LT LTC-0040A User manual

Zhengzhou Linghang Robot Co.,Ltd.
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LT Robotic Tool Changer User Manual
Version 21.8
Product Mode: LTC-0040A

Zhengzhou Linghang Robot Co.,Ltd.
www.ltautotools.com
[email protected]
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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.
Preface
Thank you for purchasing our LT Robot Tool Changer.
This Brochure describes the basic information of LTC-0040A, About
electrical, Pneumatic and other parts please refer to other user manual.
If you have any questions please contact LT Company.
The contents of this document belong to Zhengzhou Linghang Robot Co.,Ltd.
(it's referred to "LT" afterwards), It can’t be copied in part or in whole withoutthe
prior written permission of LT Company. This manual will be revised regularly to
reflect and incorporate changes to the product without additional notice.
This document is confidential, only LT customers and authorized agents can
use it, and it shouldn’t be disclosed to the third party without the prior written
permission
We don't guarantee for the accuracy of this document and the suitability of the
equipment for a particular application.
LT will not be responsible for any errors contained in this document and any
incidental, indirect losses arising therefrom.
LT will not be responsible for any errors and omission in this document.
Copy right belongs to Zhengzhou Linghang robot Co., Ltd. all rights reserved.

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Content
Preface..........................................................................................2
Content.................................................................................3
Glossary............................................................................... 5
1. Safety....................................................................................... 7
1.1 Notices........................................................................... 8
1.2 General safety rules........................................................8
1.3 Safety notes..................................................................10
2. Product overview................................................................... 10
2.1 Master Plate components............................................. 11
2.2 Tool plate components.................................................12
2.3 Optional modules......................................................... 13
3. Installation............................................................................. 13
3.1 Master Plate................................................................. 15
3.2 Installation of master plate...........................................16
3.3 Tool plate..................................................................... 17
3.4 Tool Plate installation.................................................. 18
3.5 Disassembling Plate..................................................... 19
3.6 Optional modules installation...................................... 19
3.7 Modules installation.....................................................20
3.8 The method of remove modules.................................. 21
3.9 Air requirement............................................................21
3.10 Solenoid valve requirements and connections........... 21
3.11 Signal status table of Lock/unlock and tool plate in
position sensor................................................................... 24
4. Operation............................................................................... 24
4.1 Locking sequence.........................................................25
4.2 Fault self locking operation......................................... 26
4.3 Unlocking sequence..................................................... 27
4.4 Tool identification........................................................27
5. Regular Maintenance............................................................. 29
5.1Maintain the checklist regularly....................................29
5.2 Install fasteners and adaptor flanges............................ 30

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5.3 Cleaning and lubrication of locking mechanism and
locating pin.........................................................................30
5.4 Inspection and cleaning of electrical modules............. 32
6. Troubleshooting and service procedures............................... 32
6.1 General Fault handling.................................................33
6.2 Emergency inspection and treatment of quick tool
changers with external interference and impact.................35
6.3 Sensor’s checking, adjustment, replacement............... 36
7. Parameter table.......................................................................39
8. Dimensional outline drawing of Plates.................................. 40
9. Recommended Solenoid valve to control tool changers........ 41
9.1 Single solenoid valve control.......................................41
9.2 Double solenoid valve control(safer control way)....... 42

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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 ofthe 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 ofTool Changer products that allows coupling the Master
plate and Tool plate without physical contact priorto locking.
Piston
Piston located in the Master plate that actuates the locking mechanism.

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Air module
pass air power through the Master plate to the Tool plate and to the end
effector.
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 ofall 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

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Gigabit
Ethernet
The interface that can realize 1000mdps transmission rate by CAT6
standard
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 theTool
Changer.
Unlock
The physical action ofthe 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.
1.Safety
This section describes the general safety guidelines to be followed for this
product, The mentioned warning instructions and safety precautions are applicable

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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.
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 part
manufacturers.
Danger: All the information and instructions should be followed,
otherwise the to complyi nformati on on the nature of the ngerous
s ituati on, the consequences of not avoiding the danger and the methods
to avoid it.
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

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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.
Warning: Pls remove all temporary protective materials (cover, plug,
tape, etc.) from the locking surface of the tool changers and modules
before operation. Otherwise, the tool changer, module and end-arm
tools might be damaged and cause personal injury.
expected during operation. Please refer to the product specifications in each
models of this manual.Pls pay attention to dynamic load which caused by
acceleration and deceleration of robot’s movement. In the case of high acceleration
or deceleration, these forces may be much bigger than the static force.
It is the User's responsibility to ensure that in locking status and during
locking process ,there has no foreign matters between master plate and tool plate,
otherwise will cause serious injury.
User is responsible to learn the functions of robot tool changer,and operate
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.

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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 end-arm 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.
1.3 Safety notes:
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