ATI Technologies QC-201 Manual - Halaman 9

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Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12
The Locked signal should read "on" (true) and the Unlocked signal should read "off" (false).
If the locking mechanism has been actuated and both the Locked and Unlocked 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.
The locking mechanism must be in the Unlocked state before another attempt is made to couple
or damage could occur to the robot and/or the tool changer.

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 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 is not maintained during this fail-safe condition. Do not operate the Tool Changer in
the fail-safe condition. If source air is lost to the unit, movement should be halted until air
pressure is restored.
After air pressure is re-established to the Master plate, the locking mechanism will energize
and securely lock the Master and Tool plates together. In some cases when the load on the
tool changer is significantly off center, it may be necessary to position the load underneath
the tool changer or return the tool to the tool storage location to ensure a secure lock
condition. If equipped, make sure the lock sensor indicates the Tool Changer is in the locked
position before resuming normal operations. Consult your Control/Signal Module Manual
for specific error recovery information

3.3 Uncoupling

The tool changer should be positioned in the Tool Stand in the same location as that when
coupling took place.
Turn the Lock command off.
Issue the Unlock command. The solenoid valve is shifted to the Unlock position and air is
supplied to the locking mechanism to uncouple the tool changer.
A sufficient delay must be programmed between Unlock command being activated and reading
the state of the Locked/Unlocked signals, so that the locking process is completed before
checking the locked state.
Read the Locked and Unlocked signals.
The Unlocked signal should read "on" (true) and the Locked 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 for coupling and subsequent
operations.

Pinnacle Park
1031 Goodworth Drive
CAUTION: Do not use the Tool Changer in a fail-safe condition. Damage to the
locking mechanism could occur. Re-establish air pressure and ensure the Tool
Changer is in a secure lock position before returning to normal operations.
Apex, NC 27539
Tel: 919.772.0115
B - 9
.
Fax: 919.772.8259
www.ati-ia.com