Robotic/Automatic Tool Changer - ATI Industrial … 200… · and Spot Welding Applications ......

NEW 2005 CATALOG

Robotic/Automatic Tool ChangerFor Heavy Automation

Robotic Tool Changers for Heavy Dutyand Spot Welding Applications

The Heavy Automation Robotic Tool Changerline has been developed for the resistance weldingmarket and medium- to heavy-duty material handling.Because these tool changers use modules to pass utili-ties (e.g. water, electrical, pneumatic, etc.), they areable to handle numerous applications by simply select-ing the desired modules. These tool changers haveextremely high moment capacity for use in heavy-dutyapplications.

Product Advantages

Modular Design: Power, coolant, servo, DeviceNet,and signal features are built into separate modules mak-ing maintenance easy. Module housings use a commonmounting design for use on the QC-210, QC-310 andQC-510,increasing flexibility in configuring the toolchanger.

Extremely High Moment Capacity: Many tool changerswith high moment loads gap (separate between themaster and tool plates) during high-speed moves, causingdisruption to utilities such as servo lines. The heavyautomation series from ATI can take on heavy momentloads and maintain utility functions during dynamic moves.

Integrated Solution for DeviceNet: The DeviceNetmodule with integrated valve is internally plumbed andinterfaces with internal cable routing in the tool changerbody.

Easy Dress: The modules are designed to place electrical,pneumatic and water ports in-line, affording the cus-tomer an easy dress-out.

Battery Backup for Servo: The servo module has abattery backup option on the tool side to allow the servoto hold information while disconnected from the robot.

Strong Power and Servo Module Housing: The PA2power module and SB5 servo module use an aluminumhousing to prevent damage from cable stress andcrashes.

Weight and Size Reduction: Weight and size are keptas small as possible without reducing reliability or per-formance.

No-Touch Contacts Increase Safety: 200-amp powerand signal modules have contacts that are not touchableon the Master side—increasing safety and world wideacceptance.

High-flow fluid module: The Fluid/Air module has a Cv of1.65 (1.65 gallons of water per minute for 1 psi pressuredrop) allowing for better weld gun and transformer cooling.

Product EnhancementsOur staff of engineers and designers have made manydesign improvements that enhance the performanceand functionality of these tool changer models.

Common Accessory Module Mounting: Modulesmount from the tool changer face to provide extra sup-port for applications with large dress packages. All mod-ules use a common mounting pattern so they can beswapped between the QC-210, QC-310 and QC-510models and located on any of three available flats.

In-the-Body Sensing: Lock/Unlock/Ready-to-Lock sen-sors have been integrated into the body of the toolchanger. This design provides the advantages ofreduced stack height and reduced weight without sacri-ficing the strength of the unit. Two (2) Ready-to-Locksensors in the body affords the robot programmer theability to better teach master-to-tool coupling.

Greater Strength: Improvements to the alignment pinsand bushings have increased the moment capacity ofboth the QC-210 and QC-310.

Integrated Bolt Circle Patterns: Common, industry-standard bolt circle patterns have been integrateddirectly into the tool changer body of these models,eliminating the need for an interface plate and reducingstack height.

TOOL CHANGERS FOR HEAVY AUTOMATION

QC-210 Module to Body Connection

2 VISIT WWW.ATI-IA.COM FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS

QC-210

Product Highlights

No-Touch Locking technology allows up to 3 mmplate separation when locking.

Ready Sensors (2) detect when the Tool plate iswithin 1.5 mm of the Master plate, signaling ready-to-lock.

Patented Fail-safe locking mechanism

• Locking mechanism design results in lowforce acting on the piston.

• Large piston diameter and outward ball travelincrease moment capacity.

• All locking parts are made of Rc58 stainless

steel.

Integrated Lock/Unlock Sensing for safety.

Mounts Directly to most 200 Kg Robots

(no interface plate required, see below)

Robotic Tool Changer for Heavy

Material Handling

QC-210 with AA2 Pneumatic module and DH4/DH2Insta-Tool modules for DeviceNet

Specifications Values Comments

Suggested Payload Limit 496lbs The mass attached to the tool changer. Higher payloads225kg possible with moment rating.

Locking Force @ 80 psi 7000 lbs Axial holding force.31150 N

Static Moment Capacity (X & Y) 24,000 in-lb Higher dynamic moment possible depending on module2,700 Nm selection. Failure test exceeded 120,000 in-lb moment.

Static Moment Capacity (Z) 20,000 in-lb (Torsion) Higher dynamic moment possible depending on module2,260 Nm selection. Failure test exceeded 100,000 in-lb moment.

Positional Repeatability (X,Y, & Z) 0.0006 in Repeatability tested at rated load at over one million cycles.0.015 mm

Weight (when coupled) 17.0 lbs Master: 11.6 lbs 7.7 kg Tool: 5.4 lbs.

Unit height when locked 3.43 in Stack Height for 125mm ISO pattern103 mm

4.06 in Stack Height for 160mm ISO pattern (includes IP)120mm

Unit size (no modules) 6.3 x 6.3 in Size of body prior to module mounting160 x 160 mm

Maximum allowable distance between 0.1 in Normal recommended locking distance. Locking distance master and tool plates before locking 2.5 mm varies depending on module selection, lock pressure, pay

load, etc.

Sensor Information, signal name L/U/RTL Lock/Unlock sensors (2) integrated into the body of the(Lock/Unlock/ tool changer. (2) Ready Sensors, 180 degrees apart,Ready to Lock) afford easier teaching for the robot programmer.

VISIT WWW.ATI-IA.COM FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS 3

QC-310

Product Advantages

No-Touch Locking technology allows up to 10mm plate separation when locking.



• Locking mechanism design results in lowforce acting on the piston.



steel.



(no SIP required)


Material Handling

Specifications Values

Suggested Payload Limit 1,120 lbs The mass attached to the tool changer. Higher payloads500 kg possible with moment rating.

Locking Force @ 80 psi 7,940 lbs Axial holding force.35,333 N

Static Moment Capacity (X & Y) 29,100 lb-in Higher dynamic moment possible depending on module3,870 Nm selection. Failure test exceeded 180,000 in-lb moment.

Static Moment Capacity (Z) 28,000 lb-in (Torsion) Higher dynamic moment possible depending on module3,150 Nm selection. Failure test exceeded 100,000 in-lb moment.

Positional Repeatability (X,Y, & Z) .0006 in Repeatability tested at rated load at over one million cycles..015 mm

Weight (when coupled) 44.0 lbs Master: 27.5 lbs (12.5 kg)20.0 kg Tool: 16.5 lbs (7.5 kg)

Unit height when locked 4.72 in Stack Height - 200mm ISO pattern120.0 mm


Maximum allowable distance between 0.4 in Normal recommended locking distance. Locking distance master and tool plates before locking 10 mm varies depending on module selection, lock pressure, pay

load, etc.


QC-310 with AA2 Pneumatic module and DH4/DH2Insta-Tool modules for DeviceNet


Product Advantages

No-Touch Locking technology allows up to 10mm plate separation when locking.



• Locking mechanism design results in low forceacting on the piston.



steel.



(no SIP required)

QC-510


Material Handling


Suggested Payload Limit 1,325 lbs The mass attached to the tool changer. Higher payloads600 kg possible with moment rating.

Locking Force @ 80 psi 14,000 lbs Axial holding force.62,300 N

Static Moment Capacity (X & Y) 43,000 lb-in Higher dynamic moment possible depending on module4,680 Nm selection. Failure test exceeded 250,000 in-lb moment.

Static Moment Capacity (Z) 31,000 lb-in (Torsion) Higher dynamic moment possible depending on module3,500 Nm selection. Failure test exceeded 150,000 in-lb moment.

Positional Repeatability (X,Y, & Z) .0006 in Repeatability tested at rated load at over one million cycles..015 mm

Weight (when coupled) 61.8 lbs Master: 42.7 lbs (19.4 kg)28.1 kg Tool: 19.1 lbs (8.7 kg)

Unit height when locked 5.6 in Stack Height - 200mm ISO pattern141.5 mm


Maximum allowable distance between 0.1 in Normal recommended locking distance. Locking distance master and tool plates before locking 2.5 mm varies depending on module selection, lock pressure, pay

load, etc.


QC-510 with AA2 Pneumatic module and DH4/DH2 Insta-Tool modules for DeviceNet


www.ati-ia.comATI INDUSTRIAL AUTOMATION QC-210 9230-20-2172-01



QC-210 with DH3/DH2, AA2 modules

QC-310 with DH3/DH2, AD2 modules

PRODUCT DRAWINGS



QC-510 with DH3/DH2, AA2 modules

MODULES

The Heavy Automation Series Tool Changers areextremely diverse tool changers with the ability to per-form in a wide variety of applications. This flexibility isdue in large part to the many different models of mod-ules designed to pass a variety of utilities,such as:

• Fluid/Air modules• 200-amp primary current module for transgun

applications • DeviceNet modules supporting Master and Tool

side nodes and “Quick” connect times• Patent-pending Insta-Tool modules from ATI that

drastically decrease connect time in DeviceNetenvironments

• Discrete signal module with tool-ID built-in• Servo module with optional battery backup• 600-amp module for high power and ground

applications• more…

PA2 PRIMARY POWER MODULE

The PA2/PA3 Module used by the spot-welding toolchanger is designed to carry primary current from apower supply to a transgun attached to the Tool. It con-sists of three Rhodium-plated copper contacts, eachcapable of carrying 200 Amps when coupled. The volt-age should not exceed 600 Volts. To avoid arcing

never uncouple the Tool Changer without first turn-

ing off the power supply to the Master. Power mustbe off when coupling and uncoupling. In addition, theinstallation of over-current protection is recommendedin the primary power supply circuit.

Cable Installation

For cable installation, the power module cover platesare removed from the module bodies by unscrewingthe (6) M6 socket-head screws. This exposes the insula-tor block and the contact bases. The power cable isthen passed through the cable entrance and its conduc-tors are attached to the individual contact bases by tight-ening the split-bolt nuts. Each contact can accept up to #2AWG stranded conductor. The cable is then attached tothe module enclosure through a cord grip.

Optional flanges on this enclosure allow the attachmentof PG29, 1-1/4 NPT or 1-1/2 NPT strain relief connectors.We encourage the use of EMT jam nuts in addition toset screws in this flange to prevent the cord grip fromloosening with robot motion. After attaching the cables,the covers are re-installed on the module bodies.

Transferring Current

The Primary Current modules use advanced patentedcone-mating technology to transfer current from the

Master to the Tool. The mating conical surfaces providea large contact area, excellent misalignment capabilityand allow efficient coupling/uncoupling, without highspring forces or excessive wear. To enhance safety,

the central contact on the tool side module projects

0.060" (1.5mm) above the other 2 contacts. By usingthis contact as the ground circuit, the user can ensurethat the Tool is grounded before power is applied (groundis the first to make and last to break contact). If required,the contact tips on either the Master or Tool can be easilyreplaced without removing the wiring.

Additional FeaturesAdditional safety features have been designed into the PA2 modules. The contact tips on the Master sideare recessed well below the surface and contain a cen-tral insulated post. The modules were designed so thatthe finger of an average human adult cannot touch themetallic parts. The interior of the module housings areinsulated electrically with a thick, hard anodized coatingand high dielectric paper.


PA2 Primary Current Module

FLUID, AIR AND VACUUM MODULES

There are a variety of modules that pass fluid, air andvacuum utilities.

Fluid/Air modules are made from stainless materials toavoid corrosion. Master and Tool modules comeequipped with check, self-sealing ports to minimizefluid/air loss during a tool change.

Air modules are made from anodized aluminum materi-als. Numerous variations are available which offerchecked, self-sealing and pass-through ports. Ports sup-porting vacuum service utilize a v-ring to obtain a sealbetween master and tool modules.

Unchecked pass-through air ports utilize rubber bushingsto achieve a durable, reliable, long-lasting seal betweenMaster and Tool.

Checked, self-sealed ports utilize a u-cup seal and cannotsupport vacuum service. Similarly, vacuum ports utilizinga v-ring for seal purposes cannot support positive pres-sures.

DA2 AND DB2 DEVICENET MODULES

Electrical Feed-through

Two (2) standard “mini” style power and signal connec-tors are provided for ODVA-compliant DeviceNet inter-facing on the Master and Tool modules. When the toolchanger is coupled, the Master and Tool DeviceNetmodules communicate with each other using a spring-loaded pin block. A flexible boot surrounds the pin blockto seal the connection from moisture and liquid whilecoupled.

Pneumatic Valve

A double solenoid-actuated pneumatic valve is integrat-ed with the DA2 DeviceNet Master module for controlof the locking mechanism. A single solenoid with springreturn is used for the DB2 module.

Tool Stand Interlock

The DeviceNet modules are outfitted with a Tool StandInterlock (TSI) connector that is wired directly into theunlock solenoid valve circuit. The DA2 module TSI islocated on the master, while the DB2 module TSI islocated on the tool. Using this connector, a switch canbe integrated that will allow the solenoid valve to uncou-ple the tool changer only when the tool is in the toolstand. Teach plugs are available to close the solenoidvalve circuit during setup and maintenance scenarios.

Tool ID

The DeviceNet Tool module uses a series of five 0–9switches for setting Tool ID. This allows the customer to distinguish between the different Tools thatare being operated and controlled through theDeviceNet network.


AA2 Pneumatic Module


New Innovation Greatly Reduces Timeand Complexity for Tool Changes inDeviceNet Environments.

DeviceNet™ is a popular industrial communications busused to connect industrial devices and reduce or elimi-nate time-consuming discrete wiring.

The Problem

With the obvious benefits of DeviceNet technologycomes the inevitable delay that occurs during tool identification—as long as 8 seconds at each tool change.The cumulative effect of these delays is a loss of produc-tion time. This compounded effect becomes a factor inreducing manufacturing productivity.

In an effort to minimize this delay, a new DeviceNetstandard (Quick Connect) is being proposed which couldpotentially reduce this delay to 2 to 3 seconds. This isstill a noticeable delay during an application process.

ATI Insta-Tool™ solves the problem.

The Solution: ATI Insta-Tool™ Technology

With ATI Insta-Tool™, long delays for tool identificationand tooling I/O are a thing of the past. By using ATI Insta-Tool™ technology, the new tool-side module communi-cates tool ID and tooling I/O to the master/robot mod-ule in just tenths of a second after tool changer coupling.There is no longer a need to establish a DeviceNet nodeon the tool side, which in turn prevents power-ups fromhaving to negotiate lengthy DeviceNet protocolsequences. Tooling is available on the network in undera second.

Best of all, there are no costly upgrades of DeviceNetscanner and master controller equipment required to

ATI INSTA-TOOL™ MODULES FOR DEVICENET

enjoy the substantial benefits of ATI Insta-Tool™.

Product Advantages

Near-Instant Connection and Tool Identification:

With Insta-Tool, tool ID occurs within 150 milliseconds,as compared to up to 8 seconds using current technolo-gy. Tool I/O is available within 700 milliseconds.

Reduction in Time: No delay means overall cycle timeis reduced and production is increased. This advantageis heightened in applications with multiple tool changes.

Reduced DeviceNet Node Management: With ATIInsta-Tool™ and Insta-Bus™ technology, the tool changermaster node handles 160 I/O points downstream,resulting in fewer DeviceNet nodes to manage.

Tool ID Passes Through Master: Systems with multiplemasters and tools can positively identify which tools areconnected to each master.

Tool Stand Interlock (TSI): A tool stand interlock featureis provided on the tool/slave side for safer tool changeroperation. The TSI allows uncoupling only when the toolchanger is in the tool stand. Customers have the optionto choose mechanical or proximity sensor switches toclose the TSI circuitry.

Additional Safety Features: Additional DeviceNet inputsare provided to identify unsafe operating conditions.Customer operating software can be programmed tohalt tool changer operation when unsafe conditions exist.

Maximum Time from Tool Connectto Tool ID Read

0 1 2 3 4 5 6 7 8 9

Current DeviceNet

Proposed DeviceNet

ATI InstaTool

Time (Seconds)

DH3-M/DH2-T Insta-Tool modules for DeviceNet


Up to160 I/O

Standard Network

Before ATI Insta-Tool™, the DeviceNet signal passedfrom the DeviceNet controller, through the masterside to the tool side of the tool changer, then on todownstream nodes. With this method, each time anew tool side connection is made, up to an 8-secondstart-up delay occurs before tool identification anddownstream I/O can be read and the application cancontinue.

ATI Solution

With Insta-Tool™, the DeviceNet signal effectively stopsat the tool changer master, creating an always-on con-nection to that master node. Using patent-pendinghigh-speed technology, the master node handles allI/O communication downstream from the master. Theresult is a connect time of less than 150 millisecondsfor tool ID and under 700 milliseconds for tool I/O.Tool I/O appears at the master node.

DeviceNet—With and Without ATI Insta-Tool™

The illustrations below indicate the fundamental differencesbetween standard DeviceNet connectivity and the new ATI Insta-Tool™ technology.

SERVO MODULES

A servo module may be provided on the tool changer toprovide both power and signal connections to a trans-gun servomotor. The connectors on this module arelocated such that power and feedback cables can berouted separately. By design, both circuits are electricallyisolated from each other and from the tool changer.Also, the circuit has EMI/RF shielding to protect it fromnoise.

Design Features

Both the power and feedback circuits are designed to bewater resistant. In both cases, the central pin is first tomate and last to break during a tool change. For safetyreasons, this pin is used as a designated ground whencustomer wiring requirements allow. To avoid unintention-al human contact, the master side spring pins arerecessed below an insulated surface on both the powerand feedback circuits.

Important

To avoid damage to the contacts, never uncouple theunit without first disconnecting and discharging thepower that passes through these pins. This is especiallytrue if high-voltage circuits are involved. Compliant springprobes are provided on the Master side and fixed contactpins on the Tool side. Both the power and feedback con-nectors are electrically isolated from the servo moduleby mounting them in non-conductive plates.

DISCRETE SIGNAL MODULES

MODULES


A variety of electrical modules are available that offerdiscrete signal pass-through for the tool changer. Someof these modules work with an integrated double or sin-gle solenoid valve for lock/unlock control of the toolchanger. Some modules are also available supportingtool changer I/O, such as lock, unlock and ready-to-lockproximity sensors as well as Tool ID.

Military- and bayonet-style connectors are standard onmost electrical modules. Custom versions are availableupon request.

VB2 Discrete Signal Modules


MODULES AND OPTIONS

DeviceNet/Insta-ToolTM Modules

Primary Power Modules

PA2-M/T Primary Current Master or Tool, (3) contacts, 2/O wire, 200A, 600V rating

PB2-M/T Primary Current Master or Tool, (2) contacts, 2/O wire, 200A, 600V rating

DA2-M DeviceNet Master, Double Solenoid Valve with Tool Stand Interlock on Master

DA2-T DeviceNet Tool, Tool ID with paired switches to line, robot, and tool

DB2-M DeviceNet Master, Single Solenoid Valve with Tool Stand Interlock on Tool

DB2-T DeviceNet Tool with Tool Stand Interlock, 5 independent switch Tool ID

DH4-M Insta-Tool Master, Supports Integrated Valve with Tool Stand Interlock on Tool Side

DH2-T Insta-Tool Tool, Mechanical Switch Tool Stand Interlock, 5-Independent Switch Tool ID

DH4-T Insta-Tool Tool, Proximity Sensor Tool Stand Interlock, 5-Independent Switch Tool ID

AA2-M/T (2) ½" NPT Ports, 2 Checked Ports, Master and Tool

AA3-T (2) ½" NPT Ports, 2 Unchecked Ports, Tool side

AB2-M/T (8) 3/8" NPT Ports, Master - 8 Checked Ports, Tool - 4 checked/4 unchecked ports

AB3-T (8) 3/8" NPT Ports, Tool, 8 Unchecked Ports

AB4-T (8) 3/8" NPT Ports, Tool, 8 Checked Ports

AC2-M/T (4) 3/8" NPT Ports, 4 Checked, (2) ¾" NPT Vacuum Ports, Master and Tool

AD2-M/T (2) ¾" NPT Ports, 2 Checked Ports, Master and Tool

AE2-M/T (8) 3/8" NPT Pass-Thru Ports, Master and Tool

AF2-M/T (8) 3/8 G Pass-Thru Ports, Master and Tool

AG2-M/T (4) 3/8 G Ports, 4 Checked, (2) ¾ G Vacuum Ports, Master and Tool

AH2-M/T (8) 3/8" G Ports, Master- 8 Checked Ports, Tool - 4 Checked/4 Unchecked Ports

AH3-T (8) 3/8" G Ports, Tool, 8 Unchecked Ports

AH4-T (8) 3/8" G Ports, Tool, 8 Checked Ports

AJ2-M/T (10) ¼" NPT Ports, 10 Checked Ports, Master and Tool

Pneumatic Modules

Part # Description

Part # Description

Part # Description

ATI Heavy Automation Tool Changers are designed with flexibility in mind. By simply choosing the proper utilitymodules (primary power, air, fluid, DeviceNet, and more), a tool changer can be configured for optimal performancein your application.

MODULES AND OPTIONS


Discrete Signal Modules

Servo Modules - Consult ATI

SA2-M Discrete, 26-pin Amphenol, 19-pin Block, Supports L/U/R1/R2 Sensors, not intended for use with anintegrated valve

SA2-T Discrete, 19-pin Amphenol, 19-pin Block, 19 Pass-Through's

SA3-T Discrete, 19-pin Amphenol, 19-pin Block, 15 Pass-Through's, 0-9 Tool ID



VA2-M Discrete, 26-pin Amphenol, 19-pin Block, Supports L/U/R1/R2 Sensors and Integrated Valve, works with SA tool-side modules, TSI on Master

VB2-M Discrete, 26-pin Amphenol, 19-pin Block, Supports L/U/R1/R2 Sensors and Integrated Valve,TSI on Tool

VB2-T Discrete, 19-pin Amphenol, 19-pin Block, Tool Stand Interlock, 16 Pass-Through's

VB3-T Discrete, 19-pin Amphenol, 19-pin Block, Tool Stand Interlock, 12 Pass-Through's, 0-9 Tool ID

VB4-T Discrete, 19-pin Amphenol, 19-pin Block, Tool Stand Interlock, 8 Pass-Through's, 0-99 Tool ID

EA2-M/T Servo Module Assembly, Master or Tool ABB and others

EA3-M/T Servo Module Assembly w/Battery BackUp, Master or Tool ABB and others

EB2-M/T Servo Module Assembly , Master or Tool ARO and others

EB3-M/T Servo Module Assembly w/Battery BackUp, Master or Tool ARO and others

EC2-M/T Servo Module Assembly, Master or Tool Henrob and others

ED2-M/T Servo Module Assembly, Master or Tool KUKA and others

Fluid/Air Modules

FB2-M/T (8) 3/8" NPT Ports, Master - 8 Checked Ports, Tool - 4 Checked/4 Unchecked Ports

FB3-T (8) 3/8" NPT Ports, Tool, 8 Unchecked Ports

FB4-T (8) 3/8" NPT Ports, Tool, 8 Checked Ports

FC2-M/T (8) 3/8 G Ports, Master - 8 Checked Ports, Tool - 4 Checked/4 Unchecked Ports

FC3-T (8) 3/8 G Ports, Tool, 8 Unchecked Ports

FC4-T (8) 3/8 G Ports, Tool, 8 Checked Ports

Part # Description

Part # Description

Part # Description Servo Gun Type


HOW TO ORDER

9121- 10 QC-210, QC-310, and QC-510

Standard Proximity Switch designation

G: PNP Quick-disconnect switch For information on other switches, contact ATI Sales.

Optional Modules*

Refer to the tables on pgs. 13-14 for information neededto select the proper module for your application.A comprehensive list is available at www.ati-ia.com.

Axx: Air Module (Anodized Aluminum, No fluid)Dxx: DeviceNet Module / Insta-Tool ModuleExx: Servo ModuleFxx: Fluid/Air Module (Stainless steel, checked ports)Jxx: Air/Valve Mounting Adapter (‘A’ Flat Only)Pxx: Power ModuleSxx: Discrete Signal ModuleUxx: Stud Feeder Module Vxx: Discrete Signal Module with Integrated Valve

* Signal Modules are located on flat ‘A’ and are piggy-backed on the ‘Jxx” Air/Valve Mounting Adapter. When a DeviceNet or Discrete Module is specified, the first set of placetakers is comprised of a combination of Air/Valve Adapter and Signal Module, e.g.

9121-210BM-JC2DD4-AA2-0-0-SG

‘0’ Represents a flat with no module

M: Master T: Tool

Boss/Recess

A: No Boss (Master) or Recess (Tool)B: 80mm Boss/RecessC: 100mm Boss/RecessD: 125mm Boss/RecessE: 160mm Boss/Recess

Model Designation

2: QC-2103: QC-3105: QC-510

-- -S--

Flat ‘A’ Flat ‘B’ Flat ‘C’ Flat ‘D’


Product Advantages

No-Touch Locking technology allows up to 0.1 in.plate separation when locking.

Patented Fail-safe locking mechanisms

• Locking mechanism design results in low force act-ing on the piston.


• All locking parts are made of Rc58 stainless steel.

Integrated Lock/Unlock Sensing for safety,

Highest Moment Capacity: 3 locking mechanism designcreates static moment capacity of 122,000 lb-in. (X & Y)

QC-602

Robotic Tool Changer for ExtremeMaterial Handling

The QC-602 Robotic Tool Changer from ATI is by far thestrongest tool changer on the market today. The QC-602was designed to meet the extreme payload and momentdemands of heavy industrial and aerospace applications.With a payload capacity of 2,500 pounds, the QC-602 isin a class of it’s own, setting a new standard in heavycapacity tool changers.


Suggested Payload Limit 2,500 lbs1,130 kg

Locking Force @ 80 psi 21,000 lbs9,525 kg

Static Moment Capacity (X & Y) 122,000 lb-in13,750 Nm

Static Moment Capacity (Z) 49,000 lb-in5,500 Nm

Positional Repeatability (X,Y, & Z) .0006 in.015 mm

Weight (when coupled) 128.1 lbs58.1 kg

Unit height when locked 5.51 in139.91 mm

Maximum allowable distance between 0.1 inmaster and tool plates before locking 2.54 mm

Sensor Information, Signal Name L/U (Lock/Unlock) Proximity SensorsRTL (Ready-to-Lock) Proximity Sensors

Mounting Surface/Customer Interface Custom patterns for Master plate and Tool plate based on three (3) QC-200 locking mechanisms

Lock/Unlock Air Supply 3/8 NPT

Pneumatic pass-through ports 3/8 NPT – Two (2) air ports which are unchecked

The QC-602 is designed to work with a variety of accessory modules from the ATI Standard

Series Tool Changers. A complete list of compatible modules is available online at www.ati-ia.com.

QC-602 with TW19,MT8, V114


HOW TO ORDER

9120-602 QC-602

Type of Lock Sensing

C – AC E – NPN G – PNP 0 – No module in place

Optional Modules for Flat ‘E’

(1) J16 Pattern V114 Vacuum Module 0 – No module in place

Flat ‘D’

Blank – for future development

Optional Modules for Flat ‘C1’ and ‘C2’

(1) J16 Pattern to support Various Modules(ex. R21, T19, S19, J16, MT8) 0 – No modules in place

Flat ‘B’

Blank – for future development

M: Master T: Tool

Signal Module for Flat ‘A’*

TF19, TW19, TF26

* Please visit www.ati-ia.com for an updated, comprehensive list of modules. As always, consult your ATI Account Manager with any questions regarding product selection for your application.

-0- - -0- -

2D drawings of the QC-602 are available at www.ati-ia.com.


MODULAR TOOL STANDS

Product Advantages

Stainless Steel Alignment Pins Offer HighRepeatability.

Compliant Tool Interface option available.

Large Base Plate distributes tool weight evenly.

6 inch Steel Post Weldment Provides OutstandingSupport.

Optional Tool Presence Sensing and Shield PositionSensing.

Tool-to-Post Interface Plate options to fit every application.

Tool Stand Interlock Option provides additional safe-guard for Tool Drop-Off.

Optional Leather Guards for Shield.

The ATI Tool Stand System consists of the following main assemblies. These can be assembled to form a completesolution, or can be used separately as your application requires.

Part Number Prefix Name

9120-TSL-PM Post Module (with Compliant Tool Interface)

9120-TSL-HE Horizontal Extension Module

9120-TSL-SM Sensor Module

9120-TSL-DSA Debris Shield Actuator

9120-TSL-DS Debris Shield

9120-TSL-TP Tooling Interface Bracket

9120-TSL-SS Tool Stand Interlock

The ATI TSL (Tool Stand,Large) Modular ToolStand System, or TSL, iscompatible with largerATI Tool Changers. TheStand is designed fordurability, longevity, andmaximum flexibility to fitmost customers’ applica-tions. The configurablesystem allows you tospecify tool height, offset,shielding, and sensing. Tosave space, the TSL can

even store 2 tools on the same post. ATI TSL Stands arecurrently in use in major automotive plants across thenation.


Post Module

The ATI TSL Post Module includes awelded steel vertical post, a base plate,and a vertically-compliant interface foryour tooling. Height, tool orientation,and compliance stiffness can all bespecified by the customer. ATI alsooffers a configuration of the TSL PostModule that allows for up to two toolsto be mounted on the same post.

Horizontal Extension Module

The TSL Horizontal Extension Module isan option that provides more tool clear-ance than the standard TSL Post Module.ATI offers a standard extension lengthof 10". Other lengths are available uponrequest.

Sensor Module

The TSL Sensor Module is an option thatprovides Tool Presence detection. Thestandard model mounts directly to theTSL Post Module and incorporates aproximity switch that senses a face onthe TSL Tooling Interface Bracket. TheSensor Module comes equipped with acollision guard.

Debris Shield Actuator

The TSL Debris Shield Actuator (DSA)positions the Debris Shield in the openor closed position. On single tool stands,the DSA module can be oriented so thatthe shield swings in the vertical or horizon-tal plane. The shield will swing 135degrees rotationally for most arrange-ments. The powerclamp comes equippedwith integrated position sensing.

Debris Shield

The TSL Debris Shield mounts to a tubu-lar arm that in turn is mounted to theShield Actuator Unit. The Debris Shield isdesigned to cover the Tool Changer ToolSide unit when the Tool is in storage.The Debris Shield provides ample protec-tion from dust, weld spatter and otherdebris through the use of leather sideguards.

Tooling Interface Bracket

The TSL Tooling Interface Bracketmounts directly to your tooling, and isequipped with heavy-duty alignment pinand bushings that directly couple withthe Post Module compliant interface.

www.ati-ia.comATI INDUSTRIAL AUTOMATION 9230-20-1824TSL

Other ATI Products

Robotic Collision Sensor

Designed to prevent damage to robotic end-effec-tors resulting from robot crashes. Features include:Automatic reset, high-repeatability, and large momentrotation.

Robotic and CNC Deburring Tools

These air-driven robotic tools cover a wide variety ofautomated deburring applications with fast cycle timesand clean, accurate cuts. The RC Deburring Tool isdesigned for removal of parting lines and flash, whilethe AC Deburring Tool is specially designed for edgedeburring and chamfering.

Robotic Rotary Joint

A device that allows unlimited rotation of end-of-armtooling without tangling or twisting robot tooling utilitylines. Utilizes advanced slip-ring technology to passelectrical and pneumatic signals from robot to tooling.

Multi-Axis Force/Torque Sensor

Measures the full six components of force andtorque. High overload protection and high signal-to-noise ratio. Used in robotic and research applications.

Automated Assembly Alignment Device

An insertion device using Remote CenterCompliance technology that helps assemblymachines automatically align close-fitting parts, preventing jamming and galling.

Company Profile

ATI Industrial Automation is a world-leading developer of Automatic Tool Changers, Multi-AxisForce/Torque Sensing Systems, Compliance Devices,Robotic Collision Sensors, Robotic Deburring Tools,and Robotic Rotary Joints. Our products are foundin thousands of successful applications around theworld.

Since 1982, our engineers have been developingcost-effective, state-of-the-art products and solutionsto improve manufacturing productivity.

Our Mission is to provide customers around theworld with high-quality robotic peripheral devices,tooling and sensors that enhance customer prof-itability by increasing the effectiveness, flexibility,safety and productivity of their automation applications.We accomplish this through continuous improvementof existing products, product customization andnew product innovation.

Our engineering-centric staff focuses on providingcustomer solutions to robotic, automation andsensing applications.

Our Quality Policy

ATI Industrial Automation strives to provide customer satisfaction through continual improvementof on-time delivery, quality and reliability, and a constant focus on innovation and profitability.

© Copyright by ATI Industrial Automation, Inc. 2005. All rights reserved. 9205-60-1001-05 May, 2005

Pinnacle Park1031 Goodworth DriveApex, NC 27539 USA

+1 919.772.0115 +1 919.772.8259 faxE-mail: [email protected]

Robotic/Automatic Tool Changer - ATI Industrial … 200… · and Spot Welding Applications ......

Documents

Transcript of Robotic/Automatic Tool Changer - ATI Industrial … 200… · and Spot Welding Applications ......