ATI Technologies QC-210 Руководство - Страница 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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