Manual, Robotic Tool Changer, QC-210
Document #9620-20-B-210 Series Base Tool Changer-26
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com
B-17
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 Tool plate in the tool stand. The position for coupling and uncoupling are the
same.
NOTICE: Depending on the type of control/signal module, additional notications such as
TSRV, TSIV, and other notications can provide verication of the properly functioning system
components.
2. Unlock the Tool Changer by releasing the air pressure from the lock port and supplying air pressure to
the unlock port. The Tool Changer locking mechanism moves to the unlocked position and the Tool plate
releases from the Master plate. (If equipped, the unlock sensor indicates the Tool Changer is unlocked).
NOTICE: For Tool Changers with a control/signal module and air/valve adapters with a double
solenoid valve, turn the Unlatch output on and turn the Latch output OFF. For Tool Changers
with a control/signal module and air/valve adapters with a single solenoid valve, turn the Unlatch
output ON.
CAUTION: This Tool Changer may be equipped with a tool stand Interlock (TSI)
feature that physically breaks the Unlatch solenoid circuit. Proper Use of TSI prevents
unwanted Unlock software commands from being recognized until the circuit is made.
Make sure the Tool Changer is positioned properly to tinterface plate actuate the TSI
switch when the Tool is in the tool stand.
3. A sufcient delay must be programmed between unlocking valve actuation and robot motion so that
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 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 ToolIdentication
When using multiple Tools, it is good practice to implement a Tool-ID system that identies each Tool with
an unique code. Tool-ID 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 http://www.ati-ia.com/products/toolchanger/tool_
changer_modules.aspx for products available or contact ATI for assistance.
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