ATI Technologies QC-210 Manual - Page 11

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Manual, Robotic Tool Changer Third Generation Teaching Aids

Document #9610-20-3370-02

7. Move the Master plate slowly toward the Tool plate until the Master Side and Tool Side Teaching Aids are 1

mm apart.

8. Use the alignment marks or flats to align the Tool Side and Master Side Teaching Aids.

Use marks to precisely

align the Master and Tool

9. Record the robot coordinates.

10. Move the Master plate away from the Tool plate so that the Master Side and Tool Side Teaching Aids can be

removed from the Tool Changer.

11. To account for the thickness of the Tool and Master Side Teaching Aids, the user must calculate a correction so

that the "pick-up" and "replacement" coordinates are correct. Perform the applicable calculation from

to determine the pick-up and replacement location.

Teaching Aid

(QC-210) 9120-210-TEACH3

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 •

Figure 3.4—Final Alignment Position of the Teaching Aids

Table 3.1—Calculating the Correct "Pick-Up" Coordinate

'Z' Pick-up Coordinate = ('Z' coordinate from Step 9)-(50 mm)

Formula for "Pick-Up" Coordinate

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Table 3.1

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