LT LTC-0005A User manual

Zhengzhou Linghang Robot Co.,Ltd
Version 21.8
LT Robotic Tool Changer User Manual
Product ：LTC-0005A

Zhengzhou Linghang Robot Co.,Ltd
Preface
Thank you for purchase our LT Robot Tool Changer.
This Brochure describes the basic information of LTC-0005A, About electrical,
Pneumatic and other parts please refer to other user manual.
If you have any questions please contact LT Company.
Note: This brochure introduced the function, application and safety
precautions of tool changer, before install and operate the manual should
be read and understood carefully, otherwise the product may be damaged
or unsafe.
The content of this document is belong to Zhengzhou Linghang Robot
Co.,Ltd (it’s referred to “LT” afterwards), It cannot be copied in part or in whole
without the prior written permission of the LT Company. This manual will be
revised regularly to reflect and incorporate changes to the product without notice.
This document is confidential, it can only use for LT Customers and
authorized agents, without the prior written permission, It shall not be disclosed to
the third party.
We don't guarantee for the accuracy of this document or the suitability of the
equipment for a particular application.
LT will not be responsible for any errors contained in this document or any
incidental or indirect losses arising therefrom.
LT will not be responsible for any errors or omission in this document.
Copyright belongs to Zhengzhou Linghang robot Co., Ltd. all rights reserved.

Zhengzhou Linghang Robot Co.,Ltd
Content
Glossary.................................................................................................................... 1
1.Safety.......................................................................................................................4
1.1Notice description........................................................................................ 4
1.2Safety principle.............................................................................................5
1.3Notices Rules............................................................................................... 6
2.Product Summary.................................................................................................. 7
2.1Master plate assembly................................................................................7
2.2Tool plate assembly.....................................................................................8
2.3Modules.........................................................................................................9
3.Installation............................................................................................................... 9
3.1Master plate................................................................................................ 11
3.2 Install of master plate...............................................................................12
3.3Tool plate.....................................................................................................13
3.4Install of tool plate..................................................................................... 14
3.5Installation diagram of tool plate............................................................. 14
3.6Disassemble tool plate............................................................................. 14
3.7Install of adapter modules........................................................................15
3.8Module removal method...........................................................................16
3.9Air Requirement.........................................................................................16
4、Operation........................................................................................................... 18
4.1Locking sequence..................................................................................... 19
4.2Fault self locking operation...................................................................... 20
4.3Unlocking sequence..................................................................................20
4.4Precautions for tool placement................................................................21
5.Maintenance......................................................................................................... 22
5.1Regular maintenance................................................................................23
5.2Cleaning and lubrication of locking mechanism and locating pin...... 24
5.3Inspection and cleaning of electrical modules...................................... 26
6. Troubleshooting and service procedures........................................................26
6.1Fault handling.............................................................................................27
6.2Air port maintenance process..................................................................30
7.Parameter table................................................................................................... 32
8.Outline Dimensional Drawing............................................................................ 33
9.Recommended Solenoid valve to control tool changers：........................... 34
9.1Single solenoid valve control................................................................... 34
9.2Double solenoid valve control................................................................. 35

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Glossary
Steel ball
snap ring
The steel ring on the tool side,it fits to the locking steel ball during
locking.
Cam
Circular cam attached to the piston that forces the locking balls
outward during the locking process.
Electrical
Module
a wide variety of utility modules that pass electrical power or
electrical signals through Master plate to Tool plate and then to the
end-effector.
End-Effector
A tool installed on a robot to perform a certain function.
adapter
flange
Optional components for the installation between the transition of
robot tool changer to the robot or tools.
Locking ball
Hardened steel ball for locking mechanism with air pressure lost
protection function.The locking cam extrudes the steel ball and
clamps it with the steel ball snap ring on the tool side,Realize the
master plate locking tool plate.
Locking
mechanism
It is used to pull the master plate locking tool plate, which can
ensure reliable locking even in case of air loss until the mechanism
is unlocked normally. The locking mechanism includes locking steel
ball, cam, ball bearing cover, ball race, etc.
Lock Port
Pneumatic port on the Master plate to which air is supplied to Lock
the Master plate to the Tool plate.
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
Design feature of Tool Changer products that allows coupling the
Master plate and Tool plate without physical contact prior to locking.
Piston
Piston located in the Master plate that actuates the locking.
mechanism
Air module
pass air power through the Master plate to the Tool plate and to the
end effector.

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Sensor plate
seals the pneumatic chamber and provides mounting points for the
Lock/Unlock switches.
Tool Plate
The half of the Tool Changer to which various tools or end-effector
are mounted.
Tool stand
Stand that holds Tools not being used by the robot. This is usually
supplied by the customer and is specific to the application.
Unlock port
The master plate unlocks the port of the air supply circuit to drive
the master plate to be separated from the tool plate.
Arc
Prevention
makes it possible to couple/uncouple without switching off electrical
module power. Arcing can damage and shorten the life of the
electrical power contacts. Arc Prevention extends the life of all
electrical power contacts by eliminating arcing caused by inductive
loads and high inrush current during coupling/uncoupling.
Coupling
Lock
Discrete
Refers specifically to modules that pass discrete signals and/or
power from Master to Tool. The number of discrete pass-through
signals is limited by either the number of pins on the connector or
the number of pins at the pin block interface between Master and
Tool. Some Discrete modules also provide the user the ability to
control the Tool Changer by providing “Latch” and “Unlatch” signals
to an integrated valve that locks and unlocks the Tool Changer. The
Tool Changer Locked, Unlocked, Ready-to-Lock, and TSI switch
signals can also be provided to the user, these discrete modules
are referred to as Discrete Control/Signal Module.
Ethernet
Switch
An Ethernet network component connecting multiple
communication partners with each other
Fieldbus
A generic term referring to any one of a number of industrial
computer networking standards. Examples include: CAN, Modbus,
and PROFINET.
Gigabit
Ethernet
The interface that can realize 1000mdps transmission rate by CAT6
standard

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Latch
Command that is issued to lock (couple) the Master and Tool
Plates.
Lock
The physical action of the coupling the Master and Tool Plates
together.
Locked
A proximity sensor output signal indicating that the coupling
mechanism is in the Locked position.
Lock Sensor
A proximity sensor that detects the position of the
pneumatically-actuated piston when it is in the locked or missed
tool position.
Teach Tool
A device convenient for teaching when teaching by robot.
Tool ID
An individual or set of push button switches on the control/signal
Tool module that provides a unique identification number for each
tool when using multiple tools. The tool-ID also provides the tool not
present indication.
Tool Present
A hard-connect input (sourced from the Tool) indicating the Master
and Tool are electrically connected to each other.
Trip Dog
A physical device used to trip a mechanical switch, use in the Tool
Stand Interlock circuit.
Uncoupling
See unlock
Unlatch
The input signal supplied to the ATI Master module to uncouple the
Tool Changer.
Unlock
The physical action of the uncoupling the Master and Tool Plates.
Unlocked
A proximity sensor output signal indicating that the coupling
mechanism is in the Unlocked position.
Unlock
sensor
A proximity sensor that detects the position of the
pneumatically-actuated piston when it is in the unlocked position.

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1. Safety
This section describes the general safety guidelines to be followed for this
product，The mentioned warning instructions and safety precautions are
applicable to this product. Refer to other application manuals for more specific
warning instructions.
1.1 Notices:
The following notice is for the products covered by this manual. Users should
pay attention to all notifications from robot manufacturers and robot parts
manufacturers.
Danger: inform information or instructions that failure to comply
will result in death or serious injury. The Notice provides
information on the nature of the dangerous situation, the
consequences of not avoiding the danger and the methods to avoid it.
Warning: Notice of information or instructions that may result in
death or serious injury if not observed. The notification provides
information on the nature of the hazardous situation, the
consequences of not avoiding the hazard and the methods to avoid it.
Note: inform information or instructions that failure to comply may
result in moderate injury or equipment damage. The notification
provides information on the nature of the hazardous situation, the
consequences of not avoiding the hazard and the methods to avoid
it.
Notice: Notice of specific information or instructions for maintaining, operating,
installing or setting up the product. Failure to follow these information or
instructions may cause equipment damage. The notice emphasizes, but is not limited
to, specific grease types, best operating practices, and maintenance techniques.

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1.2 General safety rules
Before purchase and installation, the customer shall verify that the selected
tool changer has met the maximum allowable moment and allowable torque
expected during operation. Please refer to the product specifications in each
models of this manual。Special attention Dynamic load caused by acceleration
and deceleration of robot.In the case of high acceleration or deceleration, these
forces may be many times the static force.
It is the customer's responsibility to ensure that during locking and locking，
there has no foreign matter between master plate and tool plate, otherwise will
result in serious injury.
Danger: the gap between the master plate and the tool plate is a pinch
point.All personnel shall be prevented from placing any part of their
body or clothing in the gap, especially during the operation of the
locking mechanism.
Customer responsible for learn the functions of robot tool changer，And
implement appropriate fasteners and software to safely operate the tool changer.
It shall be controlled to avoid endangering personnel or equipment during locking
or unlocking.
All pneumatic fittings and piping must be able to withstand repeated
movements of the application without failure.The wiring of electrical and
pneumatic pipelines must minimize the possibility of sprains, kinks, cracks, etc.
Failure of key electrical or pneumatic pipelines to work properly may cause injury
to personnel and equipment.
Disconnect all power, pneumatic and fluid circuits during maintenance.
Warning: before operation, remove all temporary protective
materials (cover, plug, tape, etc.) from the locking surface of the
tool changer and module. Otherwise, the tool changer, module and
arm end tools will be damaged and personal injury may be caused.

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1.3 Safety notes:
Warning: do not maintain or repair the tool changer or module ，
Unless the tool is safely supported or placed on the tool stand ， All
energized circuits (such as electrical, air, water, etc.) have been
closed, the high-voltage connection has been cleaned, and the power supply has
been discharged from the circuit in accordance with the customer's safe operation
procedures and policies.Personal injury or equipment damage may result if not
placed in the tool holder and the circuit is energized. Place the tool on the tool
holder, close and discharge all energized circuits, release all pressurized
connections, and confirm that all circuits are powered off before maintaining or
repairing the tool changer or module.
Warning: during operation, the area between the master plate and
the tool plate must be kept clean. If the area is not kept clean, the
tool changer, module or arm end tool will be damaged and
personal injury may be caused.
Warning: the tool changer is only used for the intended application
and the application approved by the manufacturer. Using the tool
changer in unexpected use will cause damage to the tool changer,
module or arm end tool, and may cause personal injury.

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2. Product overview
The LT robot tool changer enhances the universality of the robot by using a
variety of tools (such as fixtures, vacuum suction cups, pneumatic and electric
motors, welding guns, etc.). The tool changer includes a master plate installed on
the robot arm and a tool plate installed on the customer's tool. When the robot
picks up the tool, the pneumatically driven locking mechanism connects the two
plates. The fault self-locking mechanism of the patent adopts multi conical cam
with ball locking technology，Ensure during operation，If the air pressure less than
60psi (4.1 bar)，too changer will not release. The robot can select the required
tools through programming，Master plate connect to tool plate. Electricity, fluid and
other energy are transferred to the end tools through optional modules attached to
the master and tool plate.
2.1 Master components
The master plate components includes an anodized aluminum body，
Hardened stainless steel locking mechanism and hardened steel locating pin.The
locking mechanism includes a cam，One ball cage and chrome steel ball bearing.
The master plate has two flat sides，used for install optional modules,can install
relevant modules according the projects application, Through“L”and“U” the
pneumatic ports provides locking and unlocking air for the locking mechanism，A
vent is provided for the end effector through the digital pneumatic port on the
master plate. The locating pin is matched with the bushing to ensure that the
positioning can be repeated during the combination process. Grease shall be
used for cams, Ball cages and balls to improve performance and maximize the
service life of the master plate components.