ATI Technologies Speedeburr 9150-AC-90, Speedeburr 9150-AC-180 Product Manual
ATI Axially Compliant
Robotic Deburring Tools
Speedeburr™
(Models 9150‑AC‑90 and 9150‑AC‑180)
Product Manual
Document #: 9610-50-1029
Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
Manual, Speedeburr, AC‑90 and 180 Series
Document #9610‑50‑1029‑02
Foreword
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 reect and incorporate changes made to the product.
The information contained herein is condential and reserved exclusively for the customers and authorized agents of ATI
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. Users’ critical evaluation of this document is
welcomed.
Copyright 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: +1.919.772.0115
Fax: +1.919.772.8259
E‑mail: info@ati‑ia.com
Technical support and questions:
Application Engineering
Tel: +1.919.772.0115, Option 2, Option 2
Fax: +1.919.772.8259
E‑mail: mech_support@ati‑ia.com
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
2
Manual, Speedeburr, AC‑90 and AC‑180 Series
Document #9610‑50‑1029‑02
Table of Contents
Foreword .......................................................................................................................................... 2
Glossary ........................................................................................................................................... 5
1. Safety ......................................................................................................................................... 6
1.1 ExplanationofNotications .........................................................................................................6
1.2 General Safety Guidelines ............................................................................................................6
1.3 Safety Precautions ........................................................................................................................6
2. Product Overview ..................................................................................................................... 7
2.1 FFP ..................................................................................................................................................8
2.2 Technical Description ...................................................................................................................9
2.2.1 Environmental Limitations ..................................................................................................9
2.2.1.1 Operation ............................................................................................................9
2.2.1.2 Storage ...............................................................................................................9
2.2.2 Axial Force/ Compliance Unit Performance .....................................................................10
2.2.3 Air Motor Performance ..................................................................................................... 11
3. Installation .............................................................................................................................. 12
3.1 Protection During Transportation ..............................................................................................12
3.2 Inspection of Condition When Delivered ..................................................................................12
3.3 Unpacking and Handling ............................................................................................................12
3.4 Storage and Preventive Maintenance During Storage .............................................................12
3.5 Mounting Installation ..................................................................................................................13
3.6 Pneumatics ..................................................................................................................................14
4. Operation ................................................................................................................................ 16
4.1 Safety Precautions ......................................................................................................................16
4.2 Normal Operation ........................................................................................................................17
4.2.1 Air Quality .........................................................................................................................17
4.2.2 Lubrication ........................................................................................................................17
4.2.3 Media Selection, Design, and Maintenance .....................................................................17
4.2.4 Deburring Tool Approach Path Should Be Slow and At an Angle .....................................17
4.2.5 No Radial Loading ............................................................................................................17
4.2.6 Program the Robot to Incorporate 50% Compliance Travel of the Tool ........................... 17
4.3 Speedeburr Working Environment ............................................................................................18
4.4 Tool Center Point (TCP) Position ...............................................................................................18
4.5 Programming the Deburring Tool Path .....................................................................................18
4.6 Cutter Operation and Burr Selection .........................................................................................19
4.6.1 Bur Selection ....................................................................................................................19
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
3
Manual, Speedeburr, AC‑90 and 180 Series
Document #9610‑50‑1029‑02
5. Maintenance ............................................................................................................................ 21
5.1 Pneumatics ..................................................................................................................................21
5.2 Lubrication ...................................................................................................................................21
5.3 Bur, FFP, Cylinder, Spline, and Lock Ring Inspection ............................................................. 21
5.4 Overhaul .......................................................................................................................................21
6. Troubleshooting and Service Procedures ...........................................................................22
6.1 Troubleshooting ..........................................................................................................................22
6.2 Service Procedures .....................................................................................................................23
6.2.1 Cleaning, Inspection, and Replacement of the Spline, Cylinder, and Lock Ring ..............23
6.2.2 Bur and FFP Replacement ...............................................................................................25
6.2.3 O‑Ring Replacement for the Air Supply Ports and Tool Flange .......................................27
7. Serviceable Parts ................................................................................................................... 28
7.1 Accessories .................................................................................................................................28
8. Specications ......................................................................................................................... 29
9. Drawings ................................................................................................................................. 30
9.1 AC-90 Speedeburr Customer Drawing ......................................................................................30
9.2 AC-180 Speedeburr Customer Drawing ....................................................................................33
9.3 Pneumatic Diagrams for AC Tools .............................................................................................36
10. Terms and Conditions of Sale ............................................................................................... 38
10.1 Motor Life and Service Interval Statement ................................................................................39
10.1.1 Vane Motor Products ........................................................................................................39
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
4
Manual, Speedeburr, AC‑90 and AC‑180 Series
Document #9610‑50‑1029‑02
Glossary
Term Denition
AC Axially compliant.
Adapter Plate
Air Filter
Bur
Burr Any unwanted, raised protrusion on the workpiece.
Chattering Machine vibrations. The cutting tool bounces as it contact the work surface.
Coalescing Filter Device designed to remove liquid aerosols from the supply air lines.
Collet Gripping device used to hold cutting tools in the spindle.
Compliance
Deburr To remove the burrs from a piece of machined work.
End‑Eector Tool used by the robot to perform a particular function.
FFP
ISO
Positive Displacement A device that captures uid of air and discharges that uid or air at a xed rate.
Positive Stop The tool has contacted a physical limitation and can no longer move.
Regulator
Solenoid Valve Electrically controlled device for switching air supplies on and o.
Speedeburr
Vane‑Type
VG Viscosity Grade.
Device for attaching the deburring tool to either a robot ange or a stationary
mounting surface.
Device for removing contamination from air supply lines. Typically refers to
removal of particulates.
Cutting tool used to remove burrs from the workpiece. Alternatively referred to
as a rotary le, cutter, or bit.
The ability of the spindle to passively move in response to protrusions on or
deviations of the workpiece.
Free ying piston. An assembly that moves within the cylinder and spline in the
deburring tool. The FFP attaches to the bur.
A series of standards that are developed and published by the International
Organization for Standardization (ISO). The standards dene, establish, and
maintain an eective quality assurance system for manufacturing and service
industries.
Device used to set and control the supplied air pressure to lower acceptable
levels.
An ATI series of deburring tools that use a vane‑type motor and a oating
rotary cutting bur for edge‑deburring and chamfering of parts.
A positive displacement air motor design utilizing partitions (vanes) to separate
expansion regions inside a housing.
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
5
Manual, Speedeburr, AC‑90 and 180 Series
Document #9610‑50‑1029‑02
1. Safety
The safety section describes general safety guidelines to be followed with this product, explanations of the
notications found in this manual, and safety precautions that apply to the product. More specic notications are
imbedded within the sections of the manual where they apply.
1.1 ExplanationofNotications
The following notications are specic to the product(s) covered by this manual. It is expected that the user
heed all notications from the robot manufacturer and/or the manufacturers of other components used in the
installation.
DANGER: Notication of information or instructions that if not followed will result in
death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
WARNING: Notication of information or instructions that if not followed could result
in death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
CAUTION: Notication of information or instructions that if not followed could result
in moderate injury or will cause damage to equipment. The notication provides
information about the nature of the hazardous situation, the consequences of not
avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notication of specic information or instructions about maintaining, operating,
installing, or setting up the product that if not followed could result in damage to equipment. The
notication can emphasize, but is not limited to: specic grease types, best operating practices,
and maintenance tips.
1.2 General Safety Guidelines
Prior to purchase, installation, and operation of the Speedeburr product, the customer should rst read and
understand the operating procedures and information described in this manual. Never use the deburring tool
for any purposes, or in any ways, not explicitly described in this manual. Follow installation instructions and
pneumatic connections as described in this manual.
All pneumatic ttings and tubing must be capable of withstanding the repetitive motions of the application
without failing. The routing of pneumatic lines must minimize the possibility of stress/strain, kinking,
rupture, etc. Failure of critical pneumatic lines to function properly may result in equipment damage.
1.3 Safety Precautions
CAUTION: Do not use spare parts other than ATI spare parts. Use of spare parts not
supplied by ATI can damage equipment and void the warranty. Always use genuine ATI
spare parts.
CAUTION: Do not perform maintenance or repair on the Speedeburr product unless
the tool is safely supported or placed in the tool stand and air has been turned
o. Injury or equipment damage can occur with tool not placed in a tool stand and
air remaining on. Place the tool safely in the tool stand and turn o the air before
performing maintenance or repair on the Speedeburr product.
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
6
Manual, Speedeburr, AC‑90 and AC‑180 Series
Document #9610‑50‑1029‑02
2. Product Overview
The AC deburring tool, which is also known as Speedeburr, is a robust, high‑speed, and lightweight vane‑type
air motor deburring unit with a oating rotary cutting bur for edge‑deburring and chamfering of materials such as
aluminum, plastic, and steel.
The AC deburring tool’s pneumatically controlled, articulated design allows the bur to follow the part prole and
compensate for surface irregularities while maintaining a constant force. This axial force/compliance air supply
system provides increased stiness in the path direction and decreased stiness in the contact force direction, both
of which prevent the tool from chattering.
The AC deburring tool utilizes a rotary cutting bur of tungsten carbide or coated with PCD or CBN. Because the
rotary bur has a 45° cutting angle, compliance is lateral and axial.
Custom adapter plates for mounting to the robot, work bench, or a tool xture are available from ATI. Refer to
Section 9—Drawings for more information.
The AC deburring tools have the following pneumatic ports:
• (1) port for axial force/compliance supply that provides constant force on the bur.
• (1) port for motor air supply.
• (2) port(s) for motor exhaust.
ATI has (2) models of the AC deburring tool: 9150‑AC‑90 and 9150‑AC‑180. Both models are similar except for
the following features:
• On the AC‑90, the motor housing extends perpendicular, at a 90° angle, from the mounting bracket. On the
AC‑180, the motor housing extends linearly, 180°, with the mounting bracket. Refer to Section 9—Drawings.
• On the side of the 90° angled bracket, the AC‑90 has an adjustment screw with which the user can use a
small at‑blade screw to adjust the motor speed. The motor speed can also be adjusted on both models by
adjusting the motor air supply pressure. Refer to Section 4.5—Programming the Deburring Tool Path for
more information.
Figure 2.1—AC Deburring Tool (9150-AC-90 Shown)
(2) Motor Exhaust Port
(1) Compliance/
Axial Pressure Air Port
(1) Motor Air
Supply Port
AC Deburring Tool
Adjustment Screw
(8) M4 Socket Head
Cap Screw
Bur
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
7
Manual, Speedeburr, AC‑90 and 180 Series
Document #9610‑50‑1029‑02
2.1 FFP
The FFP is an important component of the AC deburring tool.
A remotely controlled axial force/compliance air pressure pushes the FFP forward into contact with the bur
edge.
Then the air vane motor uncouples from the linear movement of the FFP to reduce inertia and increase the
stability of the contact force during deburring.
Then the spline coupling transmits torque to the bur. Ball bearings within the motor compartment of the tool
ensure the bur operates evenly.
A small amount of frictional torque is transmitted through the ball bearings to the FFP cylinder that rotates
slowly inside the stationary outer cylinder. This small frictional torque prevents stick‑slip or static friction of
the FFP. The FFP cylindrical body is precision grounded to minimize friction in the axial direction.
Figure 2.2—FFP (AC-180 Shown)
Air Vane Motor
Spline
Cylinder
Axial Stroke
(0.315”)
8 mm
Axial Force/
Compliance
Pressure
FFP
Bur
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
8
Manual, Speedeburr, AC‑90 and AC‑180 Series
Document #9610‑50‑1029‑02
2.2 Technical Description
A technical overview of the product is provided in the following tables and graph. For additional technical
specications, refer to Section8—Specications.
2.2.1 Environmental Limitations
2.2.1.1 Operation
Table 2.1—Operation
Mounted to robot.
Installation
Position
Temperature
Range
Utilities
Mounted to a table or stand by means of the bench
adapter. The robot is carrying the work piece to the
deburring tool.
5 °C – 35 °C
41 °F – 95 °F
The tool requires the following:
• Clean, dry, ltered, and lubricated air.
• A coalescing lter and lter elements that are rated
5 micron or better.
• Air supply to the spindle must be 6.2 bar (90 psi) to
develop the full rated power.
2.2.1.2 Storage
Temperature
Range
Conditions
• The axial force/compliance air must be supplied at
1.0–4.1 bar (15–60 psi) from a regulated source.
Table 2.2—Storage
0 °C – 45 °C
32 °F – 113 °F
The tool should be stored in its crate and in a dry
place.
When not in use, keep the unit in its crate if possible.
Consult Section 3.4—Storage and Preventive
Maintenance During Storage of this manual.
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
9
Manual, Speedeburr, AC‑90 and 180 Series
Document #9610‑50‑1029‑02
2.2.2 Axial Force/ Compliance Unit Performance
The following graph illustrates the variation of compliance force with applied axial force/
compliance air pressure. Measurements may vary from one product to another and should only be
treated as nominal.
Axial force/compliance is also dependent upon the material of the work piece, type of bur tool, and
the amount of material that is removed.
Figure 2.3—AC Axial Contact Force (measured with the rotary bur pointing down)
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
10
2.2.3 Air Motor Performance
The following graphs illustrate the motor torque and power performance. The air motor operating
speed changes according to the applied load, until the motor develops the power that is required
to perform the specic task. The idle speed of the motor is at maximum, when no load is applied.
Without an applied load, the motor decreases to a slower operating speed at which the motor
develops maximum torque. ATI recommends a working speed of 15,000 to 25,000 RPM for
maximum possible output. The operating speed that is less than 15,000 RPM risks the motor
stalling because of the higher torque at lower speeds.
Figure 2.4—AC Output Torque and Power
Manual, Speedeburr, AC‑90 and AC‑180 Series
Document #9610‑50‑1029‑02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
11
Manual, Speedeburr, AC‑90 and 180 Series
Document #9610‑50‑1029‑02
3. Installation
The deburring tool is delivered fully assembled. Optional equipment such as mounting adapter plates and bur tools
are separate.
3.1 Protection During Transportation
The deburring tool arrives in packaging that secures and protects the tool during transportation. Always use
this packaging when storing or transporting the deburring tool in order to minimize the risk of damage.
3.2 Inspection of Condition When Delivered
Upon receipt, the following should be checked:
• Delivery in accordance with freight documents.
• Packaging is in good condition.
If there is damage to any of the packaging, or if any of the goods have been exposed to abnormal handling,
unpack those parts that may have been damaged for a closer inspection. If necessary, notify ATI for
assistance in the evaluation of the product condition.
3.3 Unpacking and Handling
The deburring tool should always be placed inside the accompanying packaging, while transporting, storing,
and handling.
Pneumatic lines and cables should be attached, bundled, and strain‑relieved in a manner that allows for
freedom of movement during operation.
3.4 Storage and Preventive Maintenance During Storage
The deburring tool should always be stored in its accompanying packaging, when not in use. The deburring
tool should be stored in a dry place.
For long‑term storage, the deburring tool should be thoroughly cleaned of any burrs or debris. Do not
disassemble the deburring tool. After cleaning, ll the deburring tool with oil of the same type that was used
as a lubrication during operation. Lubrication is necessary to keep the blades in the air‑vane motor from
drying out and prevent corrosion. Place the deburring tool inside a sealed plastic bag. Place the bag with its
contents inside the crate.
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
12
Loading...