Manual, Signal and Control Module, SA2 SA3
Document #9620-20-C-SA2 SA3-04
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
C-11
3.2 Recommended Sequence of Operations
This recommended sequence of operations procedure is a general guide when programming a robot or PLC
for use with a Tool Changer and a control/signal module. This procedure is intended for “automatic” modes
used during normal application processes.
1. Start→ The robot and Tool Changer Master are free of the stand or storage location, the
Tool Changer is uncoupled and the Tool Changer locking mechanism may be fully retracted
(unlocked condition) or fully extended (missed Tool condition, i.e., Locked and Unlocked inputs
are false). The Tool is by itself in the Tool Stand.
a. The RTL1 and RTL2 inputs are OFF.
b. The ATI Tool and any downstream device(s) are ofine.
2. Ensure the Master is Unlocked. (The Master must be unlocked prior to entering the Tool to
prevent the ball bearings from impinging on the Tool bearing race.)
a. A pneumatic air source is sent to the “unlock” port of the Tool Changer.
b. The “lock” port of the Tool Changer should be properly exhausted.
c. The Unlocked input goes ON and remains ON, indicating that the Tool Changer locking
mechanism is fully retracted and the unlock operation is complete.
3. Robot and Master move parallel towards the Tool and are within 0.06” of the Tool (i.e., the
module contact pins are touching, the RTL sensors have sensed the targets on the Tool).
a. ‘Input’ power connections become available on the Tool.
b. The RTL1 and RTL2 inputs are ON, indicating that it is okay to couple the Tool.
c. Communications with downstream device(s) should now be established.
4. Couple the Tool Changer.
a. A pneumatic air source is sent to the “lock” port of the Tool Changer.
b. The “unlock” port of the Tool Changer should be properly exhausted.
c. The Unlocked input goes OFF a short time later, indicating piston travel. Subsequently,
the Locked input goes ON and remains ON, indicating that the coupling operation is
complete.
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