roboticautomatic tool changer.pdf

2005 CATALOG

Robotic/Automatic Tool ChangerQuick-Change Standard Series

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

Product DescriptionThe Quick-Change provides flexibility to robot

applications by allowing the robot to change end-effectors(e.g. grippers, vacuum cup tooling, pneumatic and electricmotors, weld guns, etc.) automatically. The Quick-Changeconsists of a Master plate and a Tool plate.

The Master plate, installed on the robot arm, locksto the Tool plate with a pneumatically-driven lockingmechanism. This locking mechanism uses a patented,double-tapered piston with ball locking technology anda patented fail-safe mechanism. The Master allows forthe passage of pneumatic and electrical connections tothe Tool plate.

The Tool plate is attached to each end-effector. TheTool plate interfaces with the Master plates pneumaticand electrical connections and passes them on to theend-effector.

General Tool Changer AdvantagesLines changed in seconds instead of hours.

Increase operator safety by changing tools automatically.

Change tools in seconds for maintenance and repair.

Increase flexibility of your robots by adding the abilityto use more than one end-effector in an application.

Heavy and large multi-tool end-effectors replacedwith individual tools that are automatically exchanged.

Quick-Change Family (left to right from back row; Master plate is standing, Tool plate islying flat directly in front of each Master plate); QC-110; QC-60; QC-20; QC-41; QC-150;Front row: QC-40; QC-5; QC-21.

ATI Tool Changer AdvantagesSuperior Fail-safe Locking: The locking mechanismhas a built-in, patented fail-safe feature that keeps theTool plate secured to the Master plate in the event ofpneumatic pressure loss. This fail-safe featureeliminates the need for a spring.

High Rigidity: The Quick-Change has a high momentcapacity due to the locking pistons large diameter andsecond taper. The Quick-Change does not rock duringhigh-inertia moves, preventing locking failure orrepeatability problems.

Unmatched Repeatability: The piston acts as a largedowel pin, aligning the master and tool with remarkablerepeatability. Repeatability specifications are based onmillion-cycle testing.

No-Touch LockingTM Technology: The Quick-Changecan lock successfully with a gap between the Masterand Tool plates.

3 Year Warranty: Our warranty is based on years ofobservation and analysis by our customers in the fieldand extensive laboratory testing.

Simple Interface: Plate design allows for easy robotmounting.

TOOL CHANGERS

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

Interface plate

Piston

Lock air pressure pushes thepiston down, driving the ballsout and under the lock ring,pulling up the tool plate.

In the event lock pressure is removed, the balls aretrapped by the cam. Sealfriction prevents the pistonfrom moving due to gravity orvibration. Unlock pressure isrequired to move the cam upto the unlocked position.

Figure 1: Tool changer in unlockedposition

Figure 2b: Section view of tool changerready to lock (interface plate not shown)

Our patented locking mechanism and uniquefail-safe feature have been in industrial use formore than ten years without failure.

Figure 3b: Section view of tool changerlocked

Figure 4b: Section view of tool changerin fail-safe mode

Quick-Change Locking Mechanism*

...we purchased a trial set of tool changers for one cell. Itproved to work really well... We now have a working systemthat is a benchmark, not only for our corporation, but ourcompetitors as well.

John Jackson,Automation Area and Tooling Construction Supervisor

*Video available on website.

Master plate

Electrical module (Master side)

Male coupler

Tool plate

Electrical module (Tool side)

Lock ring

No-Touch Locking

Cam

Hardened steel ball is on the first taper of the cam.

Figure 2a: Close-up of locking ballposition with tool changer readyto lock

Hardened steel ball is on thesecond taper of the cam.

Figure 3a: Close-up of locking ballin locked position

Fail-safe cylindrical surface

First taper

Hardened steel ball is on fail-safe cylindrical surface.The cam will not move unlessunlock air pressure is applied,preventing the tool plate fromfalling off.

Figure 4a: Close-up of locking ballposition while in fail-safe mode


How to Select a Robotic Tool Changer1. Sizinga. Fast method: If the expected moment exerted on thetool changer is low or moderate, select a Quick-Changemodel with a payload rating similar to that of your robot.If the expected moment is high, or if you prefer to usea QC model better suited to the application, see section(b) below.

b. More exact method: Moment capacity is a criticalfactor in selecting the proper Quick-Change model. Usethe following to approximate the worst-case moment.

a) Find the approximate center-of-gravity (CG) of theheaviest end-effector to be used.

b) Calculate the distance (D) from the CG to thebottom of the Tool plate (example below).

c) Calculate the weight (W) of the heaviest end-effector.

d) Multiply W by D to get an approximate staticmoment (M) (or a moment based on one G ofacceleration).

e) Select a Quick-Change with a moment capacityequal to or greater than M.

Robots may produce moments two-to-three times higherthan M due to their potentially high acceleration. TheQuick-Change models are designed to handle dynamicmoments three times higher than their static momentratings.

2. Pneumatic and Electrical: Determine the number andsize of pneumatic ports and electrical contacts needed.Larger Quick-Change models have a greater number ofpneumatic ports and electrical contacts.

3. Temperature and Chemicals: The Quick-Changeuses nitrile bushings to pass air to the Tool plate, andBuna-N O-rings to seal the pneumatic locking mechanism.Not only is this rubber material resistant to mostchemicals, it is able to withstand temperatures rangingfrom -20F to 150F. Please contact your sales personfor information regarding temperatures or chemicals forparticular environments.

4. Precision Applications: Be sure to refer to thespecifications when dealing with applications that requirehigh repeatability.

Remember: A tool changer affects robot momentcapacity, payload, size and repeatability. For comparablepayloads the Quick-Change is designed to exceed therobots specifications.

MODEL SELECTION


Quick-View Specification Table

*Additional pneumatic pass-through ports are available for these models. **All models can handle a dynamic moment 3 times higher than the static momentcapacity. Moment tests show failure point at 10-12 times X & Y static moment specifications.Higher payloads possible with low moment.

It is highly recommended that ATIs tool changer beconsidered when looking at any kind of automatic tooldisconnect or application using this type of design.

Joe MitoryASME Project Manager

Description QC-60 QC-71 QC-110 QC-150 QC-300

Suggested Payload Limit 165 lb 175 lb 330 lb 440 lb 1003 lb(75 kg) (79 kg) (150 kg) (200 kg) (455 kg)

Locking Force @ 80 psi (5.5 bar) 1660 lb 1815 lb 2730 lb 3620 lb 7940 lb(7387 N) (8075 N) (12149 N) (16109 N) (35333 N)

Static Moment Capacity (X & Y)** 1740 lb-in 3500 lb-in 6940 lb-in 12000 lb-in 29100 lb-in(197 N-m) (395 N-m) (784 N-m) (1356 N-m) (3870 N-m)

Static Moment Capacity (Z) 2600 lb-in 3500 lb-in 6940 lb-in 10000 lb-in 25000 lb-in(294 N-m) (395 N-m) (784 N-m) (1130 N-m) (2825 N-m)

Pneumatic pass-through (8)* (8)* (8)* (10)* (10)*(Quantity) size 1/8 NPT 1/4 NPT 3/8 NPT 3/8 NPT 3/8 BSPP

Pneumatic Lock & Unlock port size 1/8 NPT 1/8 NPT 1/8 NPT 1/8 NPT 1/4 BSPP

Description QC-5 QC-11 QC-20 QC-21 QC-40 QC-41

Suggested Payload Limit 18 lb 35 lb 55 lb 55 lb 110 lb 110 lb(8 kg) (16 kg) (25 kg) (25 kg) (50 kg) (50 kg)

Locking Force @ 80 psi (5.5 bar) 155 lb 240 lb 520 lb 520 lb 1020 lb 1020 lb(690 N) (1068 N) (2314 N) (2314 N) (4540 N) (4540 N)

Static Moment Capacity (X & Y)** 110 lb-in 220 lb-in 500 lb-in 500 lb-in 1390 lb-in 1390 lb-in(12.5 N-m) (25 N-m) (56.5 N-m) (56.5 N-m) (157 N-m) (157 N-m)

Static Moment Capacity (Z) 150 lb-in 300 lb-in 690 lb-in 690 lb-in 1910 lb-in 1910 lb-in(17 N-m) (34 N-m) (78 N-m) (78 N-m) (216 N-m) (216 N-m)

Pneumatic pass-through (6) M5 (6) M5 (12) M5* (8) (8)* (6) 3/8 NPT(Quantity) size or #10-32 or #10-32 or #10-32 1/8 NPT 1/8 NPT (4) 1/8 NPT

Pneumatic Lock & Unlock port size M5 M5 M5 M5 1/8 NPT 1/8 NPTor #10-32 or #10-32 or #10-32 or #10-32

Table of ContentsQuick-View Specification Table . . . . . . . . . . . . . . . . .5QC-5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6QC-11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8QC-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10QC-21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12Tool Stands for QC-5 to QC-21 . . . . . . . . . . . . . . . .14QC-40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16QC-41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18QC-60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20QC-71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22QC-110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24QC-150 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26QC-300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28Tool Stands for QC-40 to QC-150 . . . . . . . . . . . . . .30Sensor Interface Plate System . . . . . . . . . . . . . . . .32Electrical & Pneumatic Modules & Options . . . . . .33


QC-5 Master and Tool plate with E2A electrical module

QC-5 with E3A electrical module

QC-5

Product AdvantagesMaster Forces Separation of Tool to prevent stickingwhile unlockinga common problem when workingwith light payloads.

Extremely High Repeatability

No-Touch LockingTM technology allows up to 3.0 mmplate separation when locking.

Patented Fail-safe Locking Mechanism

Long-life Bushings for Pneumatic Pass-through

Specifications Values Comments

Suggested Payload Limit 18 lb (8 kg) Higher payloads possible with low moment.

Locking Force @ 80 psi (5.5 bar) 155 lb (690 N) Fail-safe takes over when load exceeds locking force.

Static Moment Capacity X & Y 110 lb-in(12.5 Nm)

Static Moment Capacity Z 150 lb-in(17 Nm)

Positional Repeatability X,Y, & Z 0.0004 in Repeatability tested at rated load at one million cycles.(0.010 mm)

Weight when coupled 0.81 lb Master plate 0.60 lb (0.27 kg); Tool plate 0.21 lb (0.10 kg)(with no accessory modules) (0.37 kg)

Minimum/Maximum distance between 0.06 in/0.12 in No-Touch Locking technology allows Master & Tool Master & Tool plate before locking 1.5 mm/3.0 mm plates to lock with plate separation.

Pneumatic pass-through Ports (qty) size (6) M5 or #10-32 Max pressure of 100 psi (7 bar)

Dynamic moment capacity 3x higher than static momentcapacity. Tests show failure point at 12x X & Y staticmoment specifications.

QC-5 with B15 electrical module

Note:Modules and options available. See pg. 33-35.

Tool Stand and components areavailable for this model. See pg. 14.


HOW TO ORDER

9120-005 - - QC-5

Option (000 = no option)

M: Master T: Tool

000 Example:

9120-005M-000-000(QC-5 Master plate, no options)

9120-005T-E2A-000(QC-5 Tool plate w/ E2A electrical module)

In our years of experience with these tool changers,we have been impressed with a number of features.Reliability...Simplicity...Durability and Repeatability...Good job, ATI!

Alex ZaluckyRobotic Development

www.ati-ia.comATI INDUSTRIAL AUTOMATION QC-5 9230-20-1962-01


Product AdvantagesLightweight and Small Size with a high-strengthlocking mechanism.


Patented Fail-safe Locking Mechanism Locking Mechanism design results in low force

acting on the piston.

Large piston diameter and outward ball travelincrease moment capacity.

All locking parts made of Rc 58 stainless steel.

Long-life Bushings for Pneumatic Pass-through

QC-11 with A15 electrical module

QC-11 w/E10 electrical module QC-11 w/E20 electrical module

QC-11




Static Moment Capacity X & Y 220 lb-in(25 Nm)




Maximum distance between 0.12 in No-Touch Locking technology allows Master & Tool Master & Tool plate before locking (3.0 mm) plates to lock with plate separation.




For payloads less than 2 lbs. (.9 kg),use the QC-5 tool changer.



ATIs QC-11 coupler will allow our engineers to keepour endtool design small and maneuverable withoutsacrificing quality. ATI engineers have been great towork with during every step of the selection process.

Denise CarliniPrime Automation

HOW TO ORDER

9120-011 - - QC-11


M: Master T: Tool

000 Example:


9120-011T-A15-000(QC-11 Tool plate w/ A15 electrical module)



Product AdvantagesLarge Number of Pass-through Air Ports






Long-life Bushings for Pneumatic Pass-throughQC-20 Master and Tool plate with K19 electrical module

QC-20 with K26 electrical module QC-20 with KM14 electrical module

QC-20













Lock/Unlock Sensors with robotinterface plate are available for thismodel. See pg. 32.


What originally drew us to use the ATI tool changer was thelow profile and hardened locating features. ATI also providesthe greatest number of air and electrical connections throughthe tool changer. We continue to use ATIs tool changers becausewe know they work, and we can get the service we need fromATI as a vendor.

Jim WilliamsProject Engineer

HOW TO ORDER

9120-020 - - QC-20


M: Master T: Tool

PM5 Example:

9120-020M-000-PM5(QC-20 Master plate, no options)

9120-020T-K19-PM5(QC-20 Tool plate w/ K19 electrical module)



Product AdvantagesLarge 1/8 NPT Ports in a small lightweight package







QC-21 with K26 electrical module QC-21 with KM14 electrical module

QC-21









Pneumatic pass-through Ports (qty) size (8) 1/8 NPT Max pressure of 100 psi (7 bar)






ATI units have the best locking mechanismin event of air failure.

Matthew CyglerRobotic Automation PTY LTD

HOW TO ORDER

9120-021 - - QC-21

Option B (000 = no option)

Option A (000 = no option)

M: Master T: Tool

Example:


9120-021T-K19-000(QC-21 Tool plate w/ K19 electrical module)



TOOL STANDS FOR QC-5 TO QC-21

TSS Modular Tool Stand SystemThe ATI Modular Tool Stand System,or TSS, is compatible with the smallrange of ATI Tool ChangersmodelsQC-5 through QC-21. The Stand isdesigned for maximum flexibility tofit most customers applications.The modular system allows you toessentially build your own toolstorage rack based on the numberof tools, positioning, and mounting

arrangements desired. The TSS system provides a uniqueoption to either use interface plates or empty air ports onthe tool changer as attachment points for your tooling.

FeaturesModular System allows for customization

V-Grooves provide repeatable tool drop-off location

Use Extruded Rail and Base, or mount the racks onyour own platform

Durable Stainless Steel Interface Pins

Proximity Sensor Option

Use Optional Interface Plate or thread pins intounused ports to save stack height

Rack AssemblyThe TSS Rack Assembly includes a rigid U shaped plate that interfaceswith the customers tooling. The assembly includes mounting hardware,and is designed to mount to the TSS Mounting Block, TSS 3 or 4 ToolAdapter Bar, or TSS Forward Adapter. The Rack can be mounted to anyother surface that has the corresponding mounting features. Each Rackhas V-grooves that interface with stainless steel alignment pins mountedto the tooling. This Groove-Pin combination allows for compliance in thehorizontal plane, and also provides repeatable tool positioning.

Interface Plate AssemblyThe TSS Interface Plate Assembly simply provides an interface betweenyour tool and the Tool Changer. The Interface plates are sized specificallyto correspond with the Tool Changer and TSS Rack. The TSS InterfacePlate assembly also includes 3 stainless steel alignment pins thatinterface with the V-grooves on the TSS Rack. The standard interfaceplates are sold blank to allow customers to machine their own toolingbolt patterns. ATI can provide specific tooling patterns upon request.

Base AssemblyThe TSS Base Assembly consists of a square aluminum machined plateand hardware that attaches to the TSS Rail, and TSS Gusset Assembly.The base provides a secure foundation on which to build the Tool StandSystem.

Rail-and-Gusset AssembliesThe TSS Rail-and-Gusset assemblies mount to the Base Assembly andinclude alignment and mounting hardware. The standard TSS Rail is analuminum extrusion (Bosch 45x90 series) and is approximately 24 incheslong. Customers can request custom lengths when ordering. The TSSGusset (Bosch type 90x90) provides additional structural support at theTool Stand Base.

Mounting BlockThe TSS Mounting Block Assembly mounts to the Rail. It can bepositioned anywhere along the rail to the desired height. Once thedesired height is determined, it is recommended that dowel holes bedrilled into the rail as specified in drawing # 9230-20-1675. These dowelsare needed to ensure accurate positioning over the life of the stand. TheTSS Rack, or Tool Adapter Bars can then mount to the Block. The Blockalso can accommodate a Proximity Sensor Holder.

Adapter BarsCurrently there are 3 types of adapter bars. The 3-Tool Adapter Barmounts to the Mounting Block and can hold up to three TSS Racks. The 4- and 5- Tool Adapter Bars are similar but can hold 4 or 5 TSS Racks atonce respectively. Each Adapter Bar also allows for the attachment of aProximity Sensor Holder for each Rack. The Forward Adapter Bar is alsoavailable, used when your tooling requires extra clearance from the Rail.


Notes: 1. May specify other rail lengthscut charge will apply. 6. Compatible Prox Sensors and Cables: 7. Drawings available for download at 2. Sensor Holder will fit any 8mm Diameter Sensor. 8590-9909999-08 - PNP 3 Wire DC www.ati-ia.com.3. 3 Pins come standard with Tool Interface Plates. 8590-9909999-09 - NPN 3 Wire DC4. Alignment Pins are available individually. 8590-9909999-07 - 5 Meter Cable5. Alignment Pins not included in Pin Block. 8590-9909999-12 - 2 Meter Cable

Quick Change TSS Tool Stand Interfacing

3700-20-33033700-20-33163700-20-3320

Option #1: Use Interface PlatesQC Model QC-5 QC-10 QC-11 QC-20 QC-21 QC-21 (Euro)

Rack Assembly 9120-TSS-3310 9120-TSS-3310 9120-TSS-3310 9120-TSS-3313 9120-TSS-3313 9120-TSS-3313Interface Plate Assy 9120-TSS-3314 9120-TSS-3314 9120-TSS-3314 9120-TSS-3319 9120-TSS-3319 9120-TSS-3319Alignment Pin 3700-20-3303 3700-20-3303 3700-20-3303 3700-20-3303 3700-20-3303 3700-20-3303Notes See Note 3 See Note 3 See Note 3 See Note 3 See Note 3 See Note 3Prox Sensor Yes Yes Yes Yes Yes YesCustomer Drawing 9230-20-1656 9230-20-1657 9230-20-1658 9230-20-1659 9230-20-1660 9230-20-1662

Option #2 Use QC Air PortsQC Model QC-5 QC-10 QC-11 QC-20 QC-21 QC-21 (Euro)

Rack Assembly 9120-TSS-3312 9120-TSS-3310 9120-TSS-3310 9120-TSS-3305 9120-TSS-3313 9120-TSS-3313Pin Block none none none none 9120-TSS-3317 9120-TSS-3360Alignment Pin 3700-20-3303 3700-20-3303 3700-20-3303 3700-20-3303 3700-20-3316 3700-20-3320Notes See Note 5 See Note 5Prox Sensor Yes No No Yes Yes YesCustomer Drawing 9230-20-1656 9230-20-1657 9230-20-1658 9230-20-1659 9230-20-1660 9230-20-1662

Configurable Tool Stand Module System Overview Drawing # 9230-20-1675

Module Name Post Rail 610mm Post Rail 914mm Post Rail 1220mm 3-Tool Adapter Bar 4-Tool Adapter Bar 5-Tool Adapter BarPart Number 9120-TSS-1020 9120-TSS-3324 9120-TSS-3325 9120-TSS-3308 9120-TSS-3431 9120-TSS-3570Notes See Note 1 See Note 1 See Note 1Customer Drawing 9230-20-1675 9230-20-1912 9230-20-1913 9230-20-1675 9230-20-1775 9230-20-1914

Module Name Gusset Forward Adapter Prox Holder Base Mounting Block Alignment Pins:Part Number 9120-TSS-1030 9120-TSS-3361 9120-TSS-3315 9120-TSS-3311 9120-TSS-3306Notes See Notes 2,6 See Note 4Customer Drawing 9230-20-1675 9230-20-1679 9230-20-1675 9230-20-1675 9230-20-1675


Product AdvantagesTwice the Strength of the QC-20






Long-life Bushings for Pneumatic Pass-throughQC-40 Master and Tool plate with J16 electrical module

QC-40 with S19 electrical module QC-40 with R19 electrical module andFN2 fluid module

QC-40















"Our customers using medium payload robotsselect the QC-40 for flexibility, compactnessand 100% uptime reliability."

Steve TatemTIA

HOW TO ORDER

9120-040 - - QC-40



M: Master T: Tool

Example:


9120-040T-J16-000(QC-40 Tool plate w/ J16 electrical module)

9120-040M-R19-FN2(QC-40 Master plate w/ R19 electrical module & FN2 self-sealing fluid module)



Product AdvantagesLarge 3/8 NPT Ports






Long-life Bushings for Pneumatic Pass-through QC-41 Master and Tool plate with R19 electrical module

QC-41







Weight when coupled 4.6 lb Master plate 3 lb (1.4 kg); Tool plate 1.6 lb (0.7 kg)(with no accessory modules) (2.1 kg)


Pneumatic pass-through Ports (qty) size (6) 3/8 NPT Max pressure of 100 psi (7 bar)(4) 1/8 NPT


QC-41 with J16 electrical module QC-41 with G19 electrical module





A well-built durable product that is easily integrated.

Tom WashburnRPT

HOW TO ORDER

9120-041 - - QC-41


M: Master T: Tool

000 Example:


9120-041T-R19-000(QC-41 Tool plate w/ R19 electrical module)



Product AdvantagesLightweight Design with High Strength







QC-60











QC-60 with K26 electrical module QC-60 with D15 electrical module





Four years of problem-free operation in both arcwelding and material handling environments.

Greg TerryCalsonic Yorozu Corporation

HOW TO ORDER

9120-060 - - QC-60



M: Master T: Tool

Example:


9120-060T-K19-000(QC-60 Tool plate w/ K19 electrical module)

9120-060M-D15-000(QC-60 Master plate w/ D15 electrical module



Product AdvantagesLightweight Design with High Strength






Long-life Bushings for Pneumatic Pass-through QC-71 Master and Tool plate with G19 electrical module

QC-71 with MT8 electrical module QC-71 with V34 vacuum module

QC-71




Static Moment Capacity X,Y, & Z 3500 lb-in Dynamic moment capacity 3x higher than static moment (395 Nm) capacity. Tests show failure point at 12x X & Y static moment

specifications.









ATI has the widest range of units from the verysmall to the very large payloads, which perfectlysuits our robotic industry.

Matthew CyglerRobotic AutomationPTY LTD

HOW TO ORDER

9120-071 - - QC-71



M: Master T: Tool

Example:


9120-071T-G19-000(QC-71 Tool plate w/ G19 electrical module)

9120-071T-FN2-000(QC-71 Tool plate w/ FN2 module



Product AdvantagesExcellent Strength-to-Weight Ratio






Internal Lock/Unlock Sensing Reduced stack height.

No SIP required.

Supports DeviceNet Electrical Modules

Bolts Directly to 125mm Bolt CircleInterface Plates available for other Bolt Circles.

QC-110 Master and Tool plate with T19 electrical module

QC-110 with G19 electrical module QC-110 with R19 electrical module

QC-110




Static Moment Capacity X,Y, & Z 6940 lb-in Dynamic moment capacity 3x higher than static moment (784 Nm) capacity.








If not for these tools we would still be struggling with automatic toolchange. Where other plants have failed, we have succeeded...We oweATI many thanks.

John JacksonAutomation Area and Tooling Construction Supervisor

HOW TO ORDER

9120-110 - - QC-110

Standard proximity switchdesignation (see pg.33)



M: Master T: Tool

A: No Boss B: 50mm BossC: 56mm BossD: 60mm BossE: 63mm BossF: 80mm Boss

Example:

9120-110AM-000-000(QC-110 Master plate, no Boss, no options)

9120-110AT-T19R-000-SG(QC-110 Tool plate, no Boss, w/ T19R electrical module, w/ lock/unlock sensor cables)

9120-110EM-MT8-P38(QC-110 Master plate, 63mm Boss, w/ MT8electrical module and P38 pneumatic module


-S

Boss: Center alignment feature,matched to specific robot models.Master side only.


Product AdvantagesExtremely Strong Locking Mechanism






Long-life Bushings for Pneumatic Pass-throughQC-150 Master and Tool plate with G19 electricalmodule and FN2 self-sealing fluid module.

QC-150 with MT8 electrical module QC-150 with T19 electrical module

QC-150















"ATI has been FANUC Robotics North America, Inc.preferred tool changer since 1996."

Peter H. StephanProgram Manager for Stamping

HOW TO ORDER

9120-150 - - QC-150



M: Master T: Tool

Example:


9120-150T-G19-FN2(QC-150 Tool plate w/ G19 electrical module &FN2 fluid module)

9120-150M-R19-000(QC-150 Master plate w/ R19 electrical module



Product AdvantagesBuilt-in Electrical Module has five pins that may beused for tool ID. The master connector contains thesignals for the detection sensor.


Detection Sensor detects when the Tool plate is within1.5mm of the Master plate, signaling ready to lock.

Self-sealing Pneumatic Ports on the Master side sealwhen the master and tool separate. QC-300 Master and Tool plate with T19 electrical

module

QC-300 with G19, FN2 and V34electrical modules.

QC-300 with T19 and FN2electrical modules

QC-300







Weight when coupled 42 lb Master plate 26 lb (11.8 kg); Tool plate 16 lb (7.3 kg)(with no accessory modules) (19.1 kg)


Pneumatic pass-through Ports (qty) size (10) 3/8 BSPP G Max pressure of 100 psi (7 bar), (8) self-sealing ports





I have found the ATI QC tool changer to be very reliableand robust for robot end-of-arm tooling applications.

Vipin PatelFanuc Robotics

HOW TO ORDER

9120-300 - - QC-300

Option B2 (000 = no option)

Option B1 (000 = no option)

Option A2 (000 = no option)

Option A1 (000 = no option)

M: Master T: Tool

- -



TOOL STANDS FOR QC-40 TO QC-150

TSM Modular Tool Stand SystemThe ATI Modular Tool Stand System, or TSM, is

compatible with the medium range of Tool ChangersQC 40 through QC 150. The Stand is designed formaximum flexibility to fit most customer applications.The modular system allows you to build your own toolstorage rack based on the number of tools, positioning,orientation, and mounting arrangements required. TheTSM provides a unique option to utilize a completearrangement of modules, or use only the tooling-interfacePins and V Blocks and mount them on your own fixture.

Features:Modular System allows for customization

V-Blocks 4140 Hardened Tool Steel Pin Blocksprovide repeatable tool drop-off

Use Extruded Rails and Base, or mount the racks onyour own platform

Proximity Sensor Option

Adapts to TSL or TSS Modules as well

V-Blocks and PinsThe TSM utilizes V-Shaped 4140 Hardened Steel Blocks that receivecorresponding steel alignment pins. The V-Blocks are designed to mountto extruded railing components or bolt directly onto custom fixtures. Themating alignment pins are included with the TSM Tooling Plate assemblieswhich attach to the tool. The Alignment Pins are also sold separately asreplacement parts or for custom applications.

Mounting ModulesThe TSM Mounting Modules are specifically designed to interface withthe Tooling Plate assemblies for each corresponding QC Tool Changer.Mounting Modules mount onto the included TSM Rail components, oryou may use the existing bolt patterns to mount to your custom fixture.Mounting Modules come in 2 configurations: Horizontal or Vertical QCorientation. See the TSM Product Index for tool interfacing option details.

Tooling Plate AssembliesThe TSM Tooling Plate assemblies attach to your tooling. Alignment Pinsare included with the Tooling Plates. Customers can either specify theirtool attachment requirements at the time of purchase, or choose BlankTooling Plates and opt to machine their tooling Bolt Patterns in later.

Post and Rail ModulesChoose from several TSM Post and Rail Modules to build your specificStand configuration. The Post Modules, Horizontal Modules, andHorizontal Extensions are aluminum extruded rails (Bosch series).Alignment and mounting hardware is included. Basic Standard raillengths are offered, but customers may specify other lengths.

Adapter ModulesTSM Adapter Modules are specifically designed adapter plates withmounting hardware included that attach Mounting Modules to Rail orPost Modules. Adapter Modules extend the flexibility of the Tool StandSystem to cover a myriad of configuration options.

Note:The QC-300 and other heavy automation tool changersare compatible with the TSL Modular Tool StandSystem. (See Heavy Automation Tool Changer catalog.)


Notes: 1. Tooling Plate listed has blank customer interface. Custom bolt 9. Receiving Block mounts to rail; bolted or welded to any structure.pattern is available upon request and will require new part number. 10. Adapts Mounting Module to Large Tool Stand Post Weldment.

2. May specify shorter rail lengths. Cut charge applies. 11. Arrangement recommended for QC-40 thru QC-71 sizes.3. Adapts Mounting Module to vertical rail, and rail ends. 12. Arrangement recommended for QC-110 and larger.4. Uses 3 wire PNP Proximity Sensor, several models available. 13. Dowel Plate recommended for rail-to-rail positional repeatability.5. Uses Pin 3700-20-3590 14. Can attach Pins directly to end-effector.6. Uses Pin 3700-20-3594 15. M12 Thread7. Uses Pin 3700-20-4016 16. M10 Thread8. Uses Pin 3700-20-4017 17. Drawings available for download at www.ati-ia.com.

Quick Change TSM Tool Stand Interfacing

Option #1: Horizontal QC OrientationQC Model QC-40 QC-41 QC-60 QC-71 QC-110 QC-150

Mounting Module 9120-TSM-MM-3597 9120-TSM-MM-3597 9120-TSM-MM-3597 9120-TSM-MM-3597 9120-TSM-MM-4018 9120-TSM-MM-4018Tooling Plate 9120-TSM-TP-4055 9120-TSM-TP-4056 9120-TSM-TP-4057 9120-TSM-TP-4058 9120-TSM-TP-4059 9120-TSM-TP-4060Notes See Note 1 See Note 1 See Note 1 See Note 1 See Note 1 See Note 1Customer Drawing 9230-20-1892 9230-20-1893 9230-20-1894 9230-20-1895 9230-20-1896 9230-20-1897

Option #2: Vertical QC OrientationQC Model QC-40 QC-41 QC-60 QC-71 QC-110 QC-150

Mounting Module 9120-TSM-MM-4068 9120-TSM-MM-4070Tooling Plate 9120-TSM-TP-4069 9120-TSM-TP-4071Notes See Note 1,11 See Note 1,12Customer Drawing 9230-20-1919 9230-20-1920

Configurable Tool Stand Module System Overview Drawing # 9230-20-1880

Module Name Post Module 48" Post Module 72" Horiz. Module 36" Horiz. Module 18" Horiz. Ext. 6" Horiz. Ext. 10"Part Number 9120-TSM-PM-3318 9120-TSM-PM-3322 9120-TSM-HM-3317 9120-TSM-HM-3323 9120-TSM-HE-3320 9120-TSM-HE-3321Notes See Note 2 See Note 2 See Note 2 See Note 2 See Note 2 See Note 2Customer Drawing 9230-20-1898 9230-20-1899 9230-20-1900 9230-20-1901 9230-20-1902 9230-20-1903

Module Name Adapter Module Adapter Module Receiver Block Receiver Block Dowel Plate Dowel PlatePart Number 9120-TSM-AM-4019 9120-TSM-AM-4061 9120-TSM-RB-3591 9120-TSM-RB-3595 9120-TSM-DP-4203 9120-TSM-DP-4204Notes See Note 3 See Note 10 See Note 5,8,9 See Note 6,7,9 See Note 13 See Note 13Customer Drawing 9230-20-1904 9230-20-1911 9230-20-1906 9230-20-1907 9230-20-2039 9230-20-2039

Module/Part Name Sensor Module Tooling Pin Tooling Pin Tooling Pin Tooling PinPart Number 9120-TSM-SM-4015 3700-20-3590 3700-20-3594 3700-20-4016 3700-20-4017Notes See Note 4 See Note 14,15 See Note 14,16 See Note 14,16 See Note 14,15Customer Drawing 9230-20-1905 9230-20-2041 9230-20-2041 9230-20-2041 9230-20-2041


Figure 1: Side view of Master plate withSensor Interface Plate (SIP) system.

The Sensor Interface Plate (SIP) system has beendesigned to provide lock and unlock sensing insidethe Robot Interface plate. The SIP consists of lockand unlock sensors, sensing peg, sensing plate andinterface plate. Figures 1 through 4 show how theSIP works. The SIP works differently for smaller toolchangers (QC-11 and smaller).

Sensor InterfacePlate (also acts as

Robot InterfacePlate)

Master plate

Figure 2: Section view of Figure 1 showingposition of SIP system when locked withoutTool plate. Neither the lock nor unlocksensors are activated.

Figure 4: Close-up of SIP in unlockposition. Unlock sensor activated bysensor peg. Lock sensor is notactivated.

Figure 3: Close-up of SIP in lockposition with the Tool plate. Locksensor activated by sensor peg.

Sensor Interface plate Piston

Sensor peg

Unlock sensor Lock sensor

SENSOR INTERFACE PLATE SYSTEM

Note:Using W option adds lock/unlock sensor cables to G, J, K, R, Sand T Master electrical modules.

Using R option adds lock/unlock sensor cables to G, J, K, R, Sand T Master electrical modules with 90 connector. (See pg. 34)

The SIP is factory installed when ordered with theMaster plate. The SIP may also be ordered separately.


HOW TO ORDER

9120- -M-SIP-

Number representing the interface plate modeled to fit mountingflange (contact ATI for a list of these interface plates)

Type of proximity switchA: NPN hardwired 5m cablesB: PNP hardwired 5m cablesC: 125 VAC switchD: PNP Quick-disconnect switch with 5m cablesE: NPN Quick-disconnect switch with no cablesF: NPN Quick-disconnect switch with 5m cablesG: PNP Quick-disconnect switch with no cablesH: PNP with cable combining both lock & unlock into one cableJ: Mechanical Switch QC-11 onlyK: 12-24 DC 2-wire switch with 2m cablesL: Hall effect sensor M: PNP quick disconnect switch with 90 degree cables N: KTH 2-wire sensor P: PNP hard-wired sensor with 2m cable w/ male M8 connector Q: 4mm PNP sensor 10in. cable with Nano connector for QC-20 & -21

Indicates Sensor Interface Plate

M: Master

QC Model

MODULES AND OPTIONS* Electrical Modules

Part # Description Compatible QC Models

A15 15-pin, 3A/50V, high-density D-sub connector 10, 11

B15 15-pin, 3A/50V, high-density D-sub connector 5

D15 15-pin, 3A/50V, low-power D-sub connector 20, 21, 60

E10 (Must specify if used on QC-5 or QC-10/-11.) 10-pin, 3A/50V, solder connection, miniature size 5, 10, 11

E20-10 (Must specify if used on QC-5 or QC-10/-11.) 20-pin, 3A/50V, solder connection, miniature size 10,11

E2A 20-pin, 3A/50V, solder connection, miniature size all one piece housing. Not compatible with E20. 5

E3A 30-pin, 3A/50V, solder connection, miniature size all one piece housing. Not compatible with E30. 5

G19 5-Position Adjustable 19-pin, 5A/250VAC, electrical module with miniature MS quick-disconnect 40, 41, 71, 110, 150, 300connector. Provides five unique positions across 180 to increase flexibility in robot dress package.

GR19 5-Position Adjustable 19-pin, 5A/250VAC, electrical module with miniature Tri-start connector 40, 41, 71, 110, 150, 300

H04 (Special) H06 module modified with special 4-pin connector to increase voltage to 600VAC/800VDC 60

H06 6-pin, 13A/500VAC/700VDC MS, cylindrical threaded connector 60

*Visit www.ati-ia.com for most current information on modules and options.


*Requires adaptor plate

MODULES AND OPTIONS


J16 16-pin, 5A/250VAC, miniature MS quick-disconnect connector 40, 41, 60*, 71, 110, 150, 300

K19 19-pin, 3A/50V, miniature MS quick-disconnect connector, sealed and no-touch 20, 21, 60

K26 26-pin, 3A/50V, miniature MS quick-disconnect connector, sealed and no-touch 20, 21, 60

KM14 14-pin module with (12) pins at 5 amps and (2) pins at 13 amps 20, 21, 60

MT8 20-amp 8-pin electrical module 500 VAC 700 VDC 40, 41, 71, 110, 150, 300

MT14 13-amp 14-pin electrical module 500 VAC 700 DC 40, 41, 71, 110, 150, 300

R19 19-pin, 5A/250VAC, electrical module with miniature MS quick-disconnect connector 40, 41, 71, 110, 150, 300

R14 R19 module with Tool ID built inside (tool side only) 40, 41, 71, 110, 150, 300

R10 R19 module tool side with (0-99) Tool ID 40, 41, 71, 110, 150, 300

R26 26-pin, 3A/250VAC, MS miniature MS quick-disconnect connector 40, 41, 71, 110, 150, 300

R26-VL R26 module with viton seals and Teflon jacketed wires. Rated to 125 degrees C. 40, 41, 71, 110, 150, 300

R21 R26 module with (0-9) Tool ID built inside (tool side only) 40, 41, 71, 110, 150, 300

R17 R26 tool side with (0-99) Tool ID (tool side only) 40, 41, 71, 110, 150, 300

R32 32-pin pass through, 36 pin connector, 5A/250VAC, Ms miniature MS quick-disconnect connector 40, 41, 71, 110, 150, 300

9120-R19-M-2322 Master side R19 module with adapter plate to QC-60 flat. 60 side B

9120-R19-T-2323 Tool side R19 module with adapter plate to QC-60 flat. 60 side B

S19 19-pin, 5A/250VAC, MS miniature MS quick-disconnect connector 40, 41, 71, 110, 150, 300

S14 S19 module with (0-9) Tool ID built inside (tool side only) 40, 41, 110, 150, 300

S26 26-pin, 3A/250VAC, MS miniature MS quick-disconnect connector 40, 41, 71, 110, 150, 300

S21 S26 module with (0-9) Tool ID built inside (tool side only) 40, 41, 110, 150, 300

T19 19-pin, 5A/250VAC, MS cylindrical threaded connector 40, 41, 71, 110, 150, 300

T19-VL T19 module with viton seals and Teflon jacketed wires. Rated to 125 degrees C. 40, 41, 71, 110, 150, 300

T14 T19 module with (0-9) Tool ID built inside (tool side only) 40, 41, 71, 110, 150, 300

T10 T19 module with (0-99) Tool ID. (tool side only) 40, 41, 71, 110, 150, 300

TD Pass-through DeviceNet and Aux power. 71, 110, 150, 300

R38 (2) R19 modules side-by-side on adaptor plate. Fits 71, 41, and 40 with ports blocked. 110, 150, 300(Use K45 if possible.)

R52 (2) R26 modules side-by-side on adaptor plate. Fits 71, 41, and 40 with ports blocked. 110, 150, 300(Use K45 if possible.)

R47 (1) R26 module and (1) R21 module mounted side-by-side on adaptor plate. 110, 150, 300Fits 71, 41, and 40 with ports blocked. (Use K45 if possible.)

K45 K19 on right and K26 on left when facing connectors. 40, 41, 71, 110, 150, 300

Electrical Modules continued

Note:Using W option adds lock/unlock sensor cables to G, J, K,R, S and T Master electrical modules.

Using R option adds lock/unlock sensor cables to G, J, K,R, S and T Master electrical modules with 90 connector.


T19 Master Side

T19 Tool Side

Aluminum housing

Rhodium-plated contact pins (Rhodium is a strongwear-resistant metal with excellent conductivity)

V-ring seal (watertight seal when locked)

Spring pins with rhodium-plated heads recessed to prevent external touching

Aluminum housing

Gold-plated spring housing

T19 exposed to show design. R19,R26, S19 and S26 have the samedesign.


V34 Vacuum Port. 3/4 G. 40, 41, 71, 110, 150, 300

P05 10 M5 ports for pneumatic pass-through 110, 150

P14 (2) 1/4 NPT ports for pneumatic pass-through 40, 41, 71, 110, 150, 300

P186 (6) 1/8 NPT ports for pneumatic pass-through 40, 41, 71, 110, 150, 300

P18 (4) 1/8 NPT ports for pneumatic pass-through 40, 41, 60*, 71, 110, 150, 300

P238 (2) 3/8 NPT ports for pneumatic pass-through 40, 41, 60*, 71, 110, 150, 300

P38A (4) 3/8 NPT ports for pneumatic pass-through. Ported axially 40, 41, 60*, 71, 110, 150, 300

P38 (4) 3/8 NPT ports for pneumatic pass-through. An additional adapter plate is needed 110, 150, 300, depending on the model changer with 110, 150 or 300.

P38-E P38 with G ports. Includes 3700-20-2225 adaptor plate 110, 150 Flat A, 150E

FG2 (2) Self-Sealing Air/Fluid Ports, 3/8 BSPP, SS (replaces F02-E) 40, 41, 71, 110, 150, 300

FG2A (2) Air Ports, 3/8 BSPP, SS, Tool, Pass Thru 40, 41, 71, 110, 150, 300

FN2 (2) Self-Sealing Air/Fluid Ports, 3/8 NPT, SS (replaces F02-N) 40, 41, 71, 110, 150, 300

FN2A (2) Air Ports, 3/8 NPT, SS, Tool, Pass Thru 40, 41, 71, 110, 150, 300

FG4 (4) Self-Sealing Air/Fluid Ports, 3/8 BSPP, SS (replaces F04-E) 71, 110, 150, 300

FG4A (4) Air Ports, 3/8 BSPP, SS, Tool, Pass Thru 71, 110, 150, 300

FN4 (4) Self-Sealing Air/Fluid Ports, 3/8 NPT, SS (replaces F04-N) 71, 110, 150, 300

FN4A (4) Air Ports, 3/8 NPT, SS, Tool, Pass Thru (replaces F04A) 71, 110, 150, 300

Viton for FN/FG 2 or 4 Can add Viton as an optionshould add V at the end of the module number before 40, 41, 71,110, 150, 300M or T. No dashes between V and module number.

Pneumatic and Fluid Modules

*Requires adaptor plate

Other ATI ProductsRobotic/Automatic Tool Changers for Heavy Automation

High-precision rugged devices that automaticallychange tooling. Patented fail-safe locking mechanismuses No-Touch LockingTM technology, allowing plateseparation when locking. This series of modular toolchangers are designed specifically for high-payloadand high-moment applications.

Robotic Crash Protection Device ProtectorDesigned to prevent damage to robotic end-

effectors resulting from robot crashes. Featuresinclude: Automatic reset, high-repeatability, andlarge moment rotation.

Robotic and CNC Deburring Tools Flexdeburr and Speedeburr

These air-driven robotic tools cover a wide varietyof automated deburring applications with fast cycletimes and clean, accurate cuts. Flexdeburr isdesigned for removal of parting lines and flash,while Speedeburr is specially designed for edgedeburring and chamfering.

Robotic Rotary Joint A device that allows unlimited rotation of end-of-arm

tooling without tangling or twisting robot lines. Utilizesadvanced slip-ring technology to pass electrical andpneumatic signals from robot to tooling.

Multi-Axis Force/Torque Sensor F/T Measures the full six components of force and

torque. High overload protection and high signal-to-noise ratio. Used in robotic and research applications.

Automated Assembly Alignment Device Compensator

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

Company ProfileATI Industrial Automation is a world-leading

developer of Automatic Tool Changers, Multi-AxisForce/Torque Sensing Systems, Compliance Devices,Robotic Crash Protection Devices, Robotic DeburringTools, and Robotic Rotary Joints. Our products arefound in thousands of successful applicationsaround the world.

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 customerprofitability by increasing the effectiveness,flexibility, safety and productivity of their automationapplications. We accomplish this through continuousimprovement of existing products, productcustomization and new product innovation.

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

Our Quality PolicyATI 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. 2004. All rights reserved. 9205-20-1004-07 November, 2005

Pinnacle Park1031 Goodworth DriveApex, NC 27539 USA

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

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