ATI Technologies Speedeburr 9150-AC-90 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: info@ati‑ia.com
ATI Axially Compliant
Robotic Deburring Tools
Speedeburr™
(Models 9150‑AC‑90 and 9150‑AC‑180)
Product Manual
Document #: 9610-50-1029

Manual, Speedeburr, AC‑90 and 180 Series
Document #9610‑50‑1029‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
2
Foreword
CAUTION: This manual describes the function, application, and safety considerations of this
product. This manual must be read and understood before any attempt is made to install or
operate the product, otherwise damage to the product or unsafe conditions may occur.
Information contained in this document is the property of ATI IndustrialAutomation, 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 Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati‑ia.com
Tel: [phone]
Fax: [phone]
E‑mail: info@ati‑ia.com
Technical support and questions:
Application Engineering
Tel: [phone], Option 2, Option 2
Fax: [phone]
E‑mail: mech_support@ati‑ia.com

Manual, Speedeburr, AC‑90 and AC‑180 Series
Document #9610‑50‑1029‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
3
Table of Contents
Foreword.......................................................................................................................................... 2
Glossary........................................................................................................................................... 5
1. Safety......................................................................................................................................... 6
1.1 ExplanationofNotications.........................................................................................................6
1.2 General Safety Guidelines............................................................................................................6
1.3 Safety Precautions........................................................................................................................6
2. Product Overview..................................................................................................................... 7
2.1 FFP..................................................................................................................................................8
2.2 Technical Description ...................................................................................................................9
2.2.1 Environmental Limitations..................................................................................................9
2.2.1.1 Operation............................................................................................................9
2.2.1.2 Storage...............................................................................................................9
2.2.2 Axial Force/ Compliance Unit Performance .....................................................................10
2.2.3 Air Motor Performance..................................................................................................... 11
3. Installation .............................................................................................................................. 12
3.1 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 Mounting Installation..................................................................................................................13
3.6 Pneumatics..................................................................................................................................14
4. Operation ................................................................................................................................ 16
4.1 Safety Precautions......................................................................................................................16
4.2 Normal Operation........................................................................................................................17
4.2.1 Air Quality.........................................................................................................................17
4.2.2 Lubrication........................................................................................................................17
4.2.3 Media Selection, Design, and Maintenance.....................................................................17
4.2.4 Deburring Tool Approach Path Should Be Slow and At an Angle.....................................17
4.2.5 No Radial Loading............................................................................................................17
4.2.6 Program the Robot to Incorporate 50% Compliance Travel of the Tool ...........................17
4.3 Speedeburr Working Environment............................................................................................18
4.4 Tool Center Point (TCP) Position...............................................................................................18
4.5 Programming the Deburring Tool Path .....................................................................................18
4.6 Cutter Operation and Burr Selection.........................................................................................19
4.6.1 Bur Selection....................................................................................................................19

Manual, Speedeburr, AC‑90 and 180 Series
Document #9610‑50‑1029‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
4
5. Maintenance............................................................................................................................ 21
5.1 Pneumatics..................................................................................................................................21
5.2 Lubrication...................................................................................................................................21
5.3 Bur, FFP, Cylinder, Spline, and Lock Ring Inspection .............................................................21
5.4 Overhaul.......................................................................................................................................21
6. Troubleshooting and Service Procedures........................................................................... 22
6.1 Troubleshooting..........................................................................................................................22
6.2 Service Procedures.....................................................................................................................23
6.2.1 Cleaning, Inspection, and Replacement of the Spline, Cylinder, and Lock Ring..............23
6.2.2 Bur and FFP Replacement...............................................................................................25
6.2.3 O‑Ring Replacement for the Air Supply Ports and Tool Flange .......................................27
7. Serviceable Parts ................................................................................................................... 28
7.1 Accessories.................................................................................................................................28
8. Specications ......................................................................................................................... 29
9. Drawings ................................................................................................................................. 30
9.1 AC-90 Speedeburr Customer Drawing......................................................................................30
9.2 AC-180 Speedeburr Customer Drawing....................................................................................33
9.3 Pneumatic Diagrams for AC Tools.............................................................................................36
10. Terms and Conditions of Sale............................................................................................... 38
10.1 Motor Life and Service Interval Statement................................................................................39
10.1.1 Vane Motor Products........................................................................................................39

Manual, Speedeburr, AC‑90 and AC‑180 Series
Document #9610‑50‑1029‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
5
Glossary
Term Denition
AC Axially compliant.
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 air supply lines. Typically refers to
removal of particulates.
Bur Cutting tool used to remove burrs from the workpiece. Alternatively referred to
as a rotary le, cutter, or bit.
Burr Any unwanted, raised protrusion on the workpiece.
Chattering Machine vibrations. The cutting tool bounces as it contact the work surface.
Coalescing Filter Device designed to remove liquid aerosols from the supply air lines.
Collet Gripping device used to hold cutting tools in the spindle.
Compliance The ability of the spindle to passively move in response to protrusions on or
deviations of the workpiece.
Deburr To remove the burrs from a piece of machined work.
End‑E󰀨ector Tool used by the robot to perform a particular function.
FFP Free ying piston. An assembly that moves within the cylinder and spline in the
deburring tool. The FFP attaches to the bur.
ISO
A series of standards that are developed and published by the International
Organization for Standardization (ISO). The standards dene, establish, and
maintain an e󰀨ective quality assurance system for manufacturing and service
industries.
Positive Displacement A device that captures uid of air and discharges that uid or air at a xed rate.
Positive Stop The tool has contacted a physical limitation and can no longer move.
Regulator Device used to set and control the supplied air pressure to lower acceptable
levels.
Solenoid Valve Electrically controlled device for switching air supplies on and o󰀨.
Speedeburr An ATI series of deburring tools that use a vane‑type motor and a oating
rotary cutting bur for edge‑deburring and chamfering of parts.
Vane‑Type A positive displacement air motor design utilizing partitions (vanes) to separate
expansion regions inside a housing.
VG Viscosity Grade.

Manual, Speedeburr, AC‑90 and 180 Series
Document #9610‑50‑1029‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
6
1. Safety
The safety section describes general safety guidelines to be followed with this product, explanations of the
notications found in this manual, and safety precautions that apply to the product. More specic notications are
imbedded within the sections of the manual where they apply.
1.1 ExplanationofNotications
The following notications are specic to the product(s) covered by this manual. It is expected that the user
heed all notications from the robot manufacturer and/or the manufacturers of other components used in the
installation.
DANGER: Notication of information or instructions that if not followed will result in
death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
WARNING: Notication of information or instructions that if not followed could result
in death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
CAUTION: Notication of information or instructions that if not followed could result
in moderate injury or will cause damage to equipment. The notication provides
information about the nature of the hazardous situation, the consequences of not
avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notication of specic information or instructions about maintaining, operating,
installing, or setting up the product that if not followed could result in damage to equipment. The
notication can emphasize, but is not limited to: specic grease types, best operating practices,
and maintenance tips.
1.2 General Safety Guidelines
Prior to purchase, installation, and operation of the Speedeburr 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 pneumatic lines must minimize the possibility of stress/strain, kinking,
rupture, etc. Failure of critical pneumatic lines to function properly may result in equipment damage.
1.3 Safety Precautions
CAUTION: Do not use spare parts other than ATI spare parts. Use of spare parts not
supplied by ATI can damage equipment and void the warranty.Always use genuine ATI
spare parts.
CAUTION: Do not perform maintenance or repair on the Speedeburr product unless
the tool is safely supported or placed in the tool stand and air has been turned
o󰀨. 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 o󰀨 the air before
performing maintenance or repair on the Speedeburr product.

Manual, Speedeburr, AC‑90 and AC‑180 Series
Document #9610‑50‑1029‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
7
2. Product Overview
The AC deburring tool, which is also known as Speedeburr, is a robust, high‑speed, and lightweight vane‑type
air motor deburring unit with a oating rotary cutting bur for edge‑deburring and chamfering of materials such as
aluminum, plastic, and steel.
The AC deburring tool’s pneumatically controlled, articulated design allows the bur to follow the part prole and
compensate for surface irregularities while maintaining a constant force. This axial force/compliance air supply
system provides increased stiness in the path direction and decreased stiness in the contact force direction, both
of which prevent the tool from chattering.
The AC deburring tool utilizes a rotary cutting bur of tungsten carbide or coated with PCD or CBN. Because the
rotary bur has a 45° cutting angle, compliance is lateral and axial.
Custom adapter plates for mounting to the robot, work bench, or a tool xture are available from ATI. Refer to
Section 9—Drawings for more information.
The AC deburring tools have the following pneumatic ports:
• (1) port for axial force/compliance supply that provides constant force on the bur.
• (1) port for motor air supply.
• (2) port(s) for motor exhaust.
ATI has (2) models of the AC deburring tool: 9150‑AC‑90 and 9150‑AC‑180. Both models are similar except for
the following features:
• On the AC‑90, the motor housing extends perpendicular, at a 90° angle, from the mounting bracket. On the
AC‑180, the motor housing extends linearly, 180°, with the mounting bracket. Refer to Section 9—Drawings.
• On the side of the 90° angled bracket, the AC‑90 has an adjustment screw with which the user can use a
small at‑blade screw to adjust the motor speed. The motor speed can also be adjusted on both models by
adjusting the motor air supply pressure. Refer to Section 4.5—Programming the Deburring Tool Path for
more information.
Figure 2.1—AC Deburring Tool (9150-AC-90 Shown)
(2) Motor Exhaust Port
(1) Compliance/
Axial Pressure Air Port
(1) Motor Air
Supply Port
(8) M4 Socket Head
Cap Screw
Adjustment Screw
Bur
AC Deburring Tool

Manual, Speedeburr, AC‑90 and 180 Series
Document #9610‑50‑1029‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
8
2.1 FFP
The FFP is an important component of the AC deburring tool.
A remotely controlled axial force/compliance air pressure pushes the FFP forward into contact with the bur
edge.
Then the air vane motor uncouples from the linear movement of the FFP to reduce inertia and increase the
stability of the contact force during deburring.
Then the spline coupling transmits torque to the bur. Ball bearings within the motor compartment of the tool
ensure the bur operates evenly.
A small amount of frictional torque is transmitted through the ball bearings to the FFP cylinder that rotates
slowly inside the stationary outer cylinder. This small frictional torque prevents stick‑slip or static friction of
the FFP. The FFP cylindrical body is precision grounded to minimize friction in the axial direction.
Figure 2.2—FFP (AC-180 Shown)
8 mm
(0.315”)
Bur
Cylinder
FFP
Axial Stroke
Spline
Air Vane Motor
Axial Force/
Compliance
Pressure

Manual, Speedeburr, AC‑90 and AC‑180 Series
Document #9610‑50‑1029‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
9
2.2 Technical Description
A technical overview of the product is provided in the following tables and graph. 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.
Mounted to a table or stand by means of the bench
adapter. The robot is carrying the work piece to the
deburring tool.
Temperature
Range 5 °C – 35 °C 41 °F – 95 °F
Utilities
The tool requires the following:
• Clean, dry, ltered, and lubricated air.
• A coalescing lter and lter elements that are rated
5 micron or better.
• Air supply to the spindle must be 6.2 bar (90 psi) to
develop the full rated power.
• The axial force/compliance air must be supplied at
1.0–4.1 bar (15–60 psi) from a regulated source.
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 3.4—Storage and Preventive
Maintenance During Storage of this manual.

Manual, Speedeburr, AC‑90 and 180 Series
Document #9610‑50‑1029‑02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati‑ia.com • Email: info@ati‑ia.com
10
2.2.2 Axial Force/ Compliance Unit Performance
The following graph illustrates the variation of compliance force with applied axial force/
compliance air pressure. Measurements may vary from one product to another and should only be
treated as nominal.
Axial force/compliance is also dependent upon the material of the work piece, type of bur tool, and
the amount of material that is removed.
Figure 2.3—AC Axial Contact Force (measured with the rotary bur pointing down)