Tool plate to couple without physical contact prior to locking.
Piston A cylinder located in the Master plate that actuates the locking mechanism.

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
6
Table 1.1—Tool Changer and Module Glossary
Term Denition
Pneumatic Module Utility modules that pass air or vacuum through the Master and Tool modules to
the end-effector.
Sensor Plate A cover plate for the back side of the Master plate that seals the pneumatic
chamber and provides mounting points for the Lock/Unlock switches.
Servo Module Utility modules that pass electrical power and servo signals through the Master
and Tool modules to the end-effector equipped with a servo motor.
Sensor Interface Plate
SIP (SIP)
Used to adapt the Tool Changer Master to the customer-supplied robot. An
interface plate that contains sensors that determine the state (Locked/Unlocked/
No Tool) of the Master plate.
Tool plate The half of the Tool Changer to which various tools or end-effectors are mounted.
Tool Stand A stand that holds the Tools not being used by the robot.
Trip Dog A physical device used to activate a mechanical switch, which is used in the tool
stand Interlock circuit.
Uncoupling The physical action of the unlocking the Master and Tool plates. See Unlock.
Unlatch The output supplied to the ATI Master module to uncouple the Tool Changer.
Unlock The unlock air pressure provided to the Master plate locking mechanism that forces the cam to release the locking balls from the bearing race and allows the
Master and Tool plates to be separated.
Unlocked An output signal provided by a proximity sensor, indicating that the coupling
mechanism is in the Unlocked position.
Unlock Port Pneumatic port on the Master plate through which air pressure is supplied to
Unlock the Master plate from the Tool plate.
Unlock Sensor A proximity sensor that detects the position of the pneumatically actuated piston
when it is in the unlocked position.

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
7
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 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, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
8
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, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
9
2. Product Overview
The Tool Changer provides exibility to robot applications by allowing the robot to change customer tooling (e.g.,
grippers, vacuum cup tooling, pneumatic and electric motors, weld guns, etc.) automatically. The Tool Changer
consists of a Master plate and a Tool plate. The Master plate is attached to a robot, while end-effectors such as
grippers, material handlers, etc. are attached to one or more Tool plates.
The Master plate locks to the Tool plate with a pneumatically driven locking mechanism. This locking mechanism
uses a patented, multi-tapered cam with ball locking technology and a patented fail-safe mechanism.
The robot can be programmed to select the desired customer tooling by coupling the Master plate to the Tool plate
attached to the tooling. Electrical signals, pneumatic power, and uids can be transferred to the customer tooling
through the Master plate and Tool plate by optional modules. See the respective manuals for these options for more
details.
QC models are available with different anodizing, pneumatic port sizes, and quantities. Refer to Table 2.1 for
specic part numbers. Other custom models are available with features for specic applications such as food grade,
wash down, etc. For more information on custom models, contact an ATI sales representative.
Table 2.1—QC Tool Changer Models and Features
Model Payload Flats Plate Pneumatic Ports Part No.
QC-5 18 lbs (1) Flat Master
(6) M5 X 0.8 Pass
through ports
(2) M5 X 0.8 Lock/Unlock
air ports
9120-005M-000-0001
Tool (6) M5 X 0.8 Pass
through ports 9120-005T-000-0001
QC-11 35 lbs (1) Flat Master
(6) M5 X 0.8 Pass
through ports
(2) M5 X 0.8 Lock/Unlock
air ports
9120-011M-000-000-SQx-yyyy2,5,6
9120-011M-000-000-SQx-yyyy-B3,5,6
Tool (6) M5 X 0.8 Pass
through ports 9120-011T-000-0002
9120-011T-000-000-B3
QC-20 55 lbs (1) Flat for K
series modules
Master
(12) M5 X 0.8 Pass
through ports
(2) M5 X 0.8 Lock/Unlock
air ports
9120-020M-000-PM5-SQx-yyyy2,5,6
9120-020M-000-PM5-SQx-yyyy-B3,5,6
9120-020M-000-PM5-C4
Tool (12) M5 X 0.8 Pass
through ports
9120-020T-000-PM52
9120-020T-000-PM5-B3
9120-020T-000-PM5-C4
Master
(16) M5 X 0.8 Pass
through ports
(2) M5 X 0.8 Lock/Unlock
air ports
9120-020M-000-P16-SQx-yyyy2,5,6
9120-020M-000-P16-SQx-yyyy-B3,5,6
Tool (16) M5 X 0.8 Pass
through ports 9120-020T-000-P162
9120-020T-000-P16-B3
Notes:
1. QC-5 Tool Changers have stainless steel bodies.
2. All standard QC Tool Changers have orange anodized bodies.
3. QC Tool Changer Master and Tool plate Assemblies with (-B or -E) Part Numbers have black anodized bodies.
4. QC Tool Changer Master and Tool plate Assemblies with (-C) Part Numbers have clear anodized bodies.
5. QC Tool Changer Master Assemblies can be ordered with a (SIP) sensor interface plate. The -SQx in the Part
Number indicates the sensor type, SQ for PNP type sensors or SQN for NPN type sensors. If no SIP is ordered
the -SQx will not exist in the part number (i.e. 9120-011M-000-000-B).
6. The -yyyy species the Interface plate model, contact ATI sales representative for custom interface plates
available.

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
10
Table 2.1—QC Tool Changer Models and Features
Model Payload Flats Plate Pneumatic Ports Part No.
QC-21 55 lbs
(2) Flats:
(1) Flat for K
series modules
(1) Flat for J16
mounting pattern
(with adapter
plate)
Master
(8) 1/8 NPT Pass
through ports
(2) M5 X 0.8 Lock/Unlock
air ports
9120-021M-000-000-SQx-yyyy2,5,6
9120-021M-000-000-SQx-yyyy-B3,5,6
Tool (8) 1/8 NPT Pass
through ports 9120-021T-000-0002
9120-021T-000-000-B3
Master
(8) G 1/8 (BSPP) Pass
through ports
(2) M5 X 0.8 Lock/Unlock
air ports
9120-021M-000-000-SQx-yyyy-E3,5,6
Tool (8) G 1/8 (BSPP) Pass
through ports 9120-021T-000-000-E3
Master
(8) R 1/8 (BSPT) Pass
through ports
(2) M5 X 0.8 Lock/Unlock
air ports
9120-021M-000-000-SQx-yyyy-R2,5,6
Tool (8) R 1/8 (BSPT) Pass
through ports 9120-021T-000-000-R2
QC-27 83 lbs (1) Flat for K
series modules
Master
(8) 1/8 NPT Pass
through ports
(2) M5 X 0.8 Lock/Unlock
air ports
9120-027M-000-000-SQx-yyyy2,5,6
Master
(8) G 1/8 (BSPP) Pass
through ports
(2) M5 X 0.8 Lock/Unlock
air ports
9120-027M-000-000-SQx-yyyy-E3,5,6
Tool (8) G 1/8 (BSPP) Pass
through Ports 9120-027T-000-000-E3
Notes:
1. QC-5 Tool Changers have stainless steel bodies.
2. All standard QC Tool Changers have orange anodized bodies.
3. QC Tool Changer Master and Tool plate Assemblies with (-B or -E) Part Numbers have black anodized bodies.
4. QC Tool Changer Master and Tool plate Assemblies with (-C) Part Numbers have clear anodized bodies.
5. QC Tool Changer Master Assemblies can be ordered with a (SIP) sensor interface plate. The -SQx in the Part
Number indicates the sensor type, SQ for PNP type sensors or SQN for NPN type sensors. If no SIP is ordered
the -SQx will not exist in the part number (i.e. 9120-011M-000-000-B).
6. The -yyyy species the Interface plate model, contact ATI sales representative for custom interface plates
available.

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
11
2.1 Master Plate Assembly
The Master plate assembly includes an anodized aluminum body, a hardened stainless-steel locking
mechanism, and hardened steel alignment pins. The locking mechanism consists of a cam, a male coupling,
and chrome-steel ball bearings. The Master plate provides (1) or (2) at sides for mounting optional
modules. Optional modules can be arranged to suit the application.
Figure 2.1—Master Plate Assemblies
Optional Module Flat
Cover PlateCover Plate
(6) M5 X 0.8 Pass-Through Air Ports
Optional Module Flat A
(8) 1/8" NPT Pass-Through Air Ports
Master Plate Assembly
(QC-11 Shown)
Master Plate Assembly
(QC-21 Shown)
(2) Tapered Alignment Pins
Male Coupling
Ball Bearings
Pass-Through Air Ports
Male Coupling
Ball Bearings
(2) Alignment Bushings
Pass-Through Air Ports
M5 X 0.8 Lock, Unlock, and
Pass-Through Air Ports
Optional Module Flat B
M5 X 0.8 Lock, Unlock, and
Pass-Through Air Ports
The air ports provide Lock and Unlock air for the locking mechanism and pass-through air for the end of
arm tooling. An adapter plate assembly provides a standoff for the air ports and a mounting pattern to attach
to the robot arm.
Alignment pins mate with bushings to ensure repeatable alignment during the coupling process. An extreme
pressure grease is applied to the cam, male coupling, ball bearings, and pins to enhance performance
and maximize the life of the Master plate assembly. In some models, the Master plate has tapered
alignment pins, and in the other models, such as the QC-11, the Master plate has hardened stainless steel
alignment bushings.
A cover plate that attaches to the Master protects the internal locking mechanism during shipment. This
cover plate can be removed during installation if replaced by an interface plate. Refer to Section 3—
Installation for details.
2.2 Tool Plate Assembly
The Tool plate assembly includes an anodized aluminum body and a hardened stainless-steel bearing
race. The Tool plate provides (1) or (2) at sides for mounting of optional modules. Optional modules
can be arranged to suit the application. In some models, the bearing race or Tool plate body has integrated
alignment holes or bushings, and in other models, such as the QC-11, the Tool plate has hardened steel
alignment pins.
The Tool plate is equipped with pass through air ports to supply air to the end of arm tooling.
Figure 2.2—Tool Plate Assemblies
Bearing Race
Pass Through
Air Ports
(2) Hardened Steel
Alignment Pin
Pass-Through Air Ports
Hardened Stainless Steel
Bearing Race
(2) Integrated
Alignment Hole
Optional Module
Optional Module Flat B
Tool Plate Assembly (QC-21 Shown)
Optional Module Flat
Hardened Stainless Steel
Bearing Race
Tool Plate Assembly
(QC-11 Shown)
Flat A

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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2.3 Master Plate/Tool Plate Locking Mechanism
The coupling of the Master plate and the Tool plate is achieved through a patented, high-strength, and
stainless steel mechanism. During locking, steel balls in the Master plate are driven outward by a circular
cam attached to a pneumatically actuated piston. The cam prole has (3) features: A lead-in angle (conical),
a at (cylindrical) area, and a secondary angle (conical). The lead-in angle initiates the coupling process,
the at area assures the coupling will not be compromised in case of air loss (fail-safe feature), and the
secondary angle provides rigid coupling during normal operation. The balls engage a bearing race (or
“locking ring”) in the Tool plate and lock the Master plate and Tool plate tightly together.
Figure 2.3—Locking Mechanism
Piston
Bearing Race
Circular Cam
Ball Cage
Ball Bearings
2.4 Optional Sensor Interface Plate (SIP)
The sensor interface plate (SIP) system provides locking mechanism position signals to the customer
process controller. These signals indicate (2) possible conditions for the Tool Changer Master plate:
unlocked or locked.
The SIP system utilizes sensors to detect the position of the pneumatically-actuated piston in the
Master plate. These sensors are available in PNP, NPN, and other options upon request, contact ATI for
more information.
The SIP system consists of a SIP plate, a detection shaft, a sensor plate, proximity switches, and an O-ring.
The sensor plate (which is the interface plate between the Master plate and the robot) will replace the
cover plate on the back of the Tool Changer Master. The sensor plate provides mounting locations for the
proximity sensors and closes the pneumatic chamber of the Master. The SIP provides mounting holes for
attaching the Master to the customer application and retains the sensor plate.
The QC-27 is equipped with a SIP system and is required to provide the Lock air port. Optional interface
plates are available to adapt to specic robots, contact an ATI sales representative.
Figure 2.4—The SIP System
Detection Shaft
(Sensor Target)
Lock Sensor
Unlock Sensor
Interface Plate
O-ring
Sensor Plate

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
13
2.5 Optional Modules
Tool Changers have (1) or (2) ats depending on the model. Optional modules support the pass-through
of various utilities, such as signal, uid/air, and power, etc. Refer to Table 2.2 for more information. Some
modules require an adapter plate.
For assistance in choosing the right modules for your particular application, visit the ATI website or contact
an ATI Sales Representative.
Table 2.2—Tool Changer Models and Features
Model Forthemostcurrentlist,information,andspecicationsforcompatible
Optional Modules click the link below
QC-5 QC-5 Web Page and select the Compatible modules tab
QC-11 QC-11 Web Page and select the Compatible modules tab
QC-20 QC-20 Web Page and select the Compatible modules tab
QC-21 QC-21 Web Page and select the Compatible modules tab
QC-27 QC-27 Web Page and select the Compatible modules tab
Note: The ATI website provides information on the standard compatible modules additional custom
modules are available, contact an ATI Sales Representative.
3. Installation
The Master plate of the Tool Changer mounts to the robot arm using an interface plate. Custom interface plates are
available from ATI upon request. Refer to Section 3.1—Robot Interface Plates or Section 2.4—Optional Sensor
Interface Plate (SIP) for more information.
The end-effector is typically attached to the Tool plate with an interface plate,standard and custom tool interface
plates are available from ATI upon request. Refer to Section 3.4—Tool Interface Plate for more information.
All fasteners used to mount the Tool Changer to the robot and to customer’s tooling should have pre-applied
adhesive or be applied with removable (blue) Loctite and tightened to a torque value as indicated in Table 3.1,
which contains recommended torque values based on engineering standards. Because custom Tool Changers may
use different mounting fasteners, the specications for torque and thread locker may vary; contact an ATI sales
representative for more information.
Pneumatic lines and electrical cables are attached, bundled, and must be strain-relieved in a manner that allows for
freedom of movement during operation.
WARNING: Do not perform maintenance or repair on 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 purged and power discharged from
circuits in accordance with the customer’s safety practices and policies. Injury or equipment
damage can occur with Tool not placed and energized circuits on. Place the Tool safely in the
tool stand, turn off and discharge all energized circuits, purge all pressurized connections,
verify all energized circuits are de-energized before performing maintenance or repair on Tool
Changer or modules.
WARNING: 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 over stressing, pullout, or kinking the lines. Failure to do so can
cause some critical electrical and/or pneumatic lines not to function properly and may result in
injury to personnel or damage to equipment.

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
14
WARNING: Do not use lock washers under the head of the mounting fasteners or allow the
mounting fasteners to protrude above the mating surfaces of the Master and Tool plates.
Allowing fasteners to protrude above the mating surface will create a gap between the Master
and Tool plates and not allow the locking mechanism to fully engage, this can cause damage
to equipment or personal injury. The mounting fasteners must be ush or below the mating
surfaces of the Master and Tool plates.
Head of Mounting Fastener Must Be Flush or
Below Mating Surface. (Do Not Use Lock
Washer under Head of Mounting Fastener.)
Mating Surface
CAUTION: Do not apply Lock or Unlock air pressure to the Tool Changer prior to installing an
interface plate. Applying air pressure before the installation of an interface plate can damage
the cover plate, O-ring, or may cause injury to personnel from ying debris. Always install an
appropriate interface plate and mount the Tool Changer securely to the robot before applying
air pressure. Refer to Section 3.1—Robot Interface Plates and Section 3.2—Master Plate
Installation for more information.
CAUTION: Do not use fasteners with pre-applied adhesive more than once. Fasteners
might become loose and cause equipment damage. Always apply new thread locker when
reusing fasteners.
CAUTION: Do not use fasteners that exceed the thread depth in the Tool Changer’s robot or
tool side. Refer to Section 9—Drawings for details on the mounting hole thread depth. Secure
the Tool Changer with the proper length fasteners.
CAUTION: Failure to follow the interface plate design considerations in Section 3.1—Robot
Interface Plates and Section 3.4—Tool Interface Plate may result in damage to the cover plate
or O-ring or loose mounting between the interface plate and Tool Changer. Guidelines for the
interface plate design(s) should be followed.
Table 3.1—FastenerSize,Class,andTorqueSpecications
Mounting Conditions Fastener Size, Property
Class, and type Recommended Torque Thread Locker
QC-5 and QC-11 Master plate to Robot Interface Plate or Sensor
Interface plate, Supplied Fasteners (M3 socket head cap screws) M3-30 Class 12.9 10 in-lbs (1.13 Nm)
Pre-applied
Adhesive
or Loctite®
222
QC-20, QC-21, and QC-27 Master plate to Robot Interface Plate
or Sensor Interface plate, Supplied Fasteners
M4-30 Class 12.9
Socket at head cap 10 in-lbs (1.13 Nm)
Socket head cap 15 in-lbs (1.69 Nm)
Tool Interface Plate to QC-5 and QC-11 Tool plate
Minimum thread engagement of 7.5 mm [1.5X fastener Ø]. Do
not exceed maximum available thread depth of 8 mm as shown
in Section 9—Drawings.
M5 x 0.8 Class 12.9
Socket head cap 45 in-lbs (5.08 Nm)
Socket at head cap 35 in-lbs (3.96 Nm)
Tool Interface Plate to QC-20, QC-21, and QC-27 Tool plate
Minimum thread engagement of 9 mm [1.5X fastener Ø]. Do not
exceed maximum available thread depth of 10 mm as shown in
Section 9—Drawings.
M6 x 1.0 Class 12.9 Pre-applied
Adhesive or
Loctite 242
Socket head cap 90 in-lbs (10.2 Nm)
Socket at head cap 60 in-lbs (6.78 Nm)

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
15
3.1 Robot Interface Plates
The Master plate is typically attached to the robot arm. An interface plate can adapt the Master plate to a
specic robot arm. Alignment features (dowel holes and bosses) accurately position and bolt holes secure
the Master plate to the robot arm or an interface plate. Custom interface plates are available from ATI upon
request. (Refer to the Drawing Section for technical information on mounting features.)
CAUTION: Do not use more than two alignment features when securing a Master plate
to a robot interface plate. Using more than two alignment features can cause damage
to equipment. Use either two dowel pins or a single dowel pin along with a boss/recess
feature to align the Master plate with the robot interface plate.
CAUTION: Do not use dowel pins that are too long that will not allow the interface plate
and the Master body’s boss to mate ush with each other. Using dowel pins that are too
long will cause a gap between the interface plate and the Master body’s boss causing
damage to the equipment. Use the proper size dowel pins that will not extend further
than allowed by the Master body.
Interface Plate
Dowel pins that are too long
can cause a gap between
the interface plate and
boss in the Master plate.
A boss and (2) dowel pins
can be difficult to align and
cause damage to the
Master Plate
Incorrect Mounting of the Master Plate
equipment.
Correct size dowel pin(s)
allows the interface plate
and the boss in the
Master plate to mount flush.
Interface Plate
Master Plate
Boss
Flush
A gap is between the
interface plate
and the flange
of the Master plate.
Note: A dowel pin and a boss/recess
or ((2) dowel pins) are used as
alignment features.
Correct Mounting of the Master Plate
If the customer chooses to design and build an interface plate, consider the following points:
• The interface plate should include bolt holes for mounting and either (2) dowel pins or (1) dowel pin
and a boss for accurate positioning on the robot and Master plate. The dowel and boss features prevent
unwanted rotation. Refer to the robot manual for robot mounting features.
• The thickness of the interface plate must be sufcient to provide the necessary thread engagement for
the mounting bolts.
• Dowel pins must not extend out from the surface of the interface farther than the depth of the dowel
holes in the boss of the Master plate.
• A recess of proper depth and diameter must be machined into the interface plate to correspond with the
boss on the Master plate.
• Mounting bolts that are too long can create a gap between the interface plate and the Master plate,
which can damage the equipment.
• The interface plate must provide rigid mounting to the Master plate.
• The interface plate design must account clearances required for Tool Changer module attachments and
accessories.

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
16
Figure 3.1—CongurationsforaMasterwithanInterfacePlate
Sensor Interface Plate (SIP)
Master Plate Body
Master Plate Boss
Sensor Plate (Cover Plate Removed)
O-ring
Detection shaft
O-ring
Dowel Pin
Mounting Fasteners
(Supplied by Customer)
Interface Plate
Master Plate Body
Master Plate Boss
O-ring
Maintain a Gap
Boss
Dowel Pin
Mounting Fasteners
(Supplied by Customer)
Cover Plate Removed
Interface Plate
Master Plate Boss
Master Plate Body
Maintain a Gap
Cover Plate Left in Place
O-ring
Dowel Pin
Boss
Mounting Fasteners
(Supplied by Customer)
3.2 Master Plate Installation
The Tool Changer Master plate mounts to the robot ange using an interface plate. A cover plate that
attaches to the Master plate protects the internal locking mechanism during shipment. Depending on
the Master and interface plate conguration, remove the cover plate or install an interface plate to
the cover plate.
Refer to Figure 3.2
Tools required: 2 mm, 2.5 mm, and/or 3 mm hex key wrench(es), torque wrench
Supplies required: Clean rag, Loctite® 222
1. Clean the mounting surfaces.
2. Position the interface plate to the robot arm and secure with the supplied or customer supplied fasteners,
refer to Figure 3.2. Refer to Table 3.1 for proper fasteners and torque.
3. Determine the Master and interface plate conguration:
• The interface plate replaces the cover plate. Go to step 4.
• The interface plate incorporates the cover plate. Go to step 5.
4. Remove the cover plate.
• For the QC-5 or QC-11, remove the (2) M3 hex nuts securing the cover plate to the Master plate.
• For a QC-20 and QC-21, remove the (2) M3 socket at head screws using a 2 mm hex key that secure
the cover plate to the Master plate.
CAUTION: Make sure the O-ring is properly seated in the Master plate’s groove, or the
seal could leak because of a cut or damage from improper installation. Properly seat
O-ring into groove in Master plate.

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Figure 3.2—Typical Master Plate Installation
Robot Arm
Interface Plate
Master Plate Assembly
(QC-21 with K19 module Shown)
Socket Head Cap Screws
(Customer Supplied)
(4) M4 Socket Flat Head Cap Screws or
(6) M4 Socket Head Cap Screws (QC-27)
Dowel Pin
(Customer Supplied)
Sensor Plate
(4) M3 Socket Head Cap Screws
Robot Arm
Interface Plate
Master Plate Assembly
(QC-11 with A15 module Shown)
Socket Head Cap Screws
The cover plate can remain
in place if the interface plate
accomodates the plate.
(2) M3 Hex Nut used to
temporaraly hold cover
plate in place must be
removed before installation.
5. If equipped, connect the Lock and Unlock sensor cables.
6. Position and install the Master plate to the interface plate. Refer to Figure 3.2. Refer to Table 3.1 for
proper fasteners and torque.
• For the QC-5 or QC-11 secure the Master plate to the interface plate with the (4) M3 socket head
screws using a 2.5 mm hex key.
• For the QC-20 and QC-21 secure the Master plate to the interface plate with the (4) M4 socket at
head screws using a 2.5 mm hex key.
• For the QC-27 secure the Master plate to the interface plate with the (6) M4 socket head screws using
a 3 mm hex key.
7. Connect all Lock / Unlock and pass-through air connections to the ports on the Master plate. For Lock
and Unlock air, refer to Section 3.9—Lock and Unlock Pneumatic and Valve Requirements.
8. Connect other utilities to the optional modules on the Master plate.
9. Safely resume normal operation.

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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3.3 Master Plate Removal
Refer to Figure 3.2 for Master module removal instructions.
Tools required: 2.5 mm or 3 mm hex key
1. Place the Tool in a secure location.
2. Uncouple the Master and Tool plates.
3. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.).
4. Disconnect all utilities (e.g. electrical, air, water, etc.).
5. Disconnect the Lock and Unlock sensor cables.
6. Remove the Master plate from the interface plate.
• For a QC-5 or QC-11, remove the (4) M3 socket head cap screws securing the Master plate to the
interface plate.
• For a QC-20 or QC-21, remove the (4) M4 socket at head cap screws securing the Master plate to the
interface plate.
• For a QC-27 remove the (6) M4 socket head cap screws securing the Master plate to the interface plate.

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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3.4 Tool Interface Plate
The Tool plate is attached to the customer’s tooling. An interface plate can adapt the Tool plate to customer
tooling. Alignment features (dowel holes and a recess) accurately position and bolt holes secure the Tool
plate to customer tooling. Custom interface plates can be supplied by ATI (Refer to the application drawing).
CAUTION: Do not use more than two alignment features when securing a Tool plate
to an interface plate. Using more than two alignment features can cause damage to
equipment. Use either two dowel pins or a single dowel pin along with a boss/recess
feature to align the Tool plate with the interface plate.
CAUTION: Do not use dowel pins that are too long or do not allow the interface plate
and Tool body to mate ush. Using dowel pins that are too long will cause a gap
between the interface plate and Tool body and damage to the equipment. Use dowel
pins that will not extend further than allowed by the Tool body.
Tool Plate
Interface Plate
Dowel pins are
proper size allowing
interface plate and Tool
Plate to mount flush.
Two dowel pins (or a
boss/recess) used as
alignment features.
Correct Mounting of Tool Plate
Tool Plate
Interface Plate
Dowel pins
are too long and
cause a gap between
interface plate and Tool.
Boss and two dowel pins
as alignment features can be
difficult to align and can
damage equipment.
Gap
Incorrect Mounting of Tool Plate
single dowel pin along with a
If the customer chooses to design and build a tool interface plate, consider the following points:
• The interface plate should include bolt holes for mounting and either two dowel pins or a dowel
pin and a boss for accurate positioning on the customer tooling and Tool plate. The dowel and boss
features prevent unwanted rotation.
• Dowel pins must not extend out from the surface of the interface plate farther than the depth of the
dowel holes in the Tool plate.
• The thickness of the interface plate must be sufcient to provide the necessary thread engagement for
the mounting bolts. Fasteners should meet minimum recommended engagement lengths while not
exceeding the maximum available thread depth. Use of bolts that are too long can cause damage to the
tool side changer.
• The plate design must account for clearances required for Tool Changer module attachments and
accessories.
• If a boss is to be used on the interface plate, a boss of proper height and diameter must be machined
into the interface plate to correspond with the recess in the Tool plate.
• The interface plate must have a hole in its center for manually returning the locking mechanism to the
unlocked position under adverse conditions (i.e. unintended loss of power and/or air pressure). The
center access hole with a minimum diameter of 1” (25.4 mm) prevents debris from contaminating the
locking mechanism. Greater protection is provided by leaving the race cover and grommet in place.

Manual, Robotic Tool Changer, QC-5 through QC-27
Document #9610-20-2254-09
Pinnacle Park • 1041 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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3.5 Tool Plate Installation
In most applications, the customer end-effector attaches to the Tool plate with a custom interface plate.
Refer to Section 3.4—Tool Interface Plate for design considerations.
Tools required: 5 mm, 4 mm, or 3 mm hex key, torque wrench
Supplies required: Clean rag, Loctite 222 or 242
1. Clean the mounting surfaces are clean.
2. Position the interface plate or customer tooling to the Tool plate and secure with the customer supplied
mounting fasteners. Apply Loctite to threads or use fasteners with pre-applied adhesive, refer to Table
3.1 for proper thread engagement, torque, and thread locker. (Note: Mounting fasteners are supplied with
ATI custom tool interface plates).
3. Connect utilities to the modules and Tool plate connections.
4. Safely resume normal operation.
Figure 3.3—Tool Plate Installation
Tool Plate Assembly
(QC-21 with K19 module shown)
Tool Interface Plate
(Customer Supplied)
(4) M6 Socket Head Cap Screw
(Customer Supplied)
Tool Plate Assembly
(QC-11 with A15 module shown)
Tool Interface Plate
(Customer Supplied)
(4) M5 Socket Head Cap Screw
(Customer Supplied)
3.6 Tool Plate Removal
Tools required: 5 mm, 4 mm, or 3 mm hex key
1. Place the Tool in a secure location.
2. Uncouple the Master and Tool plates.
3. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.).
4. Remove the fasteners securing the Tool plate to the interface plate.
5. Remove the Tool plate.