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Manual, Control and Signal 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-12

5. Robot moves away from the tool stand with the Tool Changer coupled.

6. Normal operation:

a. The following inputs are ON:

i. Locked

ii. RTL1

iii. RTL2

b. The following inputs are OFF:

i. Unlocked

7. Robot moves into the tool stand with the Tool Changer coupled.

8. Uncouple the Tool Changer. IMPORTANT: It is critical that the Tool be nested securely in

the tool stand prior to uncoupling the Tool Changer.

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 Locked input goes OFF a short time later and subsequently the Unlocked input goes

ON and remains ON, indicating that the uncoupling operation is complete.

9. Robot and Master move up and away and are at a distance greater than 0.125” from the Tool

(the module contact pins are no longer touching).

a. The RTL1 and RTL2 inputs go OFF.

b. ‘Input’ power connections become unavailable on the Tool.

c. Communications with downstream device(s) should now be lost.

10. Robot and Master in free space.