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QC-24MZ1
User Manual
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ATI Technologies QC-24MZ1, QC-24TZ1 User Manual

QC‑24MZ1/24TZ1
Custom Tool Changer
Manual
Document #: 9610-20-3727
Engineered Products for Robotic Productivity
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com
Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03

Foreword

This manual contains basic information applicable to all ATI robotic Tool Changers. Certain models have their own
manuals that contain more detailed information. Also, additional information about electrical, pneumatic, uid,
high‑power, and high‑current modules and other options are available in other manuals and documents. Please contact ATI Industrial Automation with any questions concerning your particular model.
CAUTION: This manual describes the function, application, and safety considerations of this product. This manual must be read and understood before any attempt is made to install or operate the product, otherwise damage to the product or unsafe conditions may occur.
Information contained in this document is the property of ATI Industrial Automation, Inc. (ATI) and shall not be reproduced in whole or in part without prior written approval of ATI. The information herein is subject to change without
notice. This manual is periodically revised to reect and incorporate changes made to the product.
The information contained herein is condential and reserved exclusively for the customers and authorized agents of A
Industrial Automation and may not be divulged to any third party without prior written consent from ATI. No warranty
including implied warranties is made with regard to accuracy of this document or tness of this device for a particular
application. ATI Industrial Automation shall not be liable for any errors contained in this document or for any incidental or consequential damages caused thereby. ATI Industrial Automation also reserves the right to make changes to this manual at any time without prior notice.
ATI assumes no responsibility for any errors or omissions in this document. ©Copyright 2019 by ATI Industrial Automation. All rights reserved. How to reach us::
Sale, Service and Information about ATI products:
A TI Industrial Automation 1031 Goodworth Drive Apex, NC 27539 USA www.ati‑ia.com
Tel: 919.772.0115
Fax: 919.772.8259
Application Engineering
Tel: 919.772.0115, Option 2, Option 2 Fax: 919.772.8259
E‑mail: mech_support@ati‑ia.com
TI
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Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03
Table of Contents
Foreword .......................................................................................................................................... 2
Glossary
........................................................................................................................................... 5
1. Safety ......................................................................................................................................... 6
1.1 ExplanationofNotications .........................................................................................................6
1.2 General Safety Guidelines ............................................................................................................6
1.3 Safety Precautions ........................................................................................................................7
2. Product Overview ..................................................................................................................... 8
2.1 Master Plate Assembly .................................................................................................................8
2.2 Tool Plate Assembly ......................................................................................................................9
3. Installation ................................................................................................................................ 9
3.1 Master Interface ...........................................................................................................................10
3.2 Master Plate Installation ............................................................................................................. 11
3.3 Master Plate Removal ................................................................................................................. 11
3.4 Tool Interface ...............................................................................................................................12
3.5 Tool Plate Installation .................................................................................................................13
3.6 Tool Plate Removal .....................................................................................................................13
3.7 Optional Module ..........................................................................................................................14
3.7.1 Optional Module Installation .............................................................................................14
3.7.2 Optional Module Removal ................................................................................................15
3.8 Pneumatic Connections .............................................................................................................15
3.8.1 Valve Requirements and Connections for the Locking Mechanism .................................15
3.9 Electrical Connections ................................................................................................................16
3.9.1 PNP Type Lock and Unlock Sensors (‑SM sensor designation) ......................................16
3.9.2 NPN Type Lock and Unlock Sensors (‑SP sensor designation) .......................................16
4. Operation ................................................................................................................................ 17
4.1 Conditions for Coupling .............................................................................................................18
4.2 Fail-Safe Operation .....................................................................................................................19
4.3 Conditions for Uncoupling .........................................................................................................19
4.4 ToolIdentication ........................................................................................................................19
4.5 Tool Storage Considerations .....................................................................................................20
5. Maintenance ............................................................................................................................ 21
5.1 Preventive Maintenance .............................................................................................................21
5.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins ...........................22
5.3 Pin Block Inspection and Cleaning ...........................................................................................24
6. Troubleshooting and Service Procedures ...........................................................................25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com
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Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03
6.1 Troubleshooting ..........................................................................................................................25
6.2 Service Procedures .....................................................................................................................26
6.2.1 Lock and Unlock Sensor Replacement ............................................................................26
6.2.2 V‑ring Seal Inspection and Replacement .........................................................................28
7. Serviceable Parts ................................................................................................................... 29
7.1 Master Plate .................................................................................................................................29
7.2 Tool Plate .....................................................................................................................................29
8. Specications ......................................................................................................................... 30
9. Drawings ................................................................................................................................. 31
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Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03

Glossary

Term Denition
Bearing Race
Cam Coupling The physical action of the locking the Master and Tool plates together. See Lock. Electrical Module
EOAT End‑Effector Tool used by the robot to perform a particular operation or function. Fluid Module
High Current Module
Interface Plate (IP)
Lock
Lock Port
Lock Sensor
Locked
Locking Balls
Locking Mechanism
L/U
Master plate Moment The applied force multiplied by the distance it is from a point. No‑Touch™ Piston A cylinder located in the Master plate that actuates the locking mechanism.
Tool plate The half of the Tool Changer to which various tools or end‑effectors are mounted.
A steel ring in the Tool plate that is engaged by the locking balls during the coupling of the Tool Changer.
A multi tapered sliding cylinder attached to the piston that forces the locking balls outward during the locking process.
Utility modules that pass electrical power and signals through the Master and Tool modules to the end‑effector.
End of the Arm Tooling – An object attached to the Tool plate that serves a function
Utility modules that pass uids through the Master and Tool modules to the
end‑effector. Utility modules that pass electrical power through the Master and Tool modules to
the end‑effector. An optional customized component that is used to adapt a Tool Changer to the
user’s robot or tooling. The lock air pressure that is provided to the Master plate locking mechanism to
force the cam to press the locking balls against the bearing race and lock the Master and Tool plates together.
A pneumatic port on the Master plate through which air pressure is supplied to lock the Master plate to the Tool plate.
A proximity sensor that detects the position of the pneumatically actuated piston when it is in the locked position.
An output signal provided by a proximity sensor that indicates the coupling mechanism is in the locked position.
Hardened steel ball bearings used in the fail‑safe locking mechanism. The locking balls are forced outward by the cam against the bearing race to pull the Master and Tool plates together.
A manual, pneumatic or electrical driven device that draws the Master and Tool plates together and secures them in a fail‑safe locked condition until the mechanism is unlocked. The locking mechanism consists of locking balls, cam, ball cage, bearing race, and either a lever, pneumatic cylinder, or an electric motor.
Lock/Unlock sensing capability that allows the customer to determine the state of the master assembly locking mechanism.
The half of the Tool Changer that is mounted to a robot. The Master plate contains the locking mechanism.
A design feature of all ATI Tool Changer products that allows the Master plate and Tool plate to couple without physical contact prior to locking.
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com
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Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03

1. Safety

The safety section describes general safety guidelines to be followed with this product, explanations of the notications found in this manual, and safety precautions that apply to the product. Product specic notications
are imbedded within the sections of this manual (where they apply).
1.1 ExplanationofNotications
These notications are used in the all of ATI manuals and are not specic to this product. The user should heed all notications from the robot manufacturer and/or the manufacturers of other components used in the
installation.
DANGER: Notication of information or instructions that if not followed will result in
death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.
WARNING: Notication of information or instructions that if not followed could result
in death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.
CAUTION: Notication of information or instructions that if not followed could result
in moderate injury or will cause damage to equipment. The notication provides
information about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notication of specic information or instructions about maintaining, operating,
installing, or setting up the product that if not followed could result in damage to equipment. The
notication can emphasize, but is not limited to: specic grease types, best operating practices,
and maintenance tips.

1.2 General Safety Guidelines

Prior to purchase and installation, the customer should verify that the Tool Changer selected is rated for the
maximum loads and moments expected during operation. Refer to product specications section in the each
module of this manual or contact ATI for assistance. Particular attention should be paid to dynamic loads caused by robot acceleration and deceleration. These forces can be many times the value of the static forces in the high acceleration or deceleration situations.
The customer is responsible for ensuring that the area between the Master and Tool sides is clear of foreign objects during mating and subsequent coupling. Failure to do so may result in serious injury to personnel.
DANGER: The gap between the Master and Tool sides is a pinch point. All personnel should be prevented from placing any part of their body or clothing in the gap, especially during actuation of the locking mechanism.
The customer is responsible for understanding the function of the Tool Changer and implementing the
proper fasteners and/or software to operate the Tool Changer safely. The Tool Changer should be controlled such that there is no chance of the locking or unlocking in a position that would endanger personnel and/ or equipment. If the Tool Changer is specied with Lock/Unlock (L/U) and Ready‑to‑Lock (RTL) sensing
capability, the status should be monitored and interlocks applied to prevent injury to personnel and equipment.
All pneumatic ttings and tubing must be capable of withstanding the repetitive motions of the application without failing. The routing of the electrical and pneumatic lines must minimize the possibility of stress/
strain, kinking, rupture, etc. Failure of the critical electrical or pneumatic lines to function properly may result in injury to personnel and equipment.
All electrical power, pneumatic and uid circuits should be disconnected during servicing.
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Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03

1.3 Safety Precautions

WARNING: Remove the all temporary protective materials (caps, plugs, tape, etc.)
on the locking face of the Tool Changer and modules prior to operation. Failure to do so will result in damage to Tool Changers, modules, and end‑of‑arm tooling and could cause injury to personnel.
WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless the Tool is safely supported or placed in the tool stand, all energized circuits (e.g. electrical, air, water, etc.) are turned off, pressurized connections are purged and power is discharged from the circuits in accordance with the customer safety practices and policies. Injury or equipment damage can occur with the Tool not placed and energized circuits on. Place the Tool in the tool stand, turn off and discharge all energized circuits, purge all pressurized connections, and verify all circuits are de‑energized before performing maintenance or repair(s) on the Tool Changer or modules.
WARNING: During operation, the area between the Master and Tool must be kept clear. Failure to keep area clear will result in damage to Tool Changer, modules, or end‑of‑arm tooling and could cause injury to personnel.
WARNING: The Tool Changer is only to be used for intended applications and applications approved by the manufacturer. Using the Tool Changer in the applications other than intended will result in damage to Tool Changer, modules, or end‑of‑arm tooling and could cause injury to personnel.
CAUTION: The Master plate locking mechanism must not be actuated without being mounted to the interface plate. Damage to the cover plate and O‑ring may result. Always attach the Master plate to the Interface plate prior to attempting any operations.
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com
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Manual, Robotic Tool Changer, QC‑24Z1
Lock/Unlock Sensor Cable Exit
Mounting Flat for Optional Module
(4) Ball Bearing
(2) Alignment Pin
Document #9610‑20‑3727‑03

2. Product Overview

ATI Tool Changers enhance the versatility of a robot by enabling the use of multiple customer tools, such as: grippers, vacuum cup tooling, pneumatic and electric motors, weld guns, and more.
The Tool Changer consists of a Master plate, which is attached to the robot arm, and a Tool plate, which is attached to customer tooling. When the robot picks up the customer tooling, a pneumatically‑driven locking
mechanism couples the two plates. The patented, fail‑safe locking mechanism utilizes a multi‑tapered cam with
ball locking technology to ensure the Tool Changer does not uncouple If the air pressure falls below 60 psi (4.1 bar) during operation.
The robot can be programmed to select the desired customer tooling by coupling the Master plate to the Tool plate.
Electricity, uid, and other forces of energy transfer to the customer tooling through optional modules that are attached to the Master and Tool plates. Refer to the ATI website for compatible modules or contact an ATI sales
representative for more details.

2.1 Master Plate Assembly

The Master plate assembly includes the following features:
• A stainless steel body
• A hardened stainless steel locking mechanism (a cam, male coupling, and tungsten
carbide ball bearings)
• Hardened steel alignment pins that mate with bushings on the Tool plate.
• (1) at for mounting an optional module
• Proximity sensor assemblies used to verify the lock/unlock position of the piston and cam
• A mounting pattern for a robot arm or an interface plate
Non‑toxic food grade grease is applied to the cam, male coupling, ball bearings, and pins to enhance performance and maximize the life of the Master plate.
Figure 2.1—Master Plate Assembly
Cam
Male Coupling
M5 Unlock Air Port
M5 Lock Air Port
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Manual, Robotic Tool Changer, QC‑24Z1
Mounting Flat for Optional Module
Bearing Race
Document #9610‑20‑3727‑03

2.2 Tool Plate Assembly

The Tool plate includes a stainless steel body and a hardened stainless steel bearing race (refer to
Figure 2.2). Alignment bushings are integrated in the bearing race to ensure proper, repeatable orientation
with the Master plate. The Tool plate assembly includes the following features:
• A stainless steel body
• A stainless steel bearing race
• Alignment holes that mate with pins on the Master plate
• (1) at for mounting an optional module
• A mounting pattern for customer tooling or a tooling interface plate
Figure 2.2—T ool Plate Assembly
(2) Integrated Alignment Holes

3. Installation

All fasteners used to mount the Tool Changer to the robot and customer’s tooling should be tightened to the torque values indicated. Additionally, Loctite 7649 primer and removable Loctite 222 must be used on
these fasteners.
WARNING: Do not perform maintenance or repair(s) on the Tool Changer or modules unless the Tool is safely supported or placed in the tool stand, all energized circuits (e.g. electrical, air, water, etc.) are turned off, pressurized connections are purged and power is discharged
from the circuits in accordance with the customer specic safety practices and policies. Injury
or equipment damage can occur with the Tool not placed and energized circuits on. Place the Tool in the tool stand, turn off and discharge all energized circuits, purge all pressurized connections, and verify all circuits are de‑energized before performing maintenance or repair(s) on the Tool Changer or modules.
CAUTION: Thread locker applied to fasteners must not be used more than once. Fasteners might become loose and cause equipment damage. Always apply new thread locker when reusing fasteners.
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com
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Manual, Robotic Tool Changer, QC‑24Z1 Document #9610‑20‑3727‑03

3.1 Master Interface

The Master plate is typically attached to the robot arm. An interface plate can adapt the Master plate to a
specic robot arm. Alignment features (dowel holes and bosses) accurately position and bolt holes secure
the Master plate to the robot arm or an interface plate. Custom interface plates are available from ATI upon
request. (Refer to the Drawing Section for technical information on the mounting features.)
CAUTION: Do not use more than two alignment features when securing a Master plate to a robot interface plate. Using more than two alignment features can cause damage to equipment. Use either two dowel pins or a single dowel pin along with a boss/recess feature to align the Master plate with the robot interface plate.
CAUTION: Do not use dowel pins that are too long that will not allow the interface plate
and the Master body’s boss to mate ush with each other. Using dowel pins that are too
long will cause a gap between the interface plate and the Master body’s boss causing damage to the equipment. Use the proper size dowel pins that will not extend further than allowed by the Master body.
Interface Plate
Dowel pins that are too long
can cause a gap between
the interface plate and
boss in the Master plate.
Incorrect Mounting of the Master Plate
A boss and (2) dowel pins
can be difficult to align and
cause damage to the equipment.
Master Plate
A gap is between the
interface plate
and the flange
of the Master plate.
Correct Mounting of the Master Plate
Flush
Interface Plate
Correct size dowel pin(s)
allows the interface plate
and the boss in the
Master plate to mount flush.
Master Plate Boss
Note: A dowel pin and a boss/recess or ((2) dowel pins) are used as alignment features.
If the customer chooses to design and build an interface plate, consider the following points:
• The interface plate should include bolt holes for mounting and either (2) dowel pins or (1) dowel pin and a boss for accurate positioning on the robot and Master plate. The dowel and boss features prevent
unwanted rotation. Refer to the robot manual for robot mounting features.
• The thickness of the interface plate must be sufcient to provide the necessary thread engagement for
the mounting bolts.
• Dowel pins must not extend out from the surface of the interface farther than the depth of the dowel
holes in the boss of the Master plate.
• A recess of proper depth and diameter must be machined into the interface plate to correspond with the boss on the Master plate.
• Mounting bolts that are too long can create a gap between the interface plate and the Master plate, which can damage the equipment.
• The interface plate must provide rigid mounting to the Master plate.
• The interface plate design must account clearances required for Tool Changer module attachments
and accessories.
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