ATI Technologies QC-50 Series User manual

Manual, Tool Changer, QC‑50
Document #9620‑20‑B‑50 Tool Changer‑04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
B-1
Table of Contents
B. Base Tool Changer ..................................................................................................................B-3
QC-50 Series—Robotic Tool Changer........................................................................................B-3
1. Product Overview..................................................................................................................B-3
1.1 Master Plate Assembly ............................................................................................................. B-4
1.2 Tool Plate Assembly.................................................................................................................. B-5
1.3 Optional Modules...................................................................................................................... B-5
2. Installation .............................................................................................................................B-6
2.1 Master Interface......................................................................................................................... B-7
2.2 Master Plate Installation........................................................................................................... B-8
2.3 Master Plate Removal............................................................................................................... B-8
2.4 Tool Interface............................................................................................................................. B-9
2.5 Tool Plate Installation ............................................................................................................. B-10
2.6 Tool Plate Removal ................................................................................................................. B-10
2.7 Optional Module with J16 Pattern Installation.......................................................................B-11
2.8 Optional Module with J16 Pattern Removal...........................................................................B-11
2.9 Optional K Series Module Installation................................................................................... B-12
2.10 Optional K Series Module Removal....................................................................................... B-12
2.11 Pneumatic Connections and Valve Requirements............................................................... B-13
2.11.1 Valve Requirements and Connections for the Locking Mechanism ..............................B-13
2.12 Electrical Connections............................................................................................................ B-14
2.12.1 PNP Type Lock and Unlock Sensors.............................................................................B-14
2.12.2 NPN Type Lock and Unlock Sensors ............................................................................B-14
3. Operation .............................................................................................................................B-15
3.1 Conditions for Coupling......................................................................................................... B-16
3.2 Fail-Safe Operation ................................................................................................................. B-17
3.3 Conditions for Uncoupling..................................................................................................... B-18
3.4 ToolIdentication.................................................................................................................... B-18
3.5 Tool Storage Considerations ................................................................................................. B-19
4. Maintenance.........................................................................................................................B-20
4.1 Preventive Maintenance ......................................................................................................... B-20
4.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins....................... B-21
4.3 Pin Block Inspection and Cleaning ....................................................................................... B-23

Manual, Tool Changer, QC‑50
Document #9620‑20‑B‑50 Tool Changer‑04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
B-2
5. Troubleshooting and Service Procedures........................................................................B-24
5.1 Troubleshooting Procedures ................................................................................................. B-24
5.2 Service Procedures................................................................................................................. B-25
5.2.1 Lock and Unlock Sensor Replacement.........................................................................B-25
5.2.2 Rubber Bushing Replacement ......................................................................................B-26
5.2.3 Seal Inspection and Replacement.................................................................................B-27
5.2.4 Alignment Pin Replacement..........................................................................................B-28
6. Serviceable Parts ................................................................................................................B-30
6.1 QC-50 Master Plates................................................................................................................ B-30
6.2 QC-50 Tool Plate...................................................................................................................... B-31
7. Specications ......................................................................................................................B-32
8. Drawings ..............................................................................................................................B-33
8.1 QC-50 Tool Changer with Standard Tool Plate..................................................................... B-33

Manual, Tool Changer, QC‑50
Document #9620‑20‑B‑50 Tool Changer‑04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
B-3
B. Base Tool Changer
QC-50 Series—Robotic Tool Changer
1. Product Overview
ATI Tool Changers enhance the versatility of a robot by enabling the use of multiple customer tools, such as:
grippers, vacuum cup tooling, pneumatic and electric motors, weld guns, and more.
The Tool Changer consists of a Master plate, which is attached to the robot arm, and a Tool plate, which is attached
to customer tooling. When the robot picks up the customer tooling, a pneumatically‑driven locking mechanism
couples the (2) plates. The patented, fail‑safe locking mechanism utilizes a multi‑tapered cam with ball locking
technology to ensure the Tool Changer does not uncouple if air pressure falls below 60 psi (4.1 bar) during
operation.
The robot can be programmed to select the desired customer tooling by coupling the Master plate to the Tool plate.
Electricity, uid, and other forces of energy transfer to the customer tooling through optional modules that are
attached to the Master and Tool plates. Refer to the ATI website for compatible modules or contact anATI sales
representative for more details.
For the most current product information and specications on the QC‑50 Series of Tool Changers, refer to the
following ATI web page: QC‑50 Series.

Manual, Tool Changer, QC‑50
Document #9620‑20‑B‑50 Tool Changer‑04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
B-4
1.1 Master Plate Assembly
The Master plate assembly includes an anodized aluminum body, a hardened stainless‑steel locking
mechanism, and hardened steel alignment pins (see Figure 1.1). The Master plate has (4) ats for mounting
optional modules with a J16 pattern. Flat “C” has a mounting pattern for a K series module. The locking
mechanism consists of a cam, a male coupling, and chrome‑steel ball bearings. A 100 mm BC mounting
pattern is machined into the Master plate for mounting to a robot arm or a interface plate. Refer to
Section 8—Drawings for mounting details.
(2) 90° elbows with push tube ttings are included to supply air pressure for coupling and uncoupling the
Tool Changer. The Master plate assembly is equipped with (16) M5 pass‑through air ports and (4) G 1/8
(BSPP) pass‑through air ports.
Figure 1.1— Master Plate Assembly (9120-050AM-0-0-0-0-SB-E Shown)
(6) Ball Bearing
Cam
Male Coupling
(2) Alignment Pin
Lock/Unlock 90°Elbows
with Push Tube Fittings
Internal Proximity Sensor
(Unlock)
Internal Proximity Sensor
(Lock)
(16) M5 Pass-Through
(4) 1/8 (BSPP) Pass-Through
Air Port
Air Port
Tapered pins, located on the Master plate, mate with bushings in the Tool plate 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.
Proximity sensors are designed into the body of the Master plate to detect Lock and Unlock positions of the
locking mechanism. The sensors provide “lock” and “unlock” position signals to the customer’s process
controller. The sensors can be ordered separately.

Manual, Tool Changer, QC‑50
Document #9620‑20‑B‑50 Tool Changer‑04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
B-5
1.2 Tool Plate Assembly
The Tool plate assembly includes an anodized aluminum body and a hardened stainless‑steel bearing race.
The Tool plate has (4) ats for mounting optional modules with a J16 pattern. Flat “C” also has a mounting
pattern for a K series module. The Tool plate body also includes a 100 mm BC mounting pattern for direct
customer tool mounting. Refer to Section 8—Drawings for mounting details. Contact ATI for specication.
The Tool plate assembly is equipped with (16) M5 pass through air ports and (4) G 1/8 (BSPP) pass‑through
air ports.
Figure 1.2—Tool Plate Assembly
(2) Alignment Pin Bushing
Bearing Race
(4) G 1/8 (BSPP) Pass-Through
Air Port
(16) M5 Pass-Through
Air Port
1.3 Optional Modules
There are (4) ats available on both the Master and Tool for mounting optional modules with a J16 pattern.
The J16 mounting is a M4X0.7 thread on an 18 mm x 50 mm rectangular pattern. Flat “C” has a mounting
pattern for a K series module to support various utility pass through; such as signal, uid/air, electric, etc.
For assistance in choosing the right modules for your particular application, visit the following ATI website
QC‑50 Series, or contact an ATI sales representative.

Manual, Tool Changer, QC‑50
Document #9620‑20‑B‑50 Tool Changer‑04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
B-6
2. Installation
All fasteners used to mount the Tool Changer to the robot and to customer’s tooling should be tightened to a torque
value as indicated in Table 2.1.
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
WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless
the Tool is safely supported or placed in the tool stand, all energized circuits (e.g. electrical,
air, water, etc.) are turned off, pressurized connections are purged and power is discharged
from circuits in accordance with the customer specic safety practices and policies. Injury
or equipment damage can occur with the Tool not placed and energized circuits on. Place
the Tool in the tool stand, turn off and discharge all energized circuits, purge all pressurized
connections, and verify all circuits are de-energized before performing maintenance or
repair(s) on the Tool Changer or modules.
CAUTION: Thread locker applied to fasteners must not be used more than once. Fasteners
might become loose and cause equipment damage. Always apply new thread locker when
reusing fasteners.
Table 2.1—FastenerSize,Class,andTorqueSpecications
Mounting conditions Fastener Size & Property
Class
Recommended
Torque Thread Locker
Master plate to Interface plate (6061-T6 aluminum) Minimum thread
engagement of 15 mm (0.59”) [1.5X fastener Ø]. Conrm available
engagement with Robot Manufacturer
M8-1.25
Class 12.9 27 N-m (20 ft-lbs)
Pre-applied
Adhesive or
Loctite 242
Tool plate (6061-T6 aluminum) to Tool Interface plate (6061-T6
aluminum) Minimum thread engagement of 0.59” (12 mm) [1.5X
fastener Ø].
M8-1.25
Class 12.9 27 N-m (20 ft-lbs)
Pre-applied
Adhesive or
Loctite 242
Optional Module or adapter plate to Master or Tool plate, Supplied
Fasteners
M3 x 0.5
Class 12.9
Pre-applied
Adhesive or
Loctite 222
Socket head
cap 10 in-lbs
(1.13 Nm)
Socket at
head cap 8 in-lbs (0.9 Nm)
M4 x 0.7
Class 12.9
Socket head
cap 15 in-lbs
(1.69 Nm)
Socket at
head cap 10 in-lbs (1.13 Nm)

Manual, Tool Changer, QC‑50
Document #9620‑20‑B‑50 Tool Changer‑04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
B-7
2.1 Master Interface
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 drawings for technical information on mounting features.)
CAUTION: Do not use more than (2) alignment features when securing a Master plate
to an interface plate. Using more than (2) alignment features can cause damage to
equipment. Use either (2) dowel pins or a single dowel pin, along with a boss/recess
feature to align the Master plate with the interface plate.
CAUTION: Do not use dowel pins that are too long or do not allow the interface plate
and Master body to mate ush. Using dowel pins that are too long will cause a gap
between the interface plate and Master body and damage the equipment. Use dowel
pins that will not extend further than allowed by the Master body.
Master Plate
Interface Plate
Correct size dowel
pins allow the interface
plate and Master
plate to mount flush.
Two dowel pins
(or a single dowel
pin along
with a boss/recess)
used as alignment features.
Flush
Correct Mounting of Master Plate
Master Plate
Interface Plate
Dowel pins that are
too long can cause a
plate and Master Plate.
gap between interface
Optional Boss
GapGap
A boss and two dowel pins can
be difficult to align and can
cause damage to equipment.
Incorrect Mounting of 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 a 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 plate farther than the depth of the
dowel holes in the Master plate.
• If a boss is used on 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 equipment.
• The interface plate must provide rigid mounting to the Master plate.
• The interface plate design must account for clearances required for Tool Changer module attachments
and accessories.

Manual, Tool Changer, QC‑50
Document #9620‑20‑B‑50 Tool Changer‑04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
B-8
2.2 Master Plate Installation
Tools required: 6 mm hex key, toque wrench
Supplies required: Clean rag, Loctite®242
1. Clean the mounting surfaces.
2. Align the dowel pins to the corresponding holes in the Master plate. Secure the Master plate to the robot
arm or interface plate with customer supplied (6) M8 socket head cap screws using a 6 mm hex key. If
not pre‑applied, apply Loctite 242 to threads (see Table 2.1 for proper fasteners and torque).
NOTICE: If an ATI interface plate is used, fasteners to mount the Master plate are supplied with
the interface plate.
3. Connect utilities to the appropriate module and Master plate connections.
4. Safely resume normal operation.
Figure 2.1—Master Plate Installation
Robot Arm
Master Plate
Dowel Pin
(Customer Supplied)
M8 Socket Head Cap Screw
(Customer Supplied)
(See Table 2.1)
2.3 Master Plate Removal
Tools required: 6 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; for example, electrical, air, water, etc.
4. Disconnect all utilities.
5. While supporting the Master plate, remove the customer supplied (6) M8 socket head cap screws that
connect the Master plate to the robot arm or interface plate using a 6 mm hex key.
6. Remove the Master plate.

Manual, Tool Changer, QC‑50
Document #9620‑20‑B‑50 Tool Changer‑04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
B-9
2.4 Tool Interface
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 to 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 (2) alignment features when securing a Tool plate
to an interface plate. Using more than (2) alignment features can cause damage to
equipment. Use either (2) 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 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 (2) 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, Tool Changer, QC‑50
Document #9620‑20‑B‑50 Tool Changer‑04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
B-10
2.5 Tool Plate Installation
Tools required: 6 mm hex key, toque wrench
Supplies required: Clean rag, Loctite 242
1. Clean the mounting surfaces.
2. Align the dowel pins to the corresponding holes in the Tool plate. Secure the Tool plate to the tool
interface plate or customer tooling with customer supplied customer supplied (6) M8 socket head cap
screws using a 6 mm hex key. If not pre‑applied, apply Loctite 242 to threads (see Table 2.1).
NOTICE: If an ATI Interface Plate is used, fasteners to mount the Tool plate are supplied with
the Interface Plate.
3. Connect utilities to the appropriate module and Tool plate connections.
4. Safely resume normal operation.
Figure 2.2—Tool Plate Installation
Tool Plate
Dowel Pins
(Customer Supplied Hardware)
(6) M8 Socket Head Cap Screw
(See Table 2.1 for Torque Values)
(Customer Supplied Hardware)
Tooling Interface Plate
(Customer Supplied)
2.6 Tool Plate Removal
Tools required: 6 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; for example, electrical, air, water, etc.
4. Disconnect all utilities.
5. Remove the customer supplied (6) M8 socket head cap screws connecting the Tool plate to the tooling or
tool interface plate using a 6 mm hex key.
6. Remove the Tool plate.