Table of Contents. B. Base Tool Changer...B-3 QC-40Q Series Robotic Tool Changer...B-3 1. Product Overview...B Installation...

Transcription

1 Table of Contents B. Base Tool Changer...B-3 QC-40Q Series Robotic Tool Changer...B-3 1. Product Overview...B Master Plate Assembly... B Tool Plate Assembly... B Optional Modules... B-5 2. Installation...B Master Interface... B Master Plate Installation... B Master Plate Removal... B Tool Interface... B Tool Plate Installation... B Tool Plate Removal... B Pneumatic Connections...B Valve Requirements and Connections for the Locking Mechanism...B Electrical Connections... B PNP Type Lock and Unlock Sensors (-SB, -SD, -SG sensor designations)...b NPN Type Lock and Unlock Sensors (-SA, -SE, -SF sensor designations)...b Operation...B Conditions for Coupling... B Fail-Safe Operation... B Conditions for Uncoupling... B Tool Identification... B Tool Storage Considerations... B Maintenance...B Preventive Maintenance... B Cleaning and Lubrication of the Locking Mechanism and Alignment Pins... B Pin Block Inspection and Cleaning... B Troubleshooting and Service Procedures...B Troubleshooting Procedures... B Service Procedures... B V-ring Seal Replacement...B Lock and Unlock Sensor Assembly Replacement...B-23 B-1

2 6. Serviceable Parts...B Model QM S0... B Model QM S0-E... B Model QM SA and QM SB... B Model QM SA-E and QM SB-E... B Model QM SD and QM SF... B Model QM SD-E and QM SF-E... B Model QM SE and QM SG... B Model QM SE-E and QM SG-E... B Standard Tool Plate... B Euro Tool Plate... B Specifications...B Drawings...B QC-40Q Tool Changer... B-34 B-3

3 B. Base Tool Changer QC-40Q Series Robotic Tool Changer 1. Product Overview The Quick Change Tool Changer provides flexibility to robot applications by allowing the robot to change customer tooling automatically. The Quick Change consists of a Master plate and a Tool plate. The Master plate is attached to a robot while end-effectors such as grippers, material handlers, etc. are attached to one or more Tool plates. The Master plate, installed on the robot arm, locks to the Tool plate with a pneumatically driven locking mechanism. This locking mechanism uses a patented, multi-tapered cam with ball locking technology and a patented fail-safe mechanism. In operation, the robot can be programmed to select the desired customer tooling by coupling the Master plate to the Tool plate attached to the tooling. Electrical signals, pneumatic power, and fluids can be transferred to the customer tooling through the Master plate and Tool plate by optional modules. See the respective manuals for these options for more details on their operation. A Tool Changer enhances the flexibility and reliability of a robotic cell. Robotic Tool Changers are used in automated tool change applications, as well as manual tool change operations. Robotic Tool Changers also provide a method for quick tool change for maintenance purposes. For the most current product information and specifications on the QC-40Q Series of Tool Changers, please click the following link: B-3

4 1.1 Master Plate Assembly The Master plate assembly includes an anodized aluminum body, a hardened stainless steel locking mechanism, and hardened steel alignment pins (see Figure 1.1). The Master plate has (2) flat sides for mounting of optional modules. Both flats are fully interchangeable and optional modules can be arranged to suit the application or robot dress as required. Figure 1.1 Master Plate Assembly Unlock Port Lock/Unlock Sensor Assemblies (1/8 NPT) Lock Port (6) Ball Bearings (1/8 NPT) Flat A for Optional Modules with J16 Mounting Pattern Flat B for Optional Modules with J16 Mounting Pattern Alignment Pins (2) Cam Pass Through Air/Vacuum Ports (8) (1/8 NPT) Male Coupling On the QC-40Q, (2) 1/8 NPT connections are available to supply pneumatic pressure for coupling and uncoupling the Tool Changer. There are (8) 1/8 NPT connections for passing air or vacuum through the Tool Changer. Proximity sensors are designed into the body of the Master plate to verify the lock/unlock position of the piston and cam. The sensors provide the lock and unlock (L/U) signals through the sensor cables provided. B-4

5 1.2 Tool Plate Assembly The Tool base assembly includes an anodized aluminum body and a hardened stainless-steel bearing race. The Tool plate has (2) flat sides for mounting of optional modules. A mounting pattern is machined into the Tool plate for mounting to a customer tooling or a tooling interface plate. Figure 1.2 Tool Plate Assembly Bearing Race (2) Alignment Holes Pass Through Air/Vacuum Ports (8) (1/8 NPT) 1.3 Optional Modules There are (2) flats available for mounting of the optional modules for support of various utility pass through, such as signal, fluid/air, and power. For assistance in choosing the right modules for your particular application, visit our website to see what is available or contact an ATI Sales Representative directly. The optional modules are mounted to the Master or Tool plate using a common mounting feature. B-5

6 2. Installation All fasteners used to mount the Tool Changer to the robot and to customer s tooling should be tightened to a torque value as indicated. Refer to Table 2.1. Furthermore, removable (blue) Loctite 242 must be used on these fasteners. Table 2.1 contains recommended values based on engineering standards. WARNING: Do not use lock washer under the head of the mounting fasteners or allow the mounting fasteners to protrude above the mating surfaces of the Master and Tool plates. Allowing fasteners to protrude above the mating surface will create a gap between the Master and Tool plates and not allow the locking mechanism to fully engage, this can cause damage to equipment or personal injury. Make sure the mounting fasteners are flush or below the mating surfaces of the Master and Tool plates. Mating Surface Head of Mounting Fastener Must Be Flush or Below Mating Surface. (Do Not Use Lock Washer under Head of Mounting Fastener). WARNING: Do not perform maintenance or repair on Tool Changer or modules unless the Tool is safely supported or docked in the tool stand, all energized circuits (e.g. electrical, air, water, etc.) are turned off, pressurized connections purged and power discharged from circuits in accordance with the customer s safety practices and policies. Injury or equipment damage can occur with Tool not docked and energized circuits on. Dock the Tool safely in the tool stand, turn off and discharge all energized circuits, purge all pressurized connections, verify all energized circuits are de-energized before performing maintenance or repair on Tool Changer or modules. CAUTION: Do not use fasteners that exceed the thread depth in the Tool Changer. Refer to Section 8 Drawings for details on mounting hole thread depth. Secure the Tool Changer with the proper length fasteners. This is true for both robot and tool interfaces. Table 2.1 Fastener Size, Class, and Torque Specifications Fastener Size Mounting Conditions and Property Class Master plate to Robot interface plate (aluminum) Minimum thread engagement of 0.59 (15 mm) [1.5X fastener Ø]. Confirm available engagement with Robot Manufacturer Master plate to Robot (steel; USS 90KSI) Minimum thread engagement of 0.39 (10mm) [1.0X fastener Ø]. Confirm available engagement with Robot Manufacturer Tool interface plate (aluminum) to Tool plate (aluminum) Minimum thread engagement of 0.29 (75 mm) [1.5X fastener Ø]. M5 0.8 Class 12.9 M5 0.8 Class 12.9 M5 0.8 Class 12.9 Recommended Torque 52 in-lbs (6 Nm) 52 in-lbs (6 Nm) 52 in-lbs (6 Nm) B-6

7 2.1 Master Interface The Master plate is typically attached to the robot arm. It may be necessary for a robot interface plate (RIP) to be utilized to adapt the Master plate to a specific robot arm. The Master plate is designed with alignment features (dowel holes and bosses) to accurately position and bolt holes to secure the Master plate to the robot arm or a RIP. Custom RIPs are available from ATI upon request. (Refer to Section 8 Drawings of this manual for technical information on mounting features.) If the customer chooses to design and build a robot interface plate, the following should be considered: 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 Master body to mate flush with each other. Using dowel pins that are too long will cause a gap between the interface plate and the Master body causing damage to the equipment. Use the proper size dowel pins that will not extend further than allowed by the Master body. Incorrect Mounting of Master Plate A boss and two dowel pins as alignment features can as difficult to align and can cause damage to equipment. Interface Plate Optional Boss Two dowel pins (or a single dowel pin along with a boss/recess) being used as alignment features. Correct Mounting of Master Plate Interface Plate Dowel pins which are too long can cause a gap between interface plate and Master Plate. Master Plate Gap Dowel pins which are proper size allowing interface plate and Master Plate to mount flush. Master Plate Flush The interface plate should be designed to include bolt holes for mounting and either two dowel pins or a dowel pin and a boss for accurate positioning on the robot and Master plate. The dowel and boss features are important to prevent rotation. Refer to robot manual for robot mounting features. The thickness of the interface plate must be great enough to provide the necessary thread engagement for the mounting bolts. Dowel pins must not extend out from the surface of the RIP farther than the depth of the dowel holes in the Master plate. If a boss is used on the Master plate, a recess of proper depth and diameter must be machined into the RIP to correspond with the boss on the Master plate. Mounting bolts should not be too long, such that a gap is formed at the interface. The interface plate must be properly designed to provide rigid mounting to the Master plate. The interface plate design should take into account clearances required for Tool Changer module attachments and accessories. B-7

8 2.2 Master Plate Installation Tools required: 4 mm Allen wrench (hex key), torque wrench Supplies required: clean rag, Loctite Make sure mounting surface of the Master plate and robot arm or RIP are clean and free of debris. 2. If required, install the RIP to the robot arm, align using the boss or dowel pins and secure with customer supplied fasteners. 3. Align the dowel pins to the corresponding holes in the Master plate and secure the Master plate to the robot arm or RIP with the supplied (6) M5 socket head cap screws. Refer to Section 8 Drawings for mounting pattern. Apply Loctite 242 to threads (see Table 2.1 for proper fasteners and torque). 4. Connect utilities to the appropriate module and Master plate connections. For pneumatic lock and unlock connection refer to Section 2.7 Pneumatic Connections. 5. If installation is complete, the Master plate may be put into normal operations. Figure 2.1 Typical Master Plate Installation Robot Arm Dowel Pin (Customer Supplied) Socket Head Cap Screws (Customer Supplied) Robot Interface Plate (Customer Supplied) (if required) (2) Dowel Pins Master Plate M5 Socket Head Cap Screws (6) (Refer to Table 2.1) 2.3 Master Plate Removal Tools required: 4 mm Allen wrench (hex key) 1. Dock the Tool safely in the tool stand and uncouple the Tool Changer to allow clear access to the Master plate. 2. Turn off all energized circuits (e.g. electrical, air, water, etc.). 3. If needed, disconnect all utilities (e.g. electrical, air, water, etc.). Note: support the Master plate while removing the fasteners. 4. Remove the (6) M5 socket head cap screws connecting the Master plate to the robot arm or RIP. B-8

9 2.4 Tool Interface The Tool plate is attached to the customer s tooling. It may be necessary for an interface plate to be utilized to adapt the Tool plate to customer s tooling. The Tool plate is designed with alignment features (dowel holes and a recess) to accurately position and bolt holes to secure the Tool plate to customer s tooling. Custom tool interface plates can be supplied by ATI to meet customer s requirements (see Figure 2.2) (Refer to the application drawing). CAUTION: Do not use more than two alignment features when securing a Tool plate to an 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 Tool plate with the interface plate. CAUTION: Do not use dowel pins that are too long that will not allow the interface plate and Tool body to mate flush with each other. Using dowel pins that are too long will cause a gap between the interface plate and the Tool body causing damage to the equipment. Use the proper size dowel pins that will not extend further than allowed by the Tool body. Incorrect Mounting of Tool Plate Correct Mounting of Tool Plate Boss and two dowel pins as alignment features can be Two dowel pins (or a difficult to align and can single dowel pin along with a cause damage to equipment. boss/recess) being used as Tool Plate alignment features. Dowel pins which Tool Plate are too long and Dowel pins which are cause a gap between proper size allowing interface plate and Tool. Gap interface plate and Tool Plate to mount flush. Interface Plate Interface Plate If the customer chooses to design and build a tool interface plate, the following should be considered: The interface plate should be designed to include bolt holes for mounting and either two dowel pins or a dowel pin and a boss for accurate positioning on the customer tooling and Tool plate. The dowel and boss features are important to prevent rotation. Dowel pins must not extend out from the surface of the interface plate farther than the depth of the dowel holes in the Tool plate. The thickness of the interface plate must be great enough to provide the necessary thread engagement for the mounting bolts. Fasteners should be chosen to meet minimum recommended engagement lengths while not exceeding the maximum available thread depth. Use of bolts that are too long can cause damage to the tool side changer. The plate design should take into account clearances required for Tool Changer module attachments and accessories. If a boss is to be used on the interface plate, a boss of proper height and diameter must be machined into the interface plate to correspond with the recess in the Tool plate. The tool interface plate should be designed with a hole in its center to allow for manually returning the locking mechanism to the unlocked position under adverse conditions (i.e. unintended loss of power and/or air pressure). The center access hole should be kept small [minimum recommended hole diameter: 1 (25.4 mm)] to prevent debris from contaminating the locking mechanism while operating in dirty environments. Even greater protection will result if the standard race cover with removable access plug is used. [Note: Through-hole diameter in plate:.563 (14.3 mm). Grommet outside diameter:.88 (22.5 mm)]. B-9

10 2.5 Tool Plate Installation Tools required: 4 mm Allen wrench (hex key), torque wrench Supplies required: clean rag, Loctite Make sure the mounting surface of the Tool plate and tool interface plate is clean and free of debris. 2. If required, install the tool interface plate to the customer tooling, align using the boss or dowel pins and secure with customer supplied fasteners. 3. Align the dowel pins to the corresponding holes in the Tool plate and secure the Tool plate to the tool interface plate or customer tooling with customer supplied fasteners. Refer to Section Lock and Unlock Sensor Assembly Replacement for mounting pattern. Apply Loctite 242 to threads (see Table 2.1). NOTICE: If an ATI IP is used, fasteners to mount the Tool plate is supplied with the IP. 4. Connect utilities to the appropriate module and Tool plate connections. 5. If installation is complete, the Tool plate may be put into normal operations. Figure 2.2 Tool Plate Installation Tool Plate Dowel Pin (Customer Supplied) Tool Interface Plate (Customer Supplied) (6) M5 Socket Head Cap Screws (Refer to Table 2.1) (Customer Supplied) 2.6 Tool Plate Removal Tools required: 4 mm Allen wrench (hex key) 1. Dock the Tool safely in the tool stand and uncouple the Tool Changer to allow clear access to the Tool plate. 2. Turn off all energized circuits (e.g. electrical, air, water, etc.). 3. If needed, disconnect all utilities (e.g. electrical, air, water, etc.). 4. Remove the fasteners connecting the Tool plate to the tooling or tool interface plate. B-10

11 2.7 Pneumatic Connections The air supply used for coupling and uncoupling the Tool Changer should be clean, dry, and non-lubricated. A supply pressure in the range of 65 to 100 psi is acceptable for operation of the locking mechanism, with a setting of 80 psi suggested. The air should be filtered 20 micron or better. CAUTION: Do not use the Tool Changer in a fail-safe condition. Do not transport the Tool Changer in a fail-safe condition. Possible damage to the locking mechanism could occur. Re-establish air pressure to Tool Changer before returning to normal operations Valve Requirements and Connections for the Locking Mechanism When an air adapter module is utilized that does not contain an integrated solenoid valve, it is required that a customer supplied 2-position 4-way or 5-way valve be used to actuate the locking mechanism in the Master plate. It is imperative that when air is supplied to the Lock or Unlock Port on the Master plate, that the opposite port be vented to atmosphere (i.e., when air is supplied to the Lock Port, the Unlock Port must be open to the atmosphere.) Failure to vent trapped air or vacuum on the inactive port may inhibit proper shuttling of the valve and prevent coupling and/or uncoupling from occurring. CAUTION: The locking mechanism will not function properly when connected to a 3-way valve as this type of valve is incapable of venting trapped air pressure from within the Tool Changer. This could result in damage to the product, attached tooling, or personnel. Connect the Lock and Unlock supply air to a 2-position 4-way or 5-way valve. Figure 2.3 Lock and Unlock Pneumatic Connections 4 or 5 -way Valve Unlock Port Lock Port Supply Clean, Dry, Non-lubricated Air psi ( Bar) Exhaust Open to Atmosphere B-11

12 2.8 Electrical Connections The Tool Changer is available with integrated lock/unlock sensors. If sensors are not used, plugs will be provided to seal the locking mechanism. If a control/signal module is to be utilized on Flat A when ordered, the sensors will be connected to the module prior to shipping PNP Type Lock and Unlock Sensors (-SB, -SD, -SG sensor designations) These sensors are used on QM SB, QM SD, and QM SG. Table 2.2 PNP (Current Sourcing) Description Voltage Supply Range Output Current Nominal Sensing Distance Sn Output Circuit Value VDC < 150 ma 2.0 mm PNP make function (NO) Figure 2.4 PNP Type Lock and Unlock Sensors PNP (Current Sourcing) Brown (1) +Vs Connector (4) Black PNP Black (4) Blue (3) Z Output 0 V Brown (1) (3) Blue NPN Type Lock and Unlock Sensors (-SA, -SE, -SF sensor designations) These sensors are used on QM SA, QM SE, and QM SF. Table 2.3 NPN (Current Sinking) Description Voltage Supply Range Output Current Nominal Sensing Distance Sn Output Circuit Value VDC < 200 ma 2.0 mm NPN make function (NO) NPN (Current Sinking) Figure 2.5 NPN Type Lock and Unlock Sensors Connector Brown (1) +Vs (4) Black NPN Black (4) Z Output Blue (3) 0 V Brown (1) (3) Blue B-12

13 3. Operation The Master locking mechanism is pneumatically driven to couple and uncouple with the bearing race on the Tool plate. The Master plate utilizes air ports from an air/valve adapter to provide lock and unlock pressure to the locking mechanism. CAUTION: Safe, reliable operation of the Tool Changer is dependent on a continuous supply of compressed air at a pressure of 60 to 100 psi. Robot motion should be halted if the air supply pressure drops below 60 psi for any reason. NOTICE: All Tool Changers are initially lubricated using MobilGrease XHP222 Special grease. The end user must apply additional lubricant to the locking mechanism components and alignment pins prior to start of service (see Section 4.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins). Tubes of lubricant for this purpose are shipped with every Tool Changer. Note: MobilGrease XHP222 Special is a NLGI #2 lithium complex grease with molybdenum disulfide. The robot should be programmed to minimize misalignment during coupling and uncoupling. Additionally, the tool stand should be durable and not allow deflection, under uncoupled Tool weight that will take alignment of the Tool Changer plates outside of accepted offsets. See Figure 3.1 and Table 3.1 for recommended maximum allowable offsets prior to coupling. In some cases, greater offsets than shown in Table 3.1 can be accommodated by the Master and Tool plates but will increase wear. Lock-up should occur with the Master plate in the No-Touch locking zone (see Table 3.1) but not touching the Tool plate. As locking occurs, the Master plate should draw the Tool plate into the locked position. Figure 3.1 Offset Definitions Master Plate Tool Plate Z Y X, Y, and Z Offset Cocking Offset (About X and Y) Twisting X Model QC-40Q Table 3.1 Maximum Recommended Offsets Prior to Coupling No-Touch Zone Z Offset (Max) (5 mm) X and Y Offset (Max) 2 ±0.08 (2 mm) Cocking Offset (Max) Twisting Offset (Max) ±1.0 ±2 Notes: 1. Maximum values shown. Decreasing actual values will minimize wear during coupling/uncoupling. 2. Actual allowable values may be higher in some cases but higher offsets will increase wear during coupling. B-13

14 3.1 Conditions for Coupling Refer to your Air/Valve Adapter and/or Control/Signal Module Manual s Operation section for a recommended sequence of operation during coupling/uncoupling. CAUTION: Do not attempt to couple the Tool Changer when in locked position. The locking mechanism must be in the unlock position when attempting to couple the Tool Changer. Failure to adhere to this condition may result in damage to the unit and/or the robot. Always unlock the Master prior to coupling to a Tool. 1. Make sure the Tool Changer locking mechanism is in the Unlocked position by removing air pressure from the lock port and supplying air pressure to the unlock port (if equipped, the unlock sensor will indicate the Tool Changer is in the unlocked position). NOTICE: For Tool Changers with a control/signal module and air/valve adapters with a double solenoid valve, the Unlatch output is true and the Latch output is false. For Tool Changers with a control/signal module and air/valve adapters with a single solenoid valve, the Unlatch output is true. Some control/signal modules prevent the Tool Changer from being unlocked unless the Master and Tool are coupled and nested properly in the tool stand, a manual override procedure is required to unlock the Tool Changer. Refer to your Control/Signal Module Manual for instructions. 2. Position the Master above the Tool and move the Master into ready to lock position. The mating surfaces of the Master and Tool should be parallel and not touching. Make sure that the tapered alignment pins from the Master enter the alignment holes on the Tool. The alignment pins should be relatively concentric with the alignment bushings with no contact between the two. 3. It is recommended that the mating faces of the Master and Tool not be touching but be within the No-Touch distance listed in Table 3.1 of each other when coupling to minimize stress and wear on the locking mechanism. The locking mechanism allows the Master to pull up the Tool with gaps between the two sides. CAUTION: Direct contact of the Master and Tool mating surfaces is not suggested or required just prior to coupling. Contact may result in damage to the unit and/or the robot. No-Touch locking technology allows the unit to couple with a separation distance between the Master and Tool. 4. Couple the Tool Changer by releasing the air pressure from the unlock port and suppling air pressure to the lock port. When the Tool Changer locking mechanism moves to the locked position, the Tool plate will be drawn toward the Master plate coupling the plates together. Air must be maintained on the lock port during operation to assure rigid coupling (if equipped the lock sensor will indicate the Tool Changer is in the locked position). NOTICE: For Tool Changers with a control/signal module and air/valve adapters with a double solenoid valve, the Unlatch output is made false and the Latch output is made true. For Tool Changers with a control/signal module and air/valve adapters with a single solenoid valve, the Unlatch output is made false. 5. A sufficient delay must be programmed between locking valve actuation and robot motion so that the locking process is complete before moving the robot. If equipped with Lock and Unlock sensors, the Lock signal should read on (true) and the Unlock signal should read off (false). NOTICE: If the locking mechanism has been actuated and both the Lock and Unlock signals are read as off (false), then a missed tool condition has occurred (for example, the Tool is not in the stand or is not positioned properly). In this case an error should be generated and the robot program halted. The situation requires manual inspection to determine the cause of the problem. Some configurations will require a manual unlock of the Master plate before attempting coupling, refer to the Control/Signal Module Manual for instructions. The locking mechanism must be in the unlock state before another attempt is made to couple or damage could occur to the robot and/or the Tool Changer. B-14

15 3.2 Fail-Safe Operation A fail-safe condition occurs, when there is an unintended loss of lock air pressure to the Master plate. When air pressure is initially lost, the Tool Changer relaxes and there may be a slight separation between the Master and Tool plates. The lock sensor may indicate that the unit is not locked. ATI s patented fail-safe feature utilizes a multi-tapered cam to trap the ball bearings and prevent an unintended release of the Tool plate. Positional accuracy of the tooling will not be maintained during this fail-safe condition. The Tool Changer is not to be operated in the fail-safe condition. Once source air is lost to the unit, movement should be halted until air pressure is restored. Once air pressure is re-established to the Master plate, the locking mechanism will energize and securely lock the Master and Tool plates together. If equipped, make sure the lock sensor indicates the Tool Changer is in the locked position before resuming normal operations. It may be necessary to consult your Control/Signal Module Manual for specific error recovery information. CAUTION: Do not use the Tool Changer in a fail-safe condition. Do not transport the Tool Changer in a fail-safe condition. Possible damage to the locking mechanism could occur. Re-establish air pressure to Tool Changer before returning to normal operations. 3.3 Conditions for Uncoupling Refer to your Air/Valve Adapter and/or Control/Signal Module Manual s Operation section for operation during coupling/uncoupling. 1. Move the robot to position the Tool plate in the tool stand. The Position will be in the same location as when coupling took place. NOTICE: Depending on what control/signal module the Tool Changer is equipped with additional notifications such as TSRV, TSIV, and other notifications can provide verification of properly functioning system components. 2. Uncouple the Tool Changer by releasing the air pressure from the lock port and supplying air pressure to the unlock port. When the Tool Changer locking mechanism moves to the unlocked position, the Tool plate will be released from the Master plate. (If equipped, the unlock sensor will indicate the Tool Changer is in the unlocked position). NOTICE: For Tool Changers with a control/signal module and air/valve adapters with a double solenoid valve, the Unlatch output is made true and the Latch output is made false. For Tool Changers with a control/signal module and air/valve adapters with a single solenoid valve, the Unlatch output is made true. CAUTION: This Tool Changer may be equipped with a tool stand Interlock (TSI) feature that physically breaks the Unlatch solenoid circuit. Proper use of the TSI will prevent any unwanted Unlock software commands from being recognized until the circuit is made. Make sure the Tool Changer is positioned properly to trip actuate the TSI switch when the Tool is in the tool stand. 3. A sufficient delay must be programmed between unlocking valve actuation and robot motion so that the unlocking process is complete before moving the robot. If equipped with lock and unlock sensors, the Unlock signal should read on (true) and the Lock signal should read off (false). Any other condition indicates a problem and the robot program should be halted. Once the Lock and Unlock signals are verified to be in the proper state the Master plate may be moved away from the Tool plate in the axial direction. The robot and Master plate can now proceed to another Tool plate for coupling and subsequent operations. 3.4 Tool Identification When using multiple Tools, it is good practice to implement a Tool-ID system that identifies each Tool with a unique code. This can be used to verify that the robot has picked up the proper Tool. Modules with Tool- ID are available from ATI, refer to our Web site modules.aspx for products available or your specific application or contact ATI for recommendations and assistance. B-15

16 3.5 Tool Storage Considerations CAUTION: tool stand design is critical to proper operation of the Tool Changer. Improperly designed tool stands can cause misalignments that will cause jamming and/ or excessive wear of Tool Changer components. The tools may be stored in a tool stand when not being used by the robot. ATI provides compatible tool stands designed for durability, longevity, and maximum adaptability to fit most customers applications. The ATI TSM (Tool Stand Medium) system is compatible with ATI Tool Changer sizes QC-20 to QC-110. The TSM systems can be equipped with horizontal modules, clamp modules, and different types of tool sensing. Visit the ATI Web Site for products available for your specific application or contact ATI for recommendations and assistance. If the customer is supplying the tool stand, it should be designed to provide fixed, repeatable, level, and stable positions for tool pick-up and drop-off. The tool stand must support the weight of the Tool Changer Tool plate, Tool Interface plate, optional modules, cables, hoses, and customer tooling without allowing deflection in excess of the offsets specified in Section 3 Operation. Ideally, the Tool should be hanging vertically in the tool stand so that gravity assists to uncouple the Tool plate from the Master plate during unlocking. It is possible to design tool stands that hold tools in the horizontal position but care must be taken that the necessary compliance is provided during coupling and uncoupling. In general, horizontal-position tool stands cause more wear on the locking mechanism and locating features of the Tool and tool stand. A variety of methods may be used to position the Tool in the tool stand. A common method is to use tapered alignment pins and bushings. Robot programming and positional repeatability are vital in tool pick-up and drop-off, refer to Section 3 Operation. It is highly recommended that the customer provide a sensor that detects the presence of a properly seated Tool in the tool stand. The sensor may be used prior to coupling to ensure there is a Tool properly seated in the stand. Sensors may also be used as the robot starts to move away after uncoupling. This provides a safety measure in the event that a Tool should become jammed in the stand or if the Tool should fail to release properly from the robot. Proximity sensors should be positioned so that the sensing face is vertical to prevent metal shavings, weld spatter, or other debris from falling on the sensor and creating false readings. Tool Stands may also need to incorporate means for covering Tools and modules to protect them in dirty environments, such as grinding or welding. Alternatively, positioning tool stands in areas shielded from weld spatter, fluids, adhesives, or other debris would eliminate the need for tool covers. B-16

17 4. Maintenance WARNING: Do not perform maintenance or repair on Tool Changer or modules unless the Tool is safely supported or docked in the tool stand, all energized circuits (e.g. electrical, air, water, etc.) are turned off, pressurized connections purged and power discharged from circuits in accordance with the customer s safety practices and policies. Injury or equipment damage can occur with Tool not docked and energized circuits on. Dock the Tool safely in the tool stand, turn off and discharge all energized circuits, purge all pressurized connections, verify all energized circuits are de-energized before performing maintenance or repair on Tool Changer or modules. NOTICE: The cleanliness of the work environment strongly influences the trouble free operation of the Tool Changer. The dirtier the environment, the greater the need for protection against debris. Protection of the entire EOAT, the Master, the Tool and all of the modules may be necessary. Protective measures include the following: 1) Placement of tool stands away from debris generators. 2) Covers incorporated into the tool stands. 3) Guards, deflectors, air curtains, and similar devices built into the EOAT and the tool stand. 4.1 Preventive Maintenance The Tool Changer and optional modules are designed to provide a long life with regular maintenance. A visual inspection and preventive maintenance schedule is provided in the table below depending upon the application. Detailed assembly drawings are provided in Section 8 Drawings of this manual. Refer to module sections for detailed preventive maintenance steps for all utility modules. Table 4.1 Maintenance Application(s) Tool Change Frequency Inspection Schedule General Usage Material Handling Docking Station > 1 per minute Weekly < 1 per minute Monthly Welding/Servo/Deburring, Foundry Operations (Dirty Environments) All Weekly Checklist Mounting Fasteners гг Inspect fasteners for proper torque, interferences, and wear. Tighten and correct as required. Refer to Table 2.1 Fastener Size, Class, and Torque Specifications. Ball Bearings/Alignment Pins/Bushings/Bearing Race гг гг гг Inspect for wear and proper lubrication. MobilGrease XHP222 Special a NLGI #2 lithium complex grease with molybdenum disulfide additive is suggested for locking mechanism and alignment pin lubrication. Over time, lubricants can become contaminated with debris. Therefore, it is recommended to thoroughly clean the existing grease and replace with new as needed. See Section 4.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins. Inspect for excessive alignment pin/bushing wear, may be an indication of poor robot position during pickup/drop-off. Adjust robot position as needed. Check tool stand for wear and alignment problems. Inspect for wear on the ball bearings/bearing race, may be an indication of excessive loading. Sensors and Cables гг Inspect sensor cable connectors for tightness, if loose tighten connections. гг Inspect sensor cables for any damage, cuts, and abrasion. Replace as necessary. Refer to Section Lock and Unlock Sensor Assembly Replacement. Hoses гг Inspect hose connection for tightness and leaks. If leaking or loose secure hose connection. гг Inspect hoses for interferences, abrasions, cuts, and leaks. Replace as required. Electrical Contacts/Pin Block (Modules) гг Inspect for damage, debris, and stuck/burnt pins. Clean pin blocks as required, Refer to Section 4.3 Pin Block Inspection and Cleaning. Seals (Modules) гг Inspect for wear, abrasion, and cuts. Refer to Section V-ring Seal Replacement. B-17

18 4.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins 1. Dock the Tool safely in the tool stand and uncouple the Tool Changer to allow clear access to the Master and Tool plates. Leave the locking mechanism in the unlocked. 2. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.). 3. The locking mechanism must be in the unlock state before cleaning. 4. Use a clean rag to thoroughly remove the existing lubricant and debris from the ball bearings, the male coupling, the cam and the alignment pins. Figure 4.1 Cleaning Ball Bearings and Outer Surfaces of Male Coupling 5. Use a clean rag to thoroughly remove the existing lubricant and debris from the inner surface of the male coupling and the cam. Figure 4.2 Cleaning Ball Bearings, Cam and Inner Surfaces of Male Coupling B-18

19 6. Check each ball bearing to make sure it moves freely in the male coupling. Additional cleaning may be necessary to free up any ball bearings that are sticking in place. Figure 4.3 Check Ball Bearing Movement 7. Apply a liberal coating of lubricant to the ball bearings, the male coupling (inside and out), and the alignment pins. Apply Lubricant on Alignment Pins Figure 4.4 Apply Lubricant to Locking Mechanism Apply Lubricant on Inner and Outer Surfaces of Male Coupling 8. Use a clean rag to thoroughly remove the any lubricant and debris from the bearing race and the bushings from the Tool plate. Figure 4.5 Clean Tool Plate Surfaces of Locking Mechanism Clean Bushing Surfaces Clean Bearing Race Surfaces 9. No application of lubrication is necessary on the Tool plate components. 10. After repair is complete, return all circuits to normal operation (e.g. electrical, air, water, etc.). B-19

20 4.3 Pin Block Inspection and Cleaning Tools required: Nylon Brush (ATI Part Number ) 1. Dock the Tool side of the Tool Changer safely and uncouple the Tool Changer to allow clear access to the Master and Tool plates. 2. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.). 3. Inspect the Master and Tool pin blocks for any debris or darkened pins. Figure 4.6 Inspect Master and Tool Pin Blocks Note: Pin blocks shown are for illustration purposes only. Blackened Pins Weld Debris Tool Module Pin Block Master Module Pin Block 4. If debris or darkened pins exist, remove debris using a vacuum, and clean using a nylon brush (ATI Part Number ). NOTICE: Do not use an abrasive media, cleaners, or solvents to clean the contact pins. Using abrasive media, cleaners, or solvents will cause erosion to the contact surface or pins to stick. Clean contact surfaces with a vacuum and non-abrasive media such as a nylon brush (ATI Part Number ) Figure 4.7 Clean Pin Blocks with a Nylon Brush 5. Inspect the Master and Tool pin blocks for stuck pins or severe pin block damage. Figure 4.8 Stuck Pin and Pin Block Damage Note: Pin blocks shown are for illustration purposes only. Stuck Pins Severe Pin Block Damage 6. If stuck pins or severe pin block damage exists, contact ATI for possible pin replacement procedures or module replacement. 7. If repairs are complete, return circuits to normal operation. B-20

21 5. Troubleshooting and Service Procedures The following section provides troubleshooting and service information to help diagnose conditions and repair the Tool Changer or control/signal module. WARNING: Do not perform maintenance or repair on Tool Changer or modules unless the Tool is safely supported or docked in the tool stand, all energized circuits (e.g. electrical, air, water, etc.) are turned off, pressurized connections purged and power discharged from circuits in accordance with the customer s safety practices and policies. Injury or equipment damage can occur with Tool not docked and energized circuits on. Dock the Tool safely in the tool stand, turn off and discharge all energized circuits, purge all pressurized connections, verify all energized circuits are de-energized before performing maintenance or repair on Tool Changer or modules. 5.1 Troubleshooting Procedures The troubleshooting table is provided to assist in diagnosing issues that may cause the Tool Changer not to function properly. Table 5.1 Troubleshooting Symptom Cause Resolution Tool Changer will not lock and/or unlock (or Lock sensor does not indicate Tool Changer is Locked) Unit is locked but Lock signal does not read on (true). Unit is unlocked but Unlock signal does not read on (true). Insufficient or no air pressure supply to the lock or unlock ports. Air pressure trapped in deenergized Lock or Unlock ports. Pneumatic connections loose or damaged, solenoid cable damaged. Debris caught between the Master and Tool plates. The ball bearings and/or cam are not moving freely in the male coupling. The Master plate and Tool plate are not within the specified No- Touch zone when attempting to lock. The control/signal module or air/ valve adapter is not operating correctly. Lock sensor/cable is damaged. Unlock sensor/cable is damaged. Units Equipped with Electrical/Servo/Control/Signal Modules Loss of Communication Debris in and around contact pins. Contact Pin worn or damaged. Cable connections loose or cables damaged Verify proper air pressure and pneumatic valve is supplied. Refer to Section 2.7 Pneumatic Connections. Air pressure must be vented to the atmosphere properly, refer to Section 2.7 Pneumatic Connections or refer to the troubleshooting section of the air/valve adapter manual for more information. Refer to the air/valve adapter manual for more information. Clean debris from between Master and Tool plates. Verify mounting fasteners is secure and does not protrude above the mating surfaces. Clean and lubricate as needed to restore smooth operation (see Section 4.2 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins) Check that the Tool is properly seated in the tool stand. Refer to Section 3.5 Tool Storage Considerations. Re-teach the robot to bring the Master plate and Tool plate closer together prior to attempting to lock. Check the troubleshooting section of the manual for the specific module. Replace the lock sensor assembly as necessary. Refer to Section Lock and Unlock Sensor Assembly Replacement. Replace the unlock sensor assembly as necessary. Refer to Section Lock and Unlock Sensor Assembly Replacement. Inspect V-ring seal for damage, replace damaged seal. Refer to Section V-ring Seal Replacement. Check that cable connection are secure and cables are not damaged. B-21

22 5.2 Service Procedures The following service procedures provide instructions for component replacement V-ring Seal Replacement The seal protects the electrical connection between the Master and Tool module. If the seal becomes worn or damaged it needs to be replaced. 1. Dock the Tool side of the Tool Changer safely and uncouple the Tool Changer to allow clear access to the Master and Tool plates. 2. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.). 3. To remove the existing seal, pinch edge of seal with fingers and gently pull the seal away from the pin block on the Master. 4. Pull the seal off the pin block. 5. To install a new seal, stretch the new seal over the shoulder of the pin block. 6. Push the seal s hub down against the pin block using finger tip. 7. If repairs are complete, return circuits to normal operation. Figure 5.1 V-ring Seal Replacement V-ring Seal Stretch seal over shoulder of pin block and push seal hub down against the pin block with finger tip V-ring Seal Pinch edge of seal with fingers and gently pull away from pin block B-22

23 5.2.2 Lock and Unlock Sensor Assembly Replacement 1. Dock the Tool safely in the tool stand and uncouple the Tool Changer to allow clear access to the Master and Tool plates. Leave the locking mechanism in the unlocked. 2. Turn off and de-energize all energized circuits (e.g. electrical, air, water, etc.). 3. Disconnect the Lock and/or Unlock sensor cables. 4. Remove the (2) M3 socket head cap screws that secure the Lock and/or Unlock sensor assembly to the Tool Changer body. Pull the sensor assembly straight out from the Tool Changer body. There is an O-ring around the cylinder barrel, ensure O-ring came off with old sensor before continuing. Discard the removed sensor assembly. CAUTION: The Lock and Unlock sensor assemblies are precision aligned and permanently assembled at the factory. Do not attempt to disassemble and rebuild. Figure 5.2 Lock and Unlock Sensor Assembly Replacement Lock Sensor Assembly Unlock Sensor Assembly M3 Socket Head Cap Screws 5. Install the Lock and/or Unlock sensor assembly into the Tool Changer body as shown in Figure Secure the sensor assembly using the (2) M3 socket flat head screws. Tighten to 12 in-lbs (1.4 Nm). 7. Connect the Lock and/or Unlock sensor cables. 8. Confirm the operation of the Lock sensor by locking the Tool Changer and then checking to see if the Lock sensor body LED is on. 9. Confirm the operation of the Unlock sensor by unlocking the Tool Changer and then checking to see if the Unlock sensor body LED is on. 10. After repair is complete, return all circuits to normal operation (e.g. electrical, air, water, etc.). B-23

24 6. Serviceable Parts 6.1 Model QM S Table 5.2 Master Plates Item No. Qty Part Number Description QM S QM S0 QC-40Q Master Assembly, Dummy Plugs M5x45 SHCS, Class 12.9, Blue dyed Magni A M3 x 8 SHCS, SS, ND Ind. Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds Sensor Bore Cover Plate Assembly, SS Screws B-24

25 6.2 Model QM S0-E Table 5.3 Master Plates Item No. Qty Part Number Description QM S0-E QM S0-E QC-40Q Master Assembly, Dummy Plugs, Euro M5x45 SHCS, Class 12.9, Blue dyed Magni /8 Nitrile Rubber Bushing A M3 x 8 SHCS, SS, ND Ind. Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds Sensor Bore Cover Plate Assembly, SS Screws B-25

26 6.3 Model QM SA and QM SB Table 5.4 Master Plates Item No. Qty Part Number Description QM SA QM SA QC-40Q Master Assembly, NPN Lock/Unlock Sensors w/hardwired 5m Cables M5x45 SHCS, Class 12.9, Blue dyed Magni A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, NPN, 5M, Flying Leads QM SB QM SB QC-40Q Master Assembly, PNP Lock/Unlock Sensors w/hardwired 5m Cables M5x45 SHCS, Class 12.9, Blue dyed Magni A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, PNP, 5M Cable B-26

27 6.4 Model QM SA-E and QM SB-E Table 5.5 Master Plates Item No. Qty Part Number Description QM SA-E QM SA-E QC-40Q Master Assembly, NPN Lock/Unlock Sensors w/hardwired 5m Cables, Euro M5x45 SHCS, Class 12.9, Blue dyed Magni /8 Nitrile Rubber Bushing A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, NPN, 5M, Flying Leads QM SB-E QM SB-E QC-40Q Master Assembly, PNP Lock/Unlock Sensors w/hardwired 5m Cables, Euro M5x45 SHCS, Class 12.9, Blue dyed Magni /8 Nitrile Rubber Bushing A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, PNP, 5M Cable B-27

28 6.5 Model QM SD and QM SF Table 5.6 Master Plates Item No. Qty Part Number Description QM SD QM SD QC-40Q Master Assembly, PNP Quick Disconnect Lock/Unlock Sensors, 5m Cables M5x45 SHCS, Class 12.9, Blue dyed Magni A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, PNP Quick Disconnect High-flex cable with straight snap-on connector, 5M long with flying leads (Type - BU) QM SF QM SF QC-40Q Master Assembly, NPN Quick Disconnect Lock/Unlock Sensors, 5m Cables M5x45 SHCS, Class 12.9, Blue dyed Magni A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, NPN Quick Disconnect High-flex cable with straight snap-on connector, 5M long with flying leads (Type - BU) B-28

29 6.6 Model QM SD-E and QM SF-E Table 5.7 Master Plates Item No. Qty Part Number Description QM SD-E QM SD-E QC-40Q Master Assembly, PNP Quick Disconnect Lock/Unlock Sensors, 5m Cables, Euro M5x45 SHCS, Class 12.9, Blue dyed Magni /8 Nitrile Rubber Bushing A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, PNP Quick Disconnect High-flex cable with straight snap-on connector, 5M long with flying leads (Type - BU) QM SF-E QM SF-E QC-40Q Master Assembly, NPN Quick Disconnect Lock/Unlock Sensors, 5m Cables, Euro M5x45 SHCS, Class 12.9, Blue dyed Magni /8 Nitrile Rubber Bushing A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, NPN Quick Disconnect High-flex cable with straight snap-on connector, 5M long with flying leads (Type - BU) B-29

30 6.7 Model QM SE and QM SG Table 5.8 Master Plates Item No. Qty Part Number Description QM SE QM SE QC-40Q Master Assembly, NPN Quick Disconnect Lock/Unlock Sensors M5x45 SHCS, Class 12.9, Blue dyed Magni A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, NPN Quick Disconnect QM SG QM SG QC-40Q Master Assembly, PNP Quick Disconnect Lock/Unlock Sensors M5x45 SHCS, Class 12.9, Blue dyed Magni A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, PNP Quick Disconnect B-30

31 6.8 Model QM SE-E and QM SG-E Table 5.9 Master Plates Item No. Qty Part Number Description QM SE-E QM SE-E QC-40Q Master Assembly, NPN Quick Disconnect Lock/Unlock Sensors, Euro M5x45 SHCS, Class 12.9, Blue dyed Magni /8 Nitrile Rubber Bushing A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, NPN Quick Disconnect QM SG-E QM SG-E QC-40Q Master Assembly, PNP Quick Disconnect Lock/Unlock Sensors, Euro M5x45 SHCS, Class 12.9, Blue dyed Magni /8 Nitrile Rubber Bushing A M3X8 SHCS, Class 12.9, Blue dyed Magni-565, ND Microspheres Epoxy, Yellow. 0-3 uncoated lead thds. 5-7 coated thds. IFI Carrier Assembly, PNP Quick Disconnect B-31

32 6.9 Standard Tool Plate 2 1 Table 5.10 Standard Tool Plate Item No. Qty Part Number Description T QC-40 Tool, no options /8 Nitrile Rubber Bushing 6.10 Euro Tool Plate 1 Table 5.11 Euro Tool Plate Item No. Qty Part Number Description T E QC-40 Tool, no options, Euro B-32

33 7. Specifications Table 5.12 Master and Standard Tool Plates Recommended Max Payload 110 lbs. (50kg) The mass attached to the Tool Changer. Operating Temperature Range F ( C) Optimal operating temperature range. Operating Pressure Range Coupling 80 psi Recommended Max Moment X-Y (Mxy) Recommended Max Torque about Z (Mz) Positional Repeatability psi ( bar) 1,270 lbs. (5,650 N) 2000 lbf-in 226 (Nm) 2000 lbf-in 226 (Nm) (0.015 mm) Locking mechanism supply pressure operating range. Supply to be clean, dry, and filtered to 50 micron or better. Axial holding force Maximum recommended working load for optimum performance of the Tool Changer Maximum recommended working torque for optimum performance of the Tool Changer Repeatability tested at rated load at one million cycles. Weight (coupled, no access.) 4.15 lbs (1.88 kg) Master 2.8 lbs.(1.27 kg)/tool 1.35 lbs.(0.61 kg) Max. Recommended distance between Master and Tool plate Sensor Information, signal name 0.12 in.* (3.0 mm) L/U (Lock/Unlock) No-Touch locking technology allows the Master and Tool plates to lock with separation when coupling. * 80 psi needed at max. payload. Internal proximity sensors (2) with pigtails to indicate locking mechanism position. B-33

34 8. Drawings 8.1 QC-40Q Tool Changer 2X 8 H7 8 Customer Interface 15 (Typ.) 20 (Typ.) 6X Tapped M8 x Equally Spaced Customer Interface X 1/8 NPT Pneumatic Thru Ports 1 8 Pneumatic Port I.D.s 50 H7 6 Customer Interface B.C. 80 (B) Flat A Flat B 49 (Typ.) 30 (Typ.) 27 Tool Plate Tool Side (projection only) Part Numbers Shown: (A) QM SG (B) T Notes: Master mounting hardware provided. Orientation marks are provided to assist in robot teaching. SG in master part number indicates PNP quick disconnect lock/unlock sensors. Other sensor options available Coupled Male Coupling NOTES: UNLESS OTHERWISE SPECIFIED. DO NOT SCALE DRAWING. ALL DIMENSIONS ARE IN MILLIMETERS. 3rd ANGLE PROJECTION Rev. Description Initiator Date 01 Initial Drawing DAW 9/9/ Boss 6X Thru Hole for M5 x 40 SHCS Provided Equally Spaced Customer Interface 8X 1/8 NPT Pneumatic Thru Ports 115 2X 6 H7 6 Customer Interface B.C. 65 (A) Flat B Flat A 12.2 M5 SHCS Provided Lock/Unlock Port Location h7 Boss Customer Interface 35.2 Master Plate Master Side (projection only) Unlock Sensor 1/8 NPT Lock Port 1/8 NPT Unlock Port Lock Sensor 1031 Goodworth Drive, Apex, NC 27539, USA Tel: info@ati-ia.com Fax: ISO 9001 Registered Company DRAWN BY: D. Wagner 9/9/13 CHECKED BY: DSS 9/17/13 PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. TITLE QC-40Q-M QC-40T Customer Drawing SCALE SIZE DRAWING NUMBER REVISION 1 3 1:1.5 B PROJECT # SHEET OF QM-040T 01 B-34

35 QC-40Q Master Assembly NOTES: UNLESS OTHERWISE SPECIFIED. DO NOT SCALE DRAWING. ALL DIMENSIONS ARE IN MILLIMETERS. 3rd ANGLE PROJECTION Rev. Description Initiator Date - See Sheet Goodworth Drive, Apex, NC 27539, USA Tel: info@ati-ia.com Fax: ISO 9001 Registered Company PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. DRAWN BY: D. Wagner 9/9/13 CHECKED BY: DSS 9/17/13 TITLE QC-40Q-M QC-40T Customer Drawing SCALE SIZE DRAWING NUMBER REVISION 2 3 3:4 B PROJECT # SHEET OF QM-040T 01 B-35

36 5 2 QC-40 Tool Assembly 3 Rev. Description Initiator Date - See Sheet NOTES: UNLESS OTHERWISE SPECIFIED. DO NOT SCALE DRAWING. ALL DIMENSIONS ARE IN MILLIMETERS. DRAWN BY: CHECKED BY: D. Wagner 9/9/13 DSS 9/17/13 TITLE 1031 Goodworth Drive, Apex, NC 27539, USA Tel: info@ati-ia.com Fax: ISO 9001 Registered Company PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. QC-40Q-M QC-40T Customer Drawing 3rd ANGLE PROJECTION SCALE SIZE DRAWING NUMBER REVISION 3 3 3:4 B PROJECT # SHEET OF QM-040T 01 B-36