ATI Technologies QC-201 Manual - Page 8

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Manual, Tool Changer, QC-201
Document #9620-20-B-201 Base Tool Changer-12

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 a control module 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 60–100 PSI. Robot motion
should be halted if the air supply pressure drops below 60 PSI for any reason.
ATTENTION: 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
Adjustment and
changer. Note: MobilGrease® XHP222 Special is a NLGI #2 lithium complex grease with

3.1 Coupling Sequence

Position the Master above the Tool and move the Master into locking 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 holes such that they do not rub against the
edge.
The locking mechanism allows the Master to "pull up" the Tool with relatively large gaps
between the two sides. It is recommended that the mating faces of the Master and Tool not be
touching, but be within 0.04" (1 mm) of each other when coupling to minimize stress and wear
on the locking mechanism.
RTL (Ready-To-Lock) sensing is built into the tool changer, providing the ability to sense Tool
proximity to the Master prior to locking. The mating faces of the Master and Tool must be
positioned within approximately 0.02–0.03" (0.50–0.75mm) of each other for the sensor to
detect Tool presence. A RTL signal is not required to couple the tool changer, but is
recommended as a further confirmation of coupling prior to removing the Tool from the tool
stand.
Verify that the RTL signal is read as "on" (true).
Turn the Lock command on. The solenoid valve is shifted to the Lock position and air is
supplied to the locking mechanism to couple the tool changer.
A sufficient delay must be programmed between the Lock 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 via the control module.

Pinnacle Park
1031 Goodworth Drive
Replacement). Tubes of lubricant for this purpose are shipped with every tool
CAUTION: 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.
TM
CAUTION: No-Touch
a separation distance between the Master and Tool. 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.
Apex, NC 27539
Tel: 919.772.0115
B - 8
Section 4.2—Cleaning, Lubrication,
locking technology allows the unit to couple with
Fax: 919.772.8259
www.ati-ia.com