Manual ATI

Quick-Change QC-310
Robotic Tool Changer

(Application-Specific Drawing Available Upon Request)
Installation and Operation Manual

Includes:
Part Number
Description
9121-310AM-0-0-0-0
Tool ChangerMaster
9121-310DT-0-0-0-0
Tool ChangerTool
9121-Jxx-M
Air/Valve/Mounting Adapter Assembly
9121-DB10-M/T
Control & Signal ModuleMaster & Tool
9121-AB2-M/ABx-T
Air ModuleMaster & Tool
Some 3-D Model Downloads are available on our website. Contact your Account Representative for more information.
Manual #: 9610-20-1855
Engineered Products for Robotic Productivity

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
Quick-Change Installation and Operation Manual

Document #9620-20-a-general toc and introduction-06
A. Introduction ..................................................................................................................2
1.1.
Glossary of Terms ..........................................................................................3
1.2.
Safety..............................................................................................................4
1.1.1. General ........................................................................................................ 4
1.1.2. Explanation of Warnings............................................................................... 4
1.1.3. Precautions .................................................................................................. 5
1.3.
Product Overview ...........................................................................................6
1.4.
Terms and Conditions of Sale.........................................................................7
B.
Base Tool Changer
C.
Control and Signal Module
D.
Fluid Air Modules
E.
Electrical Modules
F.
High Power Modules
G.
Interface Plates
H.
Other
A-1

A.
Introduction
!
CAUTION: This manual describes the function, application, and safety considerations
of this product. This manual must be read and understood before any attempt is made
to install or operate the product, otherwise damage to the product or unsafe conditions
may occur.
Information contained in this document is the property of ATI Industrial Automation, Inc. (ATI) and shall
not be reproduced in whole or in part without prior written approval of ATI. The information herein is
subject to change without notice. This manual is periodically revised to reflect and incorporate changes
made to the product.
The information contained herein is confidential and reserved exclusively for the customers and authorized
agents of ATI Industrial Automation and may not be divulged to any third party without prior written
consent from ATI. No warranty including implied warranties is made with regard to accuracy of this
document or fitness of this device for a particular application. ATI Industrial Automation shall not be liable
for any errors contained in this document or for any incidental or consequential damages caused thereby.
ATI Industrial Automation also reserves the right to make changes to this manual at any time without prior
notice.
ATI assumes no responsibility for any errors or omissions in this document. Users critical evaluation of
this document is welcomed.
Copyright by ATI Industrial Automation. All rights reserved.
How to Reach Us
Sales, Service and Information about ATI products:
ATI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel: 919.772.0115
Fax: 919.772.8259
E-mail: info@ati-ia.com
Technical support and questions:
Application Engineering
Tel: 919.772.0115
Fax: 919.772.8259
E-mail: mech_support@ati-ia.com
A-2

1.1.
Glossary of Terms
Term
Definition
Bearing Race
Hardened steel ring in the Tool plate that is engaged by the locking balls
during the locking process.
Cam
Circular disc attached to the piston that forces the locking balls outward
during the locking process.
Cover Plate
Simple, blank closure plate on standard Quick-Change Master assemblies

which closes the pneumatic chamber.
Detection Shaft
Threaded stem inserted into the back side (top) of the Piston, functions as a
target to actuate the Lock/Unlock switches.
EIP
End-effector Interface Plate interface plate between the Tool plate and the
customers end-effector (tooling).
Electrical Module Any of a wide variety of modules that pass electrical power or signals through
the Master to the Tool and to the end-effector.
End-effector
Tool used by the robot to perform a particular function.
Lock Port
Pneumatic port on the Master plate to which air is supplied to Lock the Master
plate to the Tool plate.
L/U
Lock/Unlock sensing capability allows the customer to determine the state of

the master assembly locking mechanism.
Master Plate
The half of the Tool Changer that is mounted to a robot. The Master plate
contains the locking mechanism.
No-Touch
Design feature of all ATI Quick-Change products that allows coupling the
Master plate and Tool plate without physical contact prior to locking.
Piston
The piston located in the Master plate that actuates the locking mechanism.
Pneumatic Module Any of a wide variety of modules that pass pneumatic power through the
Master plate to the Tool plate and to the end-effector.
RIP
Robot Interface Plate interface plate between the robot flange and Master
plate.
SIP
Sensor Interface Plate used to adapt the Master plate to the robot flange. The
SIP is essentially a Robot Interface Plate that contains sensors that determine
the state (locked/unlocked/no tool) of the Master plate.
Sensor Plate
Cover plate for the back side of the Master plate, seals the pneumatic chamber
and provides mounting points for the Lock/Unlock switches.
Tool Plate
The half of the Tool Changer to which various tools or end-effectors are
mounted.
Tool Stand
Stand that holds tools not being used by the robot. This is usually supplied by
the customer and is specific to the application.
Unlock Port
Pneumatic port on the Master plate to which air is supplied to Unlock the
Master plate from the Tool plate.
A-3

1.2.
Safety
1.1.1. General
Prior to purchase and installation, the customer should verify that the Tool Changer
selected is rated for the maximum loads and moments expected during operation. Refer to
product specifications in Section 7 of each module of this manual or contact ATI for
assistance. Particular attention should be paid to dynamic loads caused by robot
acceleration and deceleration. These forces can be many times the value of static forces
in high acceleration or deceleration situations.
The customer is responsible for ensuring that the area between the Master and Tool sides
is clear of foreign objects during mating and subsequent coupling. Failure to do so may
result in serious injury to personnel.
DANGER: The gap between the Master and Tool sides is a pinch point. All personnel
should be prevented from placing any part of their body or clothing in the gap,
especially during actuation of the locking mechanism.
The customer is responsible for understanding the function of the Tool Changer and
implementing the proper hardware and/or software to operate the Tool Changer safely.
The Tool Changer should be controlled such that there is no chance of locking or
unlocking in a position that would endanger personnel and/or equipment. If the Tool
Changer is specified with Lock/Unlock (L/U) and Ready-to-Lock (RTL) sensing
capability, the status should be monitored and proper interlocks applied to prevent injury
to personnel and equipment.
All pneumatic fittings and tubing must be capable of withstanding the repetitive motions
of the application without failing. The routing of electrical and pneumatic lines must
minimize the possibility of stress/strain, kinking, rupture, etc. Failure of critical electrical
or pneumatic lines to function properly may result in injury to personnel and equipment.
All electrical power, pneumatic and fluid circuits should be disconnected during
servicing.
1.1.2. Explanation of Warnings

The warnings included here are specific to the product(s) covered by this manual. It is
expected that the user heed all warnings from the robot manufacturer and/or the
manufacturers of other components used in the installation.
Danger indicates that a situation could result in potentially serious injury or damage to equipment.
Caution indicates that a situation could result in damage to the product and/or the other system
components.
A-4

1.1.3. Precautions
DANGER: Remove all temporary protective materials (caps, plugs, tape, etc.) on locking
face of Tool Changer and modules prior to operation. Failure to do so will result in damage
to Tool Changers, modules, and end-of-arm tooling and could cause injury to personnel.
DANGER: During operation, the area between the Master and Tool must be kept clear.
DANGER: Power and air should always be removed prior to maintenance or repair.
!
!
CAUTION: The Quick-Change system must not be actuated without being mounted to the
robot interface plate. Damage to the cover plate and O-ring may result.
CAUTION: The Quick-Change system is only to be used for intended applications and
applications approved by the manufacturer.
A-5

1.3.
Product Overview
A Tool Changer enhances the flexibility and reliability of a robotic cell. Robotic Tool Changers
are used in automated Tool change applications as well as manual Tool change operations.
Robotic Tool Changers also provide a method for quick Tool change for maintenance purposes.
The Quick-Change robotic Tool Changer has been designed to incorporate high strength in a
small, low-weight package. The Tool change system consists of two primary parts: the Master
plate and the Tool plate. The Master plate is mounted to a robot while the customer supplied endeffector is typically attached to the Tool plate. The Master plate is typically mounted to the robot
with an optional interface plate (SIP or RIP).
The optional Sensor Interface Plate (SIP) plate may also be used for detecting the lock condition
of the Tool Changer and/or Tool plate presence. The use of a SIP is highly recommended for
achieving the highest level of safety and reliability
In operation, the robot can be programmed to select the desired end-effector by coupling the
Master plate to the Tool plate. Electrical signals, pneumatic power and fluids can be transferred to
the end-effector(s) through the Master plate and Tool plate by optional modules and ports. See the
respective manuals for these options for more details on their operation.
The ATI Tool Changer has been designed to provide extremely long life with little maintenance.
A-6

1.4.
Terms and Conditions of Sale

The following Terms and Conditions are a supplement to and include a portion of ATIs Standard
Terms and Conditions, which are on file at ATI and available upon request.
ATI warrants to Purchaser that robotic Tool Changer products purchased hereunder will be free
from defects in material and workmanship under normal use for a period of three (3) years from
the date of shipment. This warranty does not cover components subject to wear and tear under
normal usage or those requiring periodic replacement. ATI will have no liability under this
warranty unless: (a) ATI is given written notice of the claimed defect and a description thereof
within thirty (30) days after Purchaser discovers the defect and in any event not later than the last
day of the warranty period; and (b) the defective item is received by ATI not later ten (10) days
after the last day of the warranty period. ATIs entire liability and Purchasers sole remedy under
this warranty is limited to repair or replacement, at ATIs election, of the defective part or item or,
at ATIs election, refund of the price paid for the item. The foregoing warranty does not apply to
any defect or failure resulting from improper installation, operation, maintenance or repair by
anyone other than ATI.
ATI will in no event be liable for incidental, consequential or special damages of any kind, even if
ATI has been advised of the possibility of such damages. ATIs aggregate liability will in no event
exceed the amount paid by purchaser for the item which is the subject of claim or dispute. ATI
will have no liability of any kind for failure of any equipment or other items not supplied by ATI.
No action against ATI, regardless of form, arising out of or in any way connected with products or
services supplied hereunder may be brought more than one (1) year after the cause of action
accrued.
No representation or agreement varying or extending the warranty and limitation of remedy
provisions contained herein is authorized by ATI, and may not be relied upon as having been
authorized by ATI, unless in writing and signed by an executive officer of ATI.
Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software and
other technology made or developed by ATI in the course of providing products and services
hereunder, and all rights therein under any patent, copyright or other law protecting intellectual
property, shall be and remain ATIs property. The sale of products or services hereunder does not
convey any express or implied license under any patent, copyright or other intellectual property
right owned or controlled by ATI, whether relating to the products sold or any other matter, except
for the license expressly granted below.
In the course of supplying products and services hereunder, ATI may provide or disclose to
Purchaser confidential and proprietary information of ATI relating to the design, operation or
other aspects of ATIs products. As between ATI and Purchaser, ownership of such information,
including without limitation any computer software provided to Purchaser by ATI, shall remain in
ATI and such information is licensed to Purchaser only for Purchasers use in operating the
products supplied by ATI hereunder in Purchasers internal business operations.
Without ATIs prior written permission, Purchaser will not use such information for any other
purpose or provide or otherwise make such information available to any third party. Purchaser
agrees to take all reasonable precautions to prevent any unauthorized use or disclosure of such
information.
Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is
in the public domain when received from ATI; (b) is thereafter published or otherwise enters the
public domain through no fault of Purchaser; (c) is in Purchasers possession prior to receipt from
ATI; (d) is lawfully obtained by Purchaser from a third party entitled to disclose it; or (f) is
required to be disclosed by judicial order or other governmental authority, provided that, with
respect to such required disclosures, Purchaser gives ATI prior notice thereof and uses all legally
available means to maintain the confidentiality of such information.
A-7
Document #9620-20-B-310 Series Base Tool Changer-16
Table of Contents
B. Base Tool Changer ...................................................................................................................2
QC-310 SeriesRobotic Tool Changer .......................................................................................2
1.
Product Overview.................................................................................................................2
1.1 Master Plate Assembly ................................................................................................................. 2
1.2 Tool Plate Assembly ..................................................................................................................... 3
1.3 Optional Modules .......................................................................................................................... 3
2.
Installation ............................................................................................................................4
2.1 Master Interface ............................................................................................................................ 5
2.2 Tool Interface ................................................................................................................................ 5
2.3 Tool Stand Design......................................................................................................................... 6
2.3.1
Tool Locating Features................................................................................................. 7
2.3.2
Tool Stand Sensors ...................................................................................................... 8
2.4 Pneumatic and Electrical Connections ......................................................................................... 8
3.
Operation ..............................................................................................................................8
3.1 Coupling Sequence....................................................................................................................... 8
3.2 Fail-Safe Operation ....................................................................................................................... 9
3.3 Uncoupling .................................................................................................................................. 10
4.
Maintenance .......................................................................................................................10
4.1 Preventive Maintenance.............................................................................................................. 10
4.2 Cleaning, Lubrication, Adjustment and Replacement................................................................. 12
4.2.1
Cleaning and Lubrication of the Locking Mechanism and Alignment Pins
(Master Plate). ............................................................................................................ 12
4.2.2
Cleaning the Locking Mechanism and Alignment Pin Bushings (Tool Plate). ........... 13
4.2.3
Lock/Unlock Sensor Assembly Replacement (Units using a dual-sensor
assembly) See Figure 4.1. ......................................................................................... 13
4.2.4
Unlock sensor adjustment and replacement (Units with the Unlock sensor
mounted directly in body). See Fig. 4.2...................................................................... 14
4.2.5
Lock Sensor Assembly Replacement (Units with the Lock sensor Assembly).
See Fig. 4.2. ............................................................................................................... 15
4.2.6
Lock/Unlock Sensor Adjustment and Replacement (Units using individual
sensors). See Fig. 4.3 ................................................................................................ 16
4.2.7
RTL Sensor Replacement. See Fig. 4.4..................................................................... 17
4.2.8
Alignment Pin Replacement (7/8 Two Piece Pin Sub-Assembly)............................. 17
5.
6.
7.
8.
Troubleshooting.................................................................................................................18
Recommended Spare Parts ..............................................................................................19
Specifications.....................................................................................................................20
Drawings .............................................................................................................................21
B-1
B. Base Tool Changer

QC-310 SeriesRobotic Tool Changer
1. Product Overview
1.1
Master Plate Assembly

The Master base assembly includes an anodized aluminum body, a hardened stainless-steel
locking mechanism, and hardened steel alignment pins (see Figure 3.1).
The body or Master plate has (4) flat sides for mounting of optional modules. Flat A is
dedicated for mounting of the control/signal module along with tool changer supply air that is
provided through an air or valve adapter. Flats B, C, and D are fully interchangeable and
optional modules can be arranged to suit the application or robot dress, as required.
The locking mechanism consists of a cylindrical housing with holes that retain hardened
chrome-steel balls. Tapered pins located on the Master body mate with holes in the Tool body
to ensure repeatable alignment during the coupling process. An extreme pressure grease is
applied to the cam, male coupling, ball bearings and pins to enhance performance and
maximize life of the components.
A dual-sensor assembly is mounted into the body of the Master plate to verify the
lock/unlock position of the piston and cam. The sensors provide the lock and unlock (L/U)
signals through the control/signal module.
Two proximity sensors are designed into the body of the Master plate to verify Tool plate
presence when coupled. The sensors provide a ready-to-lock (RTL) signal through the
control/signal module.
Lock/Unlock Air Supplied Thru
Air/Valve Adapter Mounted to Flat A
Prox Sensor
(RTL Signal)
(9) Ball Bearing
Cam
Cable Retaining
Tabs
Male Coupling
(3) Common Ledge
Mounting Feature
(2) Tapered
Alignment Pin
Internal Prox Sensors
(Lock/Unlock)
[Not visible]
Prox Sensor
(RTL Signal)
Figure 1.1Master Plate Assembly
B-2
1.2
Tool Plate Assembly

The Tool base assembly includes an anodized aluminum body and a hardened stainless-steel
bearing race. The Tool plate has (4) flat sides for mounting of optional modules.
Tool Plate
(2) Alignment Pin
Bushing
Prox Sensor Target
(RTL)
Bearing Race
Prox Sensor Target

(RTL)
(4) Common Ledge

Mounting Feature
Figure 1.2Tool Plate Assembly
1.3
Optional Modules
There are (4) flats available for mounting of the optional modules for support of various
utility pass-through, such as signal, fluid/air, and power.
For assistance in choosing the right modules for your particular application, visit our website
to see what is available or contact an ATI Sales Representative directly.
In general, flat A is reserved for an air/valve adapter module and a control/signal module.
Modules for flats B, C, or D are interchangeable to suit the application or the dress-out
required.
The optional modules are mounted to the Master or Tool plate using a common ledge
mounting feature. Only (2) M6 SHCS fasteners need to be unscrewed in order to remove the
module from the Master/Tool plate. A secondary mounting support, called a cleat, is
factory-installed to the Master and Tool plate on each flat that is occupied with a module. The
cleats provide additional module support for those situations when hoses or cables may
inadvertently be snagged or pulled and may otherwise result in damage to the module.
If modules are added to a tool changer in the field, then the Master and Tool plates may have
to be uninstalled to facilitate the cleat installation.
B-3
2. Installation
All fasteners used to mount the tool changer to the robot and to user Tools should be tightened to a
torque value as indicated below. Furthermore, removable (blue) Loctite 242 must be used on
these fasteners.
CAUTION: Care should be taken to select fasteners for mounting that are not too long,
such that a gap is formed at the interface.
Mounting conditions
Fastener Size and

Property Class
Recommended
Torque
Master Plate to Robot Interface Plate (6061-T6 aluminum)
M16-2.0
225 N-m
Minimum thread engagement of 24mm (0.94)

[1.5X fastener ].
Class 12.9
(165 ft-lbs.)
Master Plate to Robot Interface Plate (6061-T6 aluminum)
M12-1.75
95 N-m

[1.5X fastener ].
Class 12.9
(70 ft-lbs.)
M16-2.0
225 N-m

[1.0X fastener ].
Class 12.9
(165 ft-lbs.)
Master Plate to Robot (steel; USS 90KSI)
M12-1.75
95 N-m

[1.0X fastener ].
Class 12.9
(70 ft-lbs.)
M16-2.0
225 N-m
Class 12.9
(165 ft-lbs.)
M12-1.75
94 N-m
Class 12.9
(70 ft-lbs.)
M10-1.5
52 N-m
Class 12.9
(38 ft-lbs.)
M10-1.5
52 N-m
Class 12.9
(38 ft-lbs.)
Master Plate to Robot (steel; USS 90KSI)
End-effector Interface Plate (aluminum) to Tool Plate

(7075-T6 aluminum)
Thread engagement of 21mm (0.83)
[1.3X fastener ].
(7075-T6 aluminum)
[1.5X fastener ].
(7075-T6 aluminum)
[1.5X fastener ].
Tool Plate to End-effector Interface Plate (6061-T6
aluminum)
[1.5X fastener ].
B-4
2.1
Master Interface
The Master assembly is attached to the robot arm. The Master plate is designed with
mounting features such as a boss and/or bolt and dowel holes. These features are used to
accurately position and secure the Master to the robot. A robot interface plate (RIP) is utilized
to adapt the Master plate to a specific robot flange that is not compatible with the Master
plate mounting features. Custom RIPs are available upon request. (Refer to drawings in
Section B-8 of this manual for technical information on mounting features.)
Robot Arm
Mounting Fasteners
and Dowel Pin
Customer Supplied
Master Plate
Tool Plate
Tool Interface Plate,
Fasteners and Dowel Pins
Customer Supplied
Figure 2.1Typical Installation (QC-502 Shown)
If the customer chooses to design and build a robot interface plate, the following should be
considered:
The interface plate should be designed to include bolt holes for mounting, dowel pins
and a boss for accurate positioning on the robot and Master plate.
The thickness of the interface plate must be great enough to provide the necessary
thread engagement for the mounting bolts.
The interface plate must be properly designed to provide rigid mounting to the
Master plate boss area.
The plate design should take into account clearances required for tool changer
module attachments and accessories.
2.2
Tool Interface
The Tool plate is attached to customer-supplied tooling. The Tool plate is designed with
mounting features such as a recess and/or bolt and dowel holes. These features are used to
accurately position and secure the end-effector. Most often an end-effector interface plate is
B-5

utilized to adapt the Tool plate to an end-effector that is not compatible with the Tool plate
mounting features. Custom end-effector interface plates can be supplied by ATI to meet
customer requirements (see Figure 2.1) (refer to the application drawing).
When the customer chooses to design and build an end-effector interface plate, the following
should be considered:
The interface plate should be designed to include bolt holes for mounting, dowel
pins, and a boss that mates with Tool body recess for accurate positioning.
When using a locating boss, the race cover must be removed.
The thickness of the interface plate must be great enough to provide the necessary
thread engagement for the mounting bolts.
The plate design should take into account clearances required for tool changer
module attachments and accessories.
The interface plate should be designed with a hole in its center to allow for manually
returning the locking mechanism to the unlocked position under adverse conditions
(i.e. unintended loss of power and/or air pressure). The center access hole should be
kept small [minimum recommended hole diameter: 25.4mm (1)] to prevent
debris from contaminating the locking mechanism while operating in dirty
environments. Even greater protection will result if the center standard race cover
with removable access plug is used. [Note: Thru hole diameter in plate: 14.3mm
(.563). Grommet outside diameter: 22.5mm (.88)].
2.3
Tool Stand Design
CAUTION: Tool stand design is critical to proper operation of the tool changer. Improperly
designed tool stands can cause misalignments that will cause jamming and/or excessive
wear of tool changer components.
CAUTION: During coupling and lock-up the tool stand must allow for movement (float) in a
plane parallel to the mating surfaces of the Master plate and Tool plates, and in a direction
perpendicular to this plane, towards the Master plate.
In most cases, the Tools are stored in a tool stand when not being used by the robot. During
coupling and lock-up, the tool stand must allow for movement (float) in a plane parallel with
the mating surfaces of the Master plate and Tool plates (X and Y). Even slight misalignment
between the Master plate and Tool plate can generate high forces during lock-up if the Tool
plate is not allowed to float into place during lock-up. These high forces can cause excessive
wear and even jamming of the end-effector and robot. The degree of float required depends
on the accuracy of the robots positioning and the repeatability of the Tool location in the tool
stand during lock-up. See Figure 2.2 and Table 2.3 for recommended maximum allowable
float (offsets) prior to coupling. The tool stand should be designed to minimize misalignment
during coupling and uncoupling. In some cases, greater offsets than shown in Table 2.3 can
be accommodated by the Master and Tool plates, but will increase wear.
Ideally, the Tool should be hanging vertically in the tool stand so that gravity acts to
uncouple the Tool plate from the Master plate during unlocking. It is possible to design tool
stands that hold Tools in the horizontal position, but care must be taken that the necessary
compliance is provided during coupling and uncoupling. In general, horizontal-position
tool stands cause more wear on the locking mechanism and locating features of the Tool and
tool stand.
B-6

Lock-up should occur with the Master plate in the No-Touch Locking zone (see Table 2.3),
but not touching the Tool plate. As locking occurs, the Master plate should draw the Tool
plate into the locked position.
Tool stands may also need to incorporate means for covering Tools and electrical modules to
protect them in dirty environments, such as grinding or welding. Alternatively, locating tool
stands in areas shielded from weld spatter, fluids, adhesives, or other debris would eliminate
the need for tool covers.
Cocking Offset
(About X and Y)
X, Y and Z Offset
Figure 2.2Offset Definitions
Model
No-Touch Zone
Z Offset (Max)*
(mm)
X and Y Offset
(Max)
(mm)
Cocking Offset
(Max)
(degrees)
Twisting Offset
(Max)
(degrees)
QC-310
2.5
0.7
Table 2.3Maximum Recommended Offsets Prior to Coupling

Notes: * Maximum values shown. Decreasing actual values will minimize wear during
coupling/uncoupling.
Actual allowable values may be higher in some cases but higher offsets will increase wear during
coupling.
2.3.1
Tool Locating Features

The Tool must be positively and repeatably located in the tool stand. A variety of
methods may be used to accomplish this. Whatever method is chosen, it is important
that the required compliance or float be built into the locating system. A common
method is to use tapered dowel pins in holes. As the Tool plate is lifted during
locking, the taper lets the Tool float into its locked position even with small
deviations in robot position.
Other Tool locating feature methods include balls and detents, dowel pins in
notched V-grooves, etc. Please consult ATI for recommendations or assistance with
locating feature design for your particular tooling.
B-7

Straight cylindrical dowel pins should not be used as they provide too much surface
engagement. During coupling and uncoupling the Tool can bind on these pins due to
misalignment of the Master and Tool plates.
Robot programming and locational repeatability are vital in Tool pick-up and dropoff.
2.3.2
2.4
Tool Stand Sensors

It is highly suggested that the customer provide a sensor that detects the presence of
a properly seated Tool in the tool stand. The sensor may be used prior to coupling to
ensure there is a Tool properly seated in the stand. Sensors may also be used as the
robot starts to move away after uncoupling. This provides a fail-safe measure in the
event that a Tool should become jammed in the stand or if the Tool should fail to
release properly from the robot.
Proximity sensors should be located so that the sensing face is vertical to prevent
metal shavings, weld spatter or other debris from falling on the sensor and creating
false readings.
Pneumatic and Electrical Connections

The air supply used for coupling and uncoupling the tool changer should be clean, dry, and
non-lubricated. A supply pressure in the range of 60 to 100 psi is acceptable for operation of
the locking mechanism, with a setting of 80 psi suggested. The air should be filtered 50
micron or better.
CAUTION: Do not use the tool changer in the fail-safe condition for extended periods
of time. Do not transport the tool changer in the fail-safe condition. Possible damage to
the locking mechanism could occur.
3. Operation
The Master locking mechanism is pneumatically-driven to couple and uncouple with the bearing
race on the Tool plate. The Master plate utilizes air ports from a signal control module or air supply
block to provide lock and unlock pressure to the locking mechanism.
CAUTION: Safe, reliable operation of the tool changer is dependent on a continuous

supply of compressed air at a pressure of 60 to 100 PSI. Robot motion should be
halted if the air supply pressure drops below 60 PSI for any reason.
ATTENTION: All tool changers are initially lubricated using MobilGrease XHP222 Special
grease. The end user must apply additional lubricant to the locking mechanism components
and alignment pins prior to start of service (See Section 4.2). Tubes of lubricant for this
purpose are shipped with every tool changer. Note: MobilGrease XHP222 Special is a NLGI
#2 lithium complex grease with molybdenum disulfide.
3.1
Coupling Sequence
CAUTION: The locking mechanism must be in the unlock position when attempting to
couple the tool changer. Failure to adhere to this condition may result in damage to
the unit and/or the robot.
Position the Master above the Tool and move the Master into locking position. The mating
surfaces of the Master and Tool should be parallel and not touching. Make sure that the
B-8

tapered alignment pins from the Master enter the alignment holes on the Tool. The alignment
pins should be relatively concentric with the alignment holes such that they do not rub against
the edge.
The locking mechanism allows the Master to pull up the Tool with relatively large gaps
between the two sides. It is recommended that the mating faces of the Master and Tool not be
touching, but be within 0.04 (1 mm) of each other when coupling to minimize stress and
wear on the locking mechanism.
RTL (Ready-To-Lock) sensing is built into the tool changer, providing the ability to sense
Tool proximity to the Master prior to locking. The mating faces of the Master and Tool must
be positioned within approximately 0.0550.065 (1.401.65mm) of each other for the
sensors to detect Tool presence. RTL signals are not required to couple the tool changer, but
are recommended as a further confirmation of coupling prior to removing the Tool from the
tool stand.
CAUTION: No-TouchTM locking technology allows the unit to couple with a separation
distance between the Master and Tool. Direct contact of the Master and Tool mating
surfaces is not suggested or required just prior to coupling. Contact may result in
damage to the unit and/or the robot.
Verify that the RTL signals are read as on (true).

Turn the Lock command on. Air is supplied to the locking mechanism to couple the tool
changer.
A sufficient delay must be programmed between the Lock command being activated and
reading the state of the Locked/Unlocked signals, so that the locking process is completed
before checking the locked state.
Read the Locked and Unlocked signals.
The Locked signal should read on (true) and the Unlocked signal should read off (false).
If the locking mechanism has been actuated and both the Locked and Unlocked signals are
read as off (false), then a missed tool condition has occurred (for example, the Tool is not
in the stand or is not positioned properly). In this case, an error should be generated and
the robot program halted. The situation requires manual inspection to determine the cause
of the problem.
The locking mechanism must be in the Unlocked state before another attempt is made to
couple or damage could occur to the robot and/or the tool changer.
3.2
Fail-Safe Operation
In the event of air supply loss to the locking mechanism, the tool changer will not uncouple.
A slight separation between the Master and Tool plates occurs just after air loss, but at this
point the locking balls become trapped and cannot move without air pressure being applied to
the Unlock port. This feature provides the tool changer with a fail-safe mechanism.
ATIs patented fail-safe design prevents the Tool plate from being released in the event of
air-pressure loss to the Lock port, thereby increasing safety and reliability. Positional
accuracy may not be maintained during air loss but will be regained once air pressure is reestablished to the Lock port.
B-9
!
3.3
CAUTION: Do not use the tool changer in the fail-safe condition for extended periods
of time. Do not transport the tool changer in the fail-safe condition. Possible damage to
the locking mechanism could occur.
Uncoupling
The tool changer should be positioned in the Tool Stand in the same location as that when
coupling took place.
CAUTION: This tool changer may be equipped with a Tool Stand Interlock (TSI)
feature that physically breaks the Unlock solenoid circuit. Use of the TSI will prevent
any unwanted Unlock software commands from being recognized until the circuit is
made.
Turn the Lock output off (for double solenoid valve versions).
Issue the Unlock command. Air is supplied to the locking mechanism to uncouple the tool
changer.
A sufficient delay must be programmed between Unlock command being activated and
reading the state of the Locked/Unlocked signals, so that the locking process is completed
before checking the locked state.
Read the Locked and Unlocked signals.
The Unlocked signal should read on (true) and the Locked signal should read off (false).
Any other condition indicates a problem and the robot program should be halted.
Once the Lock and Unlock signals are verified to be 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 for coupling and subsequent
operations.
4. Maintenance
ATTENTION: The cleanliness of the work environment strongly influences the trouble-free
operation of the changer. The dirtier the environment, the greater the need for protection
against debris. Protection of the entire EOAT, the master, the tool and all of the modules may
be necessary. Protective measures include the following: 1) placement of tools stands away
from debris generators, 2) covers incorporated into the tool stands (see Section 2.3) and 3)
guards, deflectors, air curtains and similar devices built into the EOAT and the tool stand.
4.1
Preventive Maintenance
The tool changer and optional modules are designed to provide a long life with regular
maintenance required.
A visual inspection and preventative maintenance schedule is provided in the table below
depending upon the application.
Detailed assembly drawings are provided in Section B-8 of this manual.
B - 10

ATTENTION: All tool changers are initially lubricated using MobilGrease XHP222 Special
grease. The end user must apply additional lubricant to the locking mechanism components
and alignment pins prior to start of service (See Section 4.2). Tubes of lubricant for this
purpose are shipped with every tool changer. Note: MobilGrease XHP222 Special is a NLGI
#2 lithium complex grease with molybdenum disulfide.
Application(s)
General Usage
Material Handling
Docking Station
Welding/Servo/
Deburring, Foundry
Operations
(Dirty Environments)
Tool Change
Frequency
Inspection
Schedule
> 1 per minute
Weekly
< 1 per minute
Monthly
All
Weekly
Checklist
Balls/Alignment Pins/Holes/Bearing Race
Inspect for lubrication and wear. A NLGI #2, lithium-based grease with molybdenum disulfide
additive is suggested for locking mechanism and alignment pin lubrication. Over time, lubricants
can become contaminated with process debris. Therefore, it is recommended to thoroughly clean
the existing grease and replace with new as needed. See Section 4.2.
Excessive alignment pin/bushing wear may be an indication of poor robot position during
pickup/drop-off. Adjust robot position as needed. Check tool stand for wear and alignment
problems.
Wear on the balls/bearing race could be an indication of excessive loading.
Mounting Hardware/Interface Connections
Inspect for proper torque and interference or wear, abrasions, cuts of hoses, and electrical cables.
Tighten and correct as required.
O-rings/Rubber Bushings
Inspect for wear, abrasion, and cuts.
Exposed o-rings and rubber bushings may be subject to damage during normal operation.
Replace damaged o-rings and rubber bushings as needed.
Electrical Contacts
Inspect for wear and abrasion.
Exposed contacts may be subject to damage during normal operation.
Clear debris from the area of the contacts using compressed air.
Do not directly clean contacts as abrasion may occur and the performance of the contact may be
compromised.
B - 11
4.2
Cleaning, Lubrication, Adjustment and Replacement

4.2.1
1.
2.
Cleaning and Lubrication of the Locking Mechanism and Alignment Pins

(Master Plate).
The locking mechanism must be in the unlock state before cleaning.
Use a clean rag to thoroughly remove the existing lubricant and debris from the
balls, the male coupling, the cam and the alignment pins.
Cleaning balls and outer surfaces of male

coupling.
3.
Cleaning balls, cam and inner surfaces of

male coupling.
Check each ball to make sure it moves freely in the male coupling. Additional
cleaning may be necessary to free up any balls that are sticking in place.
B - 12

4.
Apply a liberal coating of lubricant to the balls, the male coupling (inside and out),
and the alignment pins.
4.2.2
Cleaning the Locking Mechanism and Alignment Pin Bushings (Tool Plate).
1. Use a clean rag to thoroughly remove any lubricant and debris from the bearing
race and the bushings.
2. No re-lubrication is necessary on the Tool Plate components.
4.2.3
Lock/Unlock Sensor Assembly Replacement (Units using a dual-sensor

assembly) See Figure 4.1.
[Lock/Unlock sensor assembly P/N: 9005-20-1331 (PNP)]
1. Unplug the sensor cable connectors from lock and unlock sensors.
2. Remove the two (2) M4 socket head cap screws that secure the assembly to the
Master body.
3. Slide the sensor assembly out and discard.
B - 13

CAUTION: The Lock/Unlock sensor assembly is precision aligned and
permanently assembled at the factory. Do not attempt to disassemble and re-build.

Over tightening the proximity sensor or the jam nut will cause severe damage to the
Master.
Lock/Unlock sensor assembly
Figure 4.1Lock/Unlock sensor assembly.

S/N QM1500 and higher.
4. Apply Loctite 222MS to the M4 socket head cap screws supplied with the new
sensor assembly.
5. Slide the assembly into position and secure it to the Master body by tightening
the M4 screws to 30 in-lb of torque.
6. Re-attach cables.
7. Confirm operation of the Unlock sensor by issuing the Unlock command and
verifying that the LED in the Unlock sensor body is on.
8. Confirm operation of the Lock sensor by issuing the Lock command to lock a
Tool to the Master and verifying that the LED in the Lock sensor body is on.
4.2.4
Unlock sensor adjustment and replacement (Units with the Unlock sensor
mounted directly in body). See Fig. 4.2
Note: Do not undertake Unlock sensor adjustment until proper operation of the
sensor has been confirmed. This requires removing the sensor from the
Master and testing it separately from the EOAT.
CAUTION: Over tightening the Unlock proximity sensor or the jam nut will cause
severe damage to the Master.
Note:
1.
2.
3.
4.
When adjusting the unlock sensor the Master must be separated from the
Tool and in the unlocked condition.
Unplug the sensor cable from the Lock sensor.
Loosen jam nut with 13mm socket or standard pliers.
Turn proximity sensor clockwise until the LED in the sensor body comes on.
Turn the proximity sensor clockwise another 1/4 turn (90 degrees).
B - 14

5.
6.
Tighten jam nut to 20 in-lb of torque.

Confirm operation of the Unlock sensor by issuing the Unlock command and
verifying that the LED in the Unlock sensor body is on.
Unlock sensor
Jam nut
Lock sensor assembly

Figure 4.2Unlock sensor in body and Lock sensor assembly.
S/N QM1000 thru QM1499.
4.2.5
Lock Sensor Assembly Replacement (Units with the Lock sensor Assembly).
See Fig. 4.2.
[Lock Sensor Assembly P/N: 9005-20-1310 (PNP)]
Note: It may be necessary to loosen and rotate the jam nut on the Unlock sensor to
allow the Lock sensor assembly to be removed.
1.
Unplug the sensor cable from the Lock sensor.
2.
Remove the two (2) M3 socket head cap screws that secure the assembly to
the Master body.
3.
Slide the sensor assembly out and discard.
CAUTION: The Lock sensor assembly is precision aligned and permanently

assembled at the factory. Do not attempt to disassembly and re-built.
Over tightening the proximity sensor or the jam nut will cause severe damage to the
Master.
4.
5.
6.
7.
8.
Apply Loctite 222MS to the new M3 socket head cap screws supplied with
the new sensor assembly.
Attach the new assembly to the Master body by tightening the M3 screws to
12 in-lb of torque.
Re-attach sensor cable.
Confirm operation of the Lock sensor by issuing the Lock command to lock a
Tool to the Master and then checking to see that the LED in the Lock sensor
body is on.
If necessary, re-tighten the jam nut on the Unlock sensor.
B - 15
Unlock sensor
Jam nut
Lock sensor
Jam nut
Figure 4.3Lock and Unlock sensors in body.

S/N QM0000 thru QM1000.
4.2.6
Lock/Unlock Sensor Adjustment and Replacement (Units using individual

sensors). See Fig. 4.3
Note: Do not undertake this adjustment until proper operation of the sensor has
been confirmed. This requires removing the sensor from the Master and
testing it separately from the EOAT.
CAUTION: Over tightening the proximity sensor or the jam nut will cause severe
damage to the Master.
Note: When adjusting the lock sensor the Master must be locked to the Tool.
When adjusting the unlock sensor the Master must be separated from the
Tool and in the unlocked condition.
1. Loosen jam nut with 13mm socket or standard pliers.
2. Turn proximity sensor clockwise until the LED in the sensor body comes on.
3. Turn the proximity sensor clockwise another 1/4 turn (90 degrees).
4. Tighten jam nut to 20 in-lb of torque.
B - 16
RTL Sensor (1 of 2)
Figure 4.4RTL sensor
4.2.7
RTL Sensor Replacement. See Fig. 4.4

1.
Unplug the cable from the RTL sensor.
2.
Loosen the jam nut securing the sensor to the master body.
3.
Remove the sensor from the master and discard.
4.
Screw the new sensor into the master body until the face of the sensor is
flush with the surrounding face of the master body. Use a socket and a
torque wrench to tighten the jam nut to 20 in-lbs of torque.
5.
Attach the cable to the new RTL sensor.
6.
Confirm operation of the new sensor by bringing a metallic object into close
proximity to the face of the sensor and watching for the LED in the body of
the sensor to come on.
4.2.8
Alignment Pin Replacement (7/8 Two Piece Pin Sub-Assembly)

1.
Unscrew the alignment pin sub-assembly from the master plate using a 4mm
hex key. Note: If for any reason the pin cannot be removed using the hex
socket in the tip it may be necessary to remove it by other means such as
Vise Grip pliers. Another approach is to use the access hole in the back side
of the master plate. In this case a 4mm hex key will be needed.
2.
Once the alignment pin has been removed verify that the sub-assembly (pin
and set screw) is intact. If the set screw portion of the sub-assembly did not
come out it will be necessary to remove it separately using the access hole in
the back side of the master plate.
3.
Apply Loctite 242 (or similar thread locking compound) to the M8 set
screw in the new alignment pin.
4.
Install the alignment pin into the bushing and screw it into place. Apply 60
in-lb of torque to fully tighten it.
B - 17
5. Troubleshooting
Check these conditions for all symptom prior to troubleshooting:
Proper pneumatic and electrical connections have been made to the Quick-Change
Air is supplied at a minimum of 60psi (4.1 Bar).
No air or vacuum can be trapped in a de-energized Lock or Unlock Port (pressure must be
vented to atmosphere).
Symptom
Unit will not lock or unlock
Cause
The ball bearings and/or cam are
not moving freely in the male
coupling.
Clean and lubricate as needed to

restore smooth operation (see
Section 4 - Maintenance).
The control module is not operating

correctly.
Check the troubleshooting section

of the manual for the specific
module.
Check that the Tool is properly
seated in the Tool Stand.
Re-teach the robot to bring the
Master and Tool closer together
prior to attempting to lock.
Check that the Tool is properly
seated in the tool stand.
Re-teach the robot to bring the
Master and Tool closer together
prior to attempting to lock.
Check that both RTL sensors are
not damaged. Replace damaged
RTL sensors as necessary.
Check all cables for damage and
that they are connected properly to
the signal control module. Replace
damaged cables as necessary.
Replace Lock sensor or Sensor
Assembly as necessary (see
Replace the Lock sensor or Sensor
Assembly as necessary.
The Master and Tool are not within

the specified No-Touch zone when
attempting to lock.
Ready-To-Lock (RTL) sensors not

activated indicating Tool is not
positioned properly
Unit is locked but Lock signal

does not read on (true).
Lock sensor is damaged.
Lock sensor is out of position.

Unit is unlocked but Unlock
signal does not read on
(true).
Resolution
Unlock sensor is damaged.
Unlock sensor is out of position
Replace Unlock sensor Or Sensor

Assembly as necessary (see
Replace Unlock sensor or Sensor
Assembly as necessary.
B - 18
6. Recommended Spare Parts

Assembly
Master Plate
Tool Plate
Part Number
Description
9121-310AM-0-0-0-0
Complete QC-310 Master Plate, No Options
9005-20-1141
7/8 Two Piece Alignment Pin
9005-20-1198
Master Cleat Assembly
9005-20-1334
Tool Back Cover Plate for QC-310
9121-310DT-0-0-0-0
Complete QC-310 Tool Plate, No Options
9005-20-1199
Tool Cleat Assembly
4010-000020-01
Grommet Seal
PNP (-SG)
Sensors /
Sensor
Assemblies
Superseded by PNP with LED Cables (-SL) Below
PNP with LED Cables (-SL)

All Sensors / Sensor Assemblies Same as for PNP (-SG)
8590-9909999-34
PNP Proximity Sensor (RTL)
8590-9909999-69
L/UL Cable Straight Snap-On to Right Angle Screw
8590-9909999-70
Pico Cordset; Straight Snap-On to Right Angle Screw
Units Using a Lock/Unlock Sensor Assembly

9005-20-1331
PNP Lock/Unlock Sensor Assembly
Units Using Lock Sensor Assembly and Individual Unlock Sensor

9005-20-1310
PNP Sensor Assembly (Lock)
8590-9909999-34
PNP Proximity Sensor (Unlock)
Units Using individual Lock and Unlock Sensors

8590-9909999-34
PNP Proximity Sensor (Lock & Unlock)
NPN with LED Cables (-SE)
8590-9909999-120
NPN Proximity Sensor (RTL)
8590-9909999-121
NPN L/UL Cable Straight Snap-On to Right Angle Screw
8590-9909999-122
NPN Pico Cordset; Straight Snap-On to Right Angle Screw
9005-20-1627
NPN Lock/Unlock Sensor Assembly
AC (-SC)
9000-20-1077
9000-20-1078
A/C Proximity Sensor/Cable Assembly (RTL1)

A/C Proximity Sensor/Cable Assembly1 (RTL2)
Units Using a Lock/Unlock Sensor Assembly

9005-20-1333
A/C Lock/Unlock Sensor/Cable Assembly
Units Using a Lock Sensor Assembly and Individual Unlock sensor
9005-20-1312
A/C Proximity Sensor/Cable Assembly (Lock)
9000-20-1076
A/C Proximity Sensor/Cable Assembly (Unlock)
Units Using Individual Lock and Unlock Sensors

9000-20-1076
A/C Proximity Sensor/Cable Assembly (Lock & Unlock)
B - 19
7. Specifications
Master and Tool Plates
Suggested Payload Limit
1120 lbs. (500kg)
Operating Temperature Range
-20 to 150F
(-30 to 66C)
Operating Pressure Range
60100psi
(4.16.9bar)
Locking mechanism supply pressure operating

range. Supply to be clean, dry, and filtered to 50
micron or better.
Coupling Force @ 80psi
7940 lbs.
(3600 kg)
Axial holding force.
Static Moment Capacity (x, y)
29100 in-lb
3870 (Nm)
Maximum recommended working load for

optimum performance of the tool changer.
28000 in-lb
3164 (Nm)
Torsion
Positional Repeatability
0.0006 in.
(0.015mm)
Repeatability tested at rated load at one million

cycles.
Weight (coupled, no access.)
45 lbs. (20.4 kg)
Master 12.7 kg / Tool 7.7 kg
Max. Recommended distance

between Master and Tool
Plate
0.10 in.
(2.5mm)
No-TouchTM locking technology allows the

Master and Tool plates to lock with separation
when coupling.
Sensor Information, signal

name
L/U
(Lock/Unlock)
Internal proximity sensors (2) with quickdisconnect for wiring to the control/signal
module to indicate locking mechanism position.
RTL
(Ready-To-Lock)
Proximity sensor with quick-disconnect for

wiring to control/signal module to indicate
Master and Tool mating surfaces within close
proximity of each other.
Master Plate
Meets ISO 9409-1-A200
(z)
The mass attached to the tool changer.
Mounting/Customer Interface
Also Supports ABB Super-ISO Pattern

Tool Plate
Meets ISO 9409-1-A200

Also Supports (6) Fasteners on ABB Super-ISO
Pattern
B - 20
8. Drawings
B - 21
B - 22
B - 23

Document #9620-20-c-db10-04
Table of Contents
C. Control and Signal Modules .......................................................................................3
DB10DeviceNet Module ...............................................................................................3
1. Product Overview .................................................................................................3
1.1 DeviceNet Module .....................................................................................3
2. Installation ............................................................................................................5
2.1 Installing ....................................................................................................5
2.2 Removal ....................................................................................................5
2.3 DeviceNet Configuration............................................................................5
2.4 Utility Schematic ........................................................................................5
3. Product Information ..............................................................................................6
3.1 Master Module Node .................................................................................6
3.1.1
3.1.2
3.1.3
3.1.4
3.1.5
MAC ID ................................................................................................................. 6
Baud Rate ............................................................................................................. 6
Termination Resistor ............................................................................................ 6
Module Status LED ............................................................................................... 7
Network Status LED ............................................................................................. 8
3.2 Arc Prevention Circuit ................................................................................8

3.2.1 Arc Prevention Circuit Behavior During Coupling ................................................. 8
3.2.2 Arc Prevention Circuit Behavior During Uncoupling ............................................. 9
3.3 Tool Module Node ...................................................................................10

3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.3.7
MAC ID ............................................................................................................... 10
Baud Rate ........................................................................................................... 10
Termination Resistor .......................................................................................... 10
Tool-ID (Tool Node Only).................................................................................... 11
Module Status LED ............................................................................................. 12
Network Status LED ........................................................................................... 12
Quick Connect .................................................................................................... 12
3.4 Tool-Side TSI ..........................................................................................12

3.4.1 TSI Overview ...................................................................................................... 12
3.5 Software ..................................................................................................15

4. Operation ...........................................................................................................16
5. Maintenance ......................................................................................................16
6. Troubleshooting .................................................................................................17
7. Recommended Spare Parts ...............................................................................17
8. Specifications .....................................................................................................18
9. Drawings ............................................................................................................19
Appendix A ..............................................................................................................21
C-1

Glossary of Terms
TERM
DEFINITION
Auxiliary Power
Available
An input indicating the presence of Auxiliary Power Supply to the ATI Master module.
EOAT
End-Of-Arm-Tool (end effector).
Latch
The output supplied to the ATI Master DeviceNet node to couple the Tool Changer (only
valid for double solenoid valve equipped units).
Lock
A proximity sensor input indicating that the coupling mechanism is in the Lock position.
RTL
A proximity sensor input that senses when the ATI Tool is close.
RTL Relay
A relay circuit present on the ATI Master module that is triggered by the RTL sensor and
allows the Tool Changer to be uncoupled when there is no Tool present.
RTLV
A control reliable input provided for health status monitoring of the RTL Relay.
Solenoid Energized
An input indicating current draw from the valve and the solenoid coil.
TSI
The Tool Stand Interlock feature is a custom ATI safety solution and circuit designed to only
allow Tool Changer release while in the stand or storage location.
TSI Relay
A relay circuit present on the ATI Tool module that is triggered by a tool stand limit switch in
order to close the TSI circuit and allow Tool Changer release.
TSIV
A control reliable input supported for monitoring of a tool stand limit switch used with the
TSI circuit.
TSRV
A control reliable input provided for health status monitoring of the TSI Relay.
Unlatch
The output supplied to the ATI Master DeviceNet node to uncouple the Tool Changer.
Unlock
A proximity sensor input indicating that the coupling mechanism is in the Unlock position.
C-2

C. Control and Signal Modules

DB10DeviceNet Module
1. Product Overview
1.1 DeviceNet Module
The DeviceNet modules are required to provide a means for the customer to communicate with and
control the Tool Changer. Refer to Section 3 of this manual for detailed DeviceNet programming
information and operational capability.
A single or double solenoid valve is provided with the master valve adapter for Lock/Unlock control of
the Tool Changer. The user is only required to provide a pneumatic supply source to the Tool Changer.
Power and signal connectors are provided for interfacing on the Master and Tool modules. When the
Tool Changer is coupled, the Master and Tool modules pass signals using a spring-loaded pin block. A
flexible boot surrounds the pin block to seal the connection from moisture and liquid while coupled.
The DB10 module is designed with special features to afford the user the opportunity to operate the
tool changer in the safest manner possible. In addition to providing the standard Lock, Unlock, and
Ready-to-Lock sensor inputs, the modules are outfitted with Tool Stand Interlock (TSI). The TSI
feature consists primarily of a physical break in the unlatch solenoid valve circuit. The TSI circuit is
designed to allow tool changer release ONLY when the tool is in the stand or storage location. Refer to
Section 3.4 for more information regarding TSI.
The Tool module employs a series of thumbwheel switches for setting of the Tool-ID input. This
allows the customer to distinguish between the different Tools that are being used in a robotic cell or on
a production line. See Section 3.5 for DeviceNet bitmap and I/O information.
The DB10 Module also incorporates ATIs exclusive Arc Prevention Circuit which extends the life of
all electrical power contacts by eliminating arcing caused by inductive loads and high inrush current
during coupling/uncoupling. Refer to Section 3.2 for additional information regarding the Arc
Prevention Circuit.
C-3

Auxiliary Power
Connector
DeviceNet
Connector
Master-ID/DIP Switch
Located on board
In module
Lock/Unlock/RTL
Sensor Connections
(RTL Sensors in Series)
DB10 Master
Spring-loaded Pin Block

And Rubber Seal
Common Ledge
Mounting Feature
Downstream
DeviceNet
Connector
DB10 Tool
TSI Connector
Downstream
Aux. Power
Connector
Tool-ID/DIP Switch
Located on board
In module
Figure 1.1DB10 DeviceNet Module
C-4

2. Installation
The control/signal modules are typically installed by ATI prior to shipment. The steps below outline the field
installation or removal as required.
2.1 Installing
1.
2.
3.
4.
It may be necessary to clean the mounting surface on the Tool Changer prior to installing the
module in order to remove any debris that may be present.
Typically, proximity sensor and valve cables need to be connected to the Master side control
module. These connections need to be made after fastening the module to the Master Plate.
Align the module to the holes in the Tool Changer mounting surface using the dowels that are
pressed into the module housing. Push the module up flush with the Tool Changer mounting
surface.
Apply Loctite 242(or similar) thread locker to the socket head cap screws and tighten using a hex
key. Avoid over tightening so that the threads are not stripped in the Master/Tool Plates.
2.2 Removal
1.
2.
All customer connections up to the module need to be disconnected.

Remove the socket head cap screws and pull the module off the Tool Changer.
2.3 DeviceNet Configuration

Various parameters for the DeviceNet modules need to be configured prior to operating the Tool
Changer. Please refer to Section 3 of this manual for detailed information on installation and operation
of the DeviceNet modules.
2.4 Utility Schematic

Refer to drawings in Section 9 of this manual for customer interface and wiring details for the DB10
modules.
CAUTION: All pneumatic fittings and tubing must be capable of withstanding the
repetitive motions of the application without failing. The routing of electrical and
pneumatic lines must minimize the possibility of stress pullout, kinking, etc. Failure of
some critical electrical and/or pneumatic lines to function properly may result in injury
to personnel and equipment.
C-5

3. Product Information
The DB10 modules enable the customer to control and communicate with the Tool Changer through a network
using standard DeviceNet protocol (www.odva.org). A DeviceNet node is established on the Master module,
but not on the Tool. Control of the Tool Changer is realized through the Master Node along with the reporting
of various Tool Changer I/O. The Tool module supports Tool-ID reported through the Master and functions as
a pass-through for DeviceNet and Auxiliary Power signals to downstream equipment.
The DB10 modules employ standard Mini connectors, 5-pin for DeviceNet communications and power and 4-pin
for Auxiliary Power. Please refer to drawings in Section 9 for specific module wiring and connector interface
information.
Prior to using the Tool Changer and the DeviceNet modules, various hardware settings must be configured.
Communicating with the DeviceNet Modules requires knowledge of DeviceNet standards and operation.
3.1 Master Module Node

The Master Node operates as a Group 2-Only Server on the DeviceNet network. The Master Node
supports Explicit Messages, Polled, Strobe and Change of State/Cyclic of the predefined Master/Slave
Connection set. The Master Node supports Quick Connect operation as defined by ODVA (refer to the
EDS file for specific information). The Master Node does not support the Unconnected Message
Manager (UCMM). MAC ID, Baud Rate and Termination Resistor settings for the Master Node are
configured through a DIP switch. (2) LEDs provide network and module status. To configure the
module and set the DIP switches remove the plastic window and seal as shown in the drawing in
Section 9. When replacing the window, ensure that the seal is positioned correctly to prevent
fluid leakage.
3.1.1
MAC ID
The MAC ID is set by either hardware or software configuration. The range is 0-63. In order
for the MAC ID to be set by software, all DIP switch positions must be on. If the MAC ID is
set by software, the Baud Rate must also be set by software. Refer to Figure 3.1 for detailed
information on DIP switch setup.
3.1.2
Baud Rate
Baud Rate is set by either hardware or software configuration. The possible settings are 125,
250 or 500Kbps. In order for the Baud Rate to be set by software, DIP switch positions 7 and
8 must be on. See Figure 3.1 for DIP switch setup.
3.1.3
Termination Resistor
When DIP switch position 9 is on, a 120 resistor is placed across the CAN High and Low
lines and termination to the CAN network is provided. If switch 9 is off, termination must be
supplied by another device or through a termination cap at the end of the network cable.
C-6

Legend:
S H O W N IN F A C T O R Y D E F A U L T S E T T IN G
1
S w itc h in O F F p o s itio n
10
ON
= N ode 54
OFF
S w itc h in O N p o s itio n
1 0 - O F F : R e s e rv e d
9 - O N : C o n n e c ts th e 1 2 0 T e r m in a tio n R e s is to r
7 , 8 : S e t c o m m u n ic a tio n B a u d R a te a s b e lo w ;
7
8
7 -O F F , 8 -O F F : 1 2 5 K b p s
7 - O N ,8 - O F F : 2 5 0 K b p s
7 -O F F , 8 -O N : 5 0 0 K b p s
7 -O N , 8 - O N : S W s e ta b le
1 - 6 : S e t M A C ID
E x a m p le : M A C ID o f 2 7
1
ON
O FF
P o s itio n 1 is L e a s t S ig n ific a n t
Figure 3.1DeviceNet Master Module DIP Switch Settings
3.1.4
Module Status LED

The module status LED is identified on the device board as MS. It provides device status
for power and proper operation. Table 3.1 outlines this LEDs functions:
Status
LED Function
Note
No Power
Off
No power applied. Check voltage is 24 VDC.
Operational
Green
Normal operation.
Standby
Flashing Green
Device needs commissioning/standby state.

Configuration missing, incomplete or incorrect.
Recoverable Fault
Flashing Red
Recoverable fault.
Unrecoverable Fault
Red
Unrecoverable fault.
Self Tests
Flashing Green-Red
Device is performing self tests.
Table 3.1Module Status LED
C-7

3.1.5
Network Status LED

The network status LED is identified on the device board as NS. It provides network status
for power and communication. Table 3.2 outlines this LEDs functions:
Status
No Power/ Off Line
LED Function
Off
Note
Device not on line. Check Baud Rate.
Device has not completed the duplicate MAC ID
test.
Module Status is On. Check for termination resistor.
Device not powered. See Module Status.
On Line, Not
Connected.
Flashing Green
OK
Green
Device is on line but connection is not established.

Device not allocated to a master.
Device is on line with connections established.
On line, Connected
Device is allocated to a master.
Connection Timeout
Flashing Red
One or more I/Os are timed out.
Critical Link Failure
Red
Failed communication. Error detected and incapable

of communication.
Duplicate MAC ID or Bus off.
Communication Faulted
and Received and
Identify Communication
Fault Request Long
Protocol Message
Flashing Green-Red
A specific Communication Faulted Device. Device

has received and accepted an Identify
Communication Faulted Request Long Protocol
message.
Table 3.2Network Status LED
3.2 Arc Prevention Circuit

The DB10 Module incorporates ATIs exclusive Arc Prevention Circuit. The Arc Prevention Circuit
extends the life of all electrical power contacts by eliminating arcing caused by inductive loads and
high inrush current during coupling/uncoupling. The Arc Prevention Circuit makes it possible to
couple/uncouple without switching power off and prevents damage to the contacts.
In the DB10 Module, the Arc Prevention Circuit controls the ON/OFF status of the following three
power signals:
1.
Device Net Power (CAN V+)
2.
Switched Auxiliary 1 Power V+
3.
Unswitched Auxiliary 2 Power V+
The behavior of the Arc circuit is more fully described in the following sections.
3.2.1
Arc Prevention Circuit Behavior During Coupling

The behavior of the Arc Prevention circuit during coupling can be more clearly understood
by referring to Figure 3.2, which shows the power-on timing diagram for the Arc Prevention
circuit. Starting at the top of the diagram, the LATCH command is issued thus initiating
locking of the Master and Tool.
Soon after locking is initiated, electrical contact between Master and Tool Pin Contacts
occurs (this time is designated t1 in the diagram). The magnitude of time t1 is a function of
C-8

many factors including the weight of the EOAT, the distance between the Master and Tool
when the LATCH command is issued, how well the Master and Tool are aligned during pickup, etc.
As soon as electrical contact is made and the LATCH command is issued, the Arc Prevention
Circuit will turn on DeviceNet, Auxiliary 1, and Auxiliary 2 power. The time delay between
the electrical contacts becoming fully engaged and when power is actually available to the
EOAT (time t2 in the diagram) is less than 100ms.
Important: The Arc Prevention Circuit will only allow power to pass to the Tool after the
LATCH command has been issued and the Master and Tool electrical contacts
are fully engaged. Loss of the LATCH command after it has been issued does
not turn off power to the Tool. It is recommended that the LATCH output
command remain true until the LOCKED input goes true and remains true. Only
after the coupling operation is complete, should the LATCH command be made
false. Refer to the Recommended Sequence of Operation in Appendix A for
additional details.
ON
LATCH command
OFF
t1
Electrical Contact Between
Master and Tool
ON
t2
DeviceNet, Aux. 1, and

Aux. 2 Power
OFF
ON
OFF
t1 = Tool Changer Lock Time

t2 = Power Switch ON-delay
Figure 3.2Arc Circuit Power-On Timing
3.2.2
Arc Prevention Circuit Behavior During Uncoupling

The behavior of the Arc Prevention Circuit during uncoupling can be more clearly
understood by referring to Figure 3.3 which shows the power-off timing diagram for the Arc
Prevention Circuit. Starting at the top of the diagram, the UNLATCH command is issued
thus initiating uncoupling of the Master and Tool.
Immediately after the UNLATCH command is issued, the Arc Prevention Circuit will turn
off DeviceNet, Auxiliary 1, and Auxiliary 2 power. The power-off time delay between the
UNLATCH command and the switching off of power (designated t3 in the diagram) is less
than 50ms.
Some time after power is turned off and the Master and Tool begin to separate, electrical
contact between Master and Tool Pin Contacts will be lost. This occurs with a delay,
designated t4 in the diagram, after the UNLATCH command is issued. The magnitude of time
t4 is a function of many factors, including the weight of the EOAT, the friction between
Master and Tool alignment pins, etc. but is usually not shorter than 100ms.
C-9

Figure 3.3 Arc Circuit Power-Off Timing
3.3 Tool Module Node

The Tool Node operates as a Group 2-Only Server on the DeviceNet network. The Tool Node supports
Explicit Messages, Polled and Strobe of the predefined Master/Slave Connection set. The Tool Node
supports Quick Connect operation as defined by ODVA (refer to the EDS file for specific information).
The Tool Node does not support the Unconnected Message Manager (UCMM). The MAC ID and
Baud Rate settings for the Tool Node are configured through a DIP switch. Tool-ID is set using (5)
thumbwheel switches. (2) LEDs provide network and module status. To configure the module and to
set the DIP and thumbwheel switches remove the plastic window and seal as shown in the drawing in
Section 9. When replacing the window, ensure that the seal is positioned correctly to prevent
fluid leakage.
3.3.1
MAC ID
The MAC ID is set by either hardware or software configuration. The range is 0-63. In order
for the MAC ID to be set by software, all DIP switch positions must be on. If the MAC ID is
set by software, the Baud Rate must also be set by software. Refer to Figure 3.4 for detailed
information on DIP switch setup.
3.3.2
Baud Rate
Baud Rate is set by either hardware or software configuration. The possible settings are 125,
250 or 500Kbps. In order for the Baud Rate to be set by software, DIP switch positions 7 and
8 must be on. See Figure 3.4 for DIP switch setup.
3.3.3
Termination Resistor
Internal termination resistance is not supported in the Tool module. Termination must be
provided through the Master module or externally as required for proper operation of the
network.
C - 10

Legend:
S H O W N IN F A C T O R Y D E F A U L T S E T T IN G
1
S w itch in O F F p o sitio n
10
ON
= N ode 55
O FF
S w itch in O N p o sitio n
1 0 - O F F : R e se rve d
9 - O F F : R e se rve d
7 , 8 : S e t co m m u n ica tio n B a u d R a te a s b e lo w ;
7
8
7 -O F F , 8 -O F F : 1 2 5 K b p s
7 -O N ,8 -O F F : 2 5 0 K b p s
7 -O F F , 8 -O N : 5 0 0 K b p s
7 -O N , 8 -O N : S W se ta b le
1 - 6 : S e t M A C ID
E xam ple : M A C ID o f 1 9
1
ON
OFF
P o sitio n 1 is L e a st S ig n ifica n t B it
Figure 3.4DeviceNet Tool Module DIP Switch Settings

3.3.4
Tool-ID (Tool Node Only)

The Tool-ID for a particular tool is established from the setup of (5) thumbwheel switches.
The Tool module is available with switches configured to provide 5 independent (09)
readings. To set Tool-ID number for each respective end effector remove the plastic window
and seal as shown in the drawing in Section 9. When replacing the window, ensure that
the seal is positioned correctly to prevent fluid leakage. Refer to Figure 3.5 for detailed
information on Tool-ID switch setup.
Tool ID Switches
SW5 SW1
Figure 3.5DeviceNet Tool Module Tool-ID Switches
C - 11

3.3.5
Module Status LED

The module status LED (Figure 3.6) is identified on the device board as MS. It provides
device status for power and proper operation. Refer to Table 3.1 for the module status LEDs
functions.
3.3.6
Network Status LED

The network status LED (Figure 3.6) is identified on the device board as NS. It provides
network status for power and communication. Refer to Table 3.2 for the network status
LEDs functions.
3.3.7
Quick Connect
In order to utilize the Quick Connect feature in the tool module, you must enable the feature
during commissioning and module replacement. Contact ATI if you need additional help
enabling this attribute.
Network LED
Module LED
Figure 3.6Module Status and Network Status LEDs (DB10 Tool)
3.4 Tool-Side TSI

The Tool Stand Interlock (TSI) circuit is provided to ONLY allow Tool release while in the stand or
storage location as indicated by actuation of a customer-integrated switch.
A momentary action double-pole, single-throw mechanical limit switch is recommended to be used in
concert with TSI. The limit switch, with 2 sets of normally open (NO) contacts, is integrated on the
EOAT (see Figure 3.7). An interface to the TSI circuit is made available to the customer via a 4-Pin
M12 connector on the Tool module. An off-the-shelf cord set can be utilized to connect this interface to
the limit switch assembly.
3.4.1
TSI Overview
The DB10 module relies on the status of the Ready-to-Lock (RTL) sensors and the TSIV
input to determine when it is appropriate to unlatch the Tool. The RTL sensors indicate if the
Master and Tool are coupled while the TSIV input indicates when the TSI mechanical switch
on the Tool is actuated, thereby indicating that the Tool is in the stand. In order to allow the
Tool Changer to uncouple when a Tool is not present, a relay circuit (RTL Relay) in parallel
C - 12

with the TSI circuit is utilized. The RTL Relay circuit is located in the Master module and is
triggered by the RTL sensor. If the RTL sensor is low, indicating no Tool presence, then the
RTL Relay circuit is closed allowing the unlatch solenoid valve circuit to be completed and
the Tool Changer to be uncoupled. If the RTL sensor is high, indicating Tool presence, then
the RTL Relay circuit is open and the TSI circuit is passed through to the Tool side.
Once on the Tool side, the TSI circuit is closed by another relay circuit (TSI Relay). The TSI
Relay is located in the Tool module and is triggered by closure of the limit switch. When the
EOAT is in the stand and the limit switch is closed, the TSI Relay is closed, thus making the
TSI circuit through the tool side. When the EOAT is out of the stand the TSI Relay is open
and the TSI circuit remains open regardless of any unintentional Unlatch command.
Control reliability monitoring of the Relays, limit switch and TSI circuit is achieved using the
RTLV, TSRV, and TSIV inputs, respectively. Refer to Table 3.3 for suggested fault
monitoring conditions.
The DB10 Master module firmware requires that the TSIV input be true in order for the
Unlatch output command to be executed when a tool is present (i.e. RTL is high). On the
DB10 Tool module, the TSIV input is made available to the customer along with the TSI
circuit via the 4-Pin TSI connector. Refer to the TSI connector details in drawings in Section
8 of this manual.
Sensor/Input1
State1
Sensor/Input2
State2
Comment
RTL
Tool Module*
Present*
RTL
RTLV
**RTL Relay or RTL Not Operating Properly.
RTL
RTLV
RTL Relay or RTL Not Operating Properly.
TSIV
TSRV
**TSI Relay or Switch Not Operating Properly.
TSIV
TSRV
TSI Relay or Switch Not Operating Properly.
TSIV
Clear of Stand
Yes
**Switch Failed Closed or Tied Off?
TSRV
Clear of Stand
Yes
TSI Relay Failed Closed?
**RTL Not Operating Properly.
* Slave Module Present as evidenced by Tool Presence Input or ability to read Tool ID
** Dangerous situation where an unintentional Unlatch command could result in Tool release.
Table 3.3Fault Monitoring
C - 13

DB10 Master Module
DB10 Tool Module
Figure 3.7Tool Stand Interlock (TSI)
CAUTION: This tool changer is equipped with Tool Stand Interlock (TSI). Special
procedures are required to uncouple the tool changer.
C - 14

3.5 Software
Working EDS files for the Master and Tool nodes are available from our website (www.atiia.com/download/edsfiles) or by e-mail, reference the part numbers given below:
DB10-M Node EDS file
9030-20-1009
DB10-T Node EDS file
9030-20-1010
I/O bitmaps for the DeviceNet nodes are provided in the tables below. The default settings are Node 54
for the Master module and Node 55 for the Tool module.
Robot Input From Master
DeviceNet Module (Node 54)
Name
Description/Function
Lock
Tool Changer Lock Prox I/P
Unlock
Tool Changer Unlock Prox I/P
Solenoid Energized
Latch/Unlatch Solenoid Energized I/P
Auxiliary Power Available
Auxiliary Power Present I/P
RTL
Ready-to-Lock Prox I/P
TSIV
TSI Switch Verify I/P
RTLV
RTL Relay Verify I/P
TSRV
TSI Relay Verify I/P
Bit #
0
1
2
3
4
5
6
7
Table 3.4I/O Bitmap, Robot Input Node 54 (DB10-M Module)
Bit #
0
1
2
3
4
5
6
7
Latch
Unlatch
Robot Output To Master

Name
ToolChanger Valve Latch O/P
ToolChanger Valve Unlatch O/P
N/A
N/A
N/A
N/A
N/A
N/A
* Latch O/P only applicable for Double Solenoid Valve Adapter Versions
Table 3.5I/O Bitmap, Robot Output Node 54 (DB10-M Module)
C - 15

Bit #
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
Robot Input from Tool

Name
Low Bit
Tool-ID Byte 1
High Bit
Low Bit
Tool-ID Byte 2
High Bit
Low Bit
Tool-ID Byte 3
High Bit
N/A
N/A
N/A
N/A
SW1 Bit 1
SW1 Bit 2
SW1 Bit 4
SW1 Bit 8
SW2 Bit 1
SW2 Bit 2
SW2 Bit 4
SW2 Bit 8
SW3 Bit 1
SW3 Bit 2
SW3 Bit 4
SW3 Bit 8
SW4 Bit 1
SW4 Bit 2
SW4 Bit 4
SW4 Bit 8
SW5 Bit 1
SW5 Bit 2
SW5 Bit 4
SW5 Bit 8
Table 3.6I/O Bitmap, Robot Input Node 55 (DB10-T Module)
4. Operation
A recommended Sequence of Operations is provided in Appendix A of this manual. This procedure is to be
used as a general guide when programming a robot or PLC for use with a Tool Changer and DB10
control/signal modules. This procedure is intended for "automatic" modes used during normal application
processes.
5. Maintenance
The DeviceNet modules are designed to provide a long life with little maintenance required.
Contact pins on the DeviceNet module should be inspected and cleaned periodically to ensure electrical contact
is maintained. Care should be taken not to bend or pull out the contacts when cleaning. Do not use an abrasive
media to clean the contact pins as erosion may occur to the contact surface. ATI recommends using a stiff
bristle, nylon brush to clean the pins on the master and tool modules, ATI part number 3690-0000064-60.
If the Tool Changer is being used in dirty environments (e.g. welding or deburring applications) care should be
taken to limit the exposure of the Tool Changer. Unused Tool assemblies should be covered to prevent debris
from settling on the mating surface. Also, the Master assembly should be exposed for only a short period of
time during Tool change and down time. In this instance the customer should determine a suitable inspection
schedule.
Detailed assembly drawings are provided in Section 9 of this manual.
C - 16

6. Troubleshooting
Refer to the table below for troubleshooting information:
Symptom
Possible Cause / Correction
Unit will not lock or unlock
Verify that ball bearings are not moving freely. Clean and lubricate as needed
(see Section 5 - Maintenance).
Check air supply.
Check that exhaust port is properly vented (check muffler).
Verify that DeviceNet and DeviceNet signals are operating correctly.
Verify that the Master and Tool are within the specified No-Touch zone when
attempting to lock.
Verify TSI switch and circuit are operating properly.

Sensors not operating
properly (but DeviceNet is
operating correctly).
Verify that cables are connected correctly

Verify that the sensors are set correctly.
Ensure that the Tool Plate is securely held to the Master Plate, that nothing is
trapped between their surfaces, and that there is no air trapped in the Unlock
(U) air port.
Loss of DeviceNet
Communication
Check/replace DeviceNet cabling up- and down-stream of Tool Changer

modules.
Inspect DeviceNet Module contact pins for debris/wear.
Check nodes up- and down-stream of Tool Changer nodes for failures. These
failures can masquerade as Tool Changer node faults.
Verify DeviceNet network and cabling is properly tuned.
Lower Baud Rate if communication problems persist.
No power on the Tool-side
Verify that the LATCH command has been issued by the robot.
Verify that the Master and Tool are fully coupled.
Inspect DeviceNet Module contact pins for debris/wear.
Loss of Aux. Power on the

Tool-side
Loss of DeviceNet power on the Master-side will cause loss of Aux. Power to
the Tool. The Arc Prevention Circuit relies on DeviceNet power to operate.
Restore DeviceNet Power to the Master to restore Aux. Power to Tool.

See drawings in Section 9 of this manual.
C - 17

8. Specifications
DB10 DeviceNet Master Module
Factory Default
Configuration
Interface Connections
MAC ID 54, Baud 500 Kbps, termination resistance on.

Auxiliary Power: Mini, 4-Pin Male supporting two Auxiliary Power Circuits
DeviceNet: Mini, 5-Pin Male
Integrated Tool Changer I/O:
Electrical Rating
4X M8, 3-pin female connectors supporting Tool Changer Locked,

Unlocked, and Ready-to-Lock proximity sensors. RTL sensors are
connected in series.
3-pin internal pin block used to transmit Latch and Unlatch signals to the
solenoid valve.
Power Pass-Thru:
Aux1 V+ and Aux2 V+ Power: 5A, 12-30 VDC

Note: Arc prevention is applied to Aux1 V+ and Aux2 V+ power.
CAN V+ (DeviceNet) Power: 5A, 12-30 VDC

Note: Arc prevention is applied to CANV+ power.
Signal Pass-Thru: 3 Amp, 30VDC maximum

Tool Changer Control:
Lock, Unlock, and Ready-to-Lock sensors: 10-30 VDC operational voltage

Note: CAN V+ Power provides power to the L, U, and RTL sensors.
Latch/Unlatch integrated solenoid valve: 21-26 VDC operational voltage

Note: Aux1 V+ Power provides power to the Latch/Unlatch solenoid valve.
*Current Draw
183mA @ 24VDC: Master and Tool coupled (Locked, RTL1, and RTL2 sensors
on, Limit Switches/ TSI Circuits made, i.e.; TSIV1 on)
Weight
2.10 lbs (0.95 kg)
DB10 DeviceNet Tool Module

Factory Default
Configuration
MAC ID 55, Baud 500Kbps, No termination resistance. (5) Independent Tool ID

switches, each reading a (09) position (all factory set to Tool Position 1).
Interface Connections
Auxiliary Power: Mini, 4-Pin, Female

DeviceNet: Mini, 5-Pin, Female
TSI connectors: M12, 4-Pin, Female
Electrical Rating
Power Pass-Thru:
Aux1 V+ and Aux2 V+ Power: 5A, 12-30 VDC
CAN V+ (DeviceNet) Power: 5A, 12-30 VDC
Signal Pass-Thru: 3 Amp, 30VDC maximum

*Current Draw
61mA @ 24VDC: Tool Only
Weight
1.35 lbs (0.61 kg)
*Current Draw totals for DeviceNet-powered circuits, not including downstream I/O devices and Auxiliary powered
valves. Please refer to the module manufacturer for these specifications.
C - 18

9. Drawings
C - 19

C - 20

C - 21

Appendix A
Recommended Sequence of Operation
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 input true 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 RTL input is false.
b. RTLV is false.
c. The ATI Tool and any downstream device is offline.
d. The Auxiliary Power Available input is true provided the Auxiliary Power 1 power
supply is on.
e. TSIV is false.
f. TSRV is false.
2. Unlock the Master. (This must be done prior to the Master entering the Tool to prevent the ball
bearings from impinging on the Tool bearing race.)
a. The Latch output command is made false and the Unlatch output command is made true.
b. The Solenoid Energized input is made true.
c. The Unlocked input goes true and remains true, indicating that the Tool Changer locking
mechanism is fully retracted and the Unlatch operation is complete.
3. Robot and Master move into the Tool, are parallel and within 0.125 to 0.06 of the Tool (i.e.,
the module contact pins are touching, but the RTL sensors have not yet sensed the targets on
the Tool).
4. Robot and Master move within 0.06 of the Tool.
a. The TSIV inputs go true, indicating that the Master and Tool are in close proximity of
each other and verifying the operation of the TSI limit switch.
b. Power is not yet available on the Tool.
c. The RTL input is true, indicating that it is okay to couple the Tool.
d. RTLV is true.
5. Couple the Tool Changer.
a. The Unlatch output is made false and the Latch output is made true.
b. The Unlocked input goes false a short time later, indicating piston travel. Subsequently,
the Locked input goes true and remains true, indicating that the coupling operation is
complete. It is recommended that the Latch command be made false after the Locked
input goes true.
c. The Arc Prevention circuit makes power available to the Tool.
Sometime thereafter, Tool-ID will become available and communications should be established
with the downstream DeviceNet device(s).
6. Robot moves away from the Tool Stand with the Tool Changer coupled.
a. The TSI limit switch becomes deactivated, and the TSIV and TSRV input goes false
C - 22

7. Normal operation
a. The following inputs are true:
i. Locked
ii. Auxiliary Power Available
iii. RTL
iv. RTLV
b. The following inputs are false:
i. Solenoid Energized
ii. Unlocked
iii. TSIV
iv. TSRV
c. The following outputs are false:
i. Latch
ii. Unlatch
8. Robot moves into the Tool Stand with the Tool Changer coupled.
a. When the Tool is returned to the stand, the TSI limit switch becomes activated and the
TSIV input goes true, indicating that it is safe to uncouple the Tool Changer.
b. TSRV becomes true.
9. Uncouple the Tool Changer.
a. The Latch output is made false and the Unlatch output is made true.
b. Power on the Tool turns off.
c. Communication is lost with the downstream devices.
d. Tool-ID becomes unavailable.
e. The Locked input goes false a short time later and subsequently the Unlocked input goes
true and remains true, indicating that the uncoupling operation is complete.
10. Robot and Master move away from the Tool, are parallel and between 0.125 to 0.06 of the
Tool.
a. The RTL inputs are false.
b. RTLV is false.
11. Robot and Master move away from the Tool, are parallel and > 0.125 from the Tool (the
module contact pins are no longer touching).
12. Robot and Master in free space.
a. The following inputs are true:
i. Unlocked
ii. Auxiliary Power Available
b. The following inputs are false:
i. Locked
ii. RTL
iii. RTLV
iv. TSIV
v. TSRV
C - 23
Document #9620-20-c-jxx air and valve adapters-16
Table of Contents
C. Control and Signal Modules ..................................................................2

Jxx Air and Valve Adapters ........................................................................2
1.
Product Overview .................................................................................................2
2.
Installation ............................................................................................................3
2.1 Installing ....................................................................................................3
2.2 Removing ..................................................................................................3
3.
Operation .............................................................................................................3
4.
Maintenance ........................................................................................................4
5.
Troubleshooting ...................................................................................................4
6.
Recommended Spare Parts .................................................................................4
7.
Specifications .......................................................................................................5
8.
Drawings ..............................................................................................................5
8.1 Available Air/Valve Adapter Listing............................................................5
8.2 QC-210 Integrated Tool Changer Valve Arrangement (3 Sheets) .............6
8.3 QC-310 Integrated Tool Changer Valve Arrangement (3 Sheets) .............9
C-1
C. Control and Signal Modules

Jxx Air and Valve Adapters
1. Product Overview
An air or valve adapter is required to provide a pneumatic air supply to the tool changer master for actuation of
the locking mechanism. Many variations are available depending upon the tool changer size and type of
porting required by the customer (See Figures 1.1 and 1.2 below and Section 8 for a complete listing of
available adapters and customer drawings).
Figure 1.1Air Adapter (9121-JA2-M shown, QC-210, NPT Ports)
Figure 1.1Valve Adapter (9121-JC2-M shown, QC-210, NPT Port, Single Solenoid)
C-2
2. Installation
The air/valve adapters are typically installed by ATI prior to shipment. The steps below outline the field
installation or removal as required.
2.1
2.2
Installing
1.
It may be necessary to clean the mounting surface on the tool changer prior to installing the
module in order to remove any debris that may be present.
2.
(2) O-rings are required on the Master tool changer interface. Make sure these o-rings are
present and lightly lubricated.
3.
Using the ledge feature as a guide place the module adjacent to the A tool changer mounting
surface. Align the module with the tool changer using the dowels in the bottom of the ledge
feature. Apply Loctite 242 to the supplied M6 SHCS fasteners and tighten to 110 in-lbs.
4.
Make electrical and pneumatic connections up to the air/valve adapter housing as required.
Ensure that the connectors are cleaned prior to being secured as appropriate.
Removing
5.
If there is a control/signal module piggy-backed on the air/valve adapter this may need to be
removed prior to removal of the air/valve adapter. Disconnect any electrical or pneumatic
connections to the control/signal module and air/valve adapter as required. Also, proximity
sensor and valve cables may or may not need to be disconnected.
6.
Remove the air/valve adapter mounting fasteners and pull the module off the tool changer.
7.
Make sure that the o-rings are retained at the tool changer master mounting interface.
3. Operation
Air adapters are supplied with the tool changer when the customer is providing a valve for pneumatic control
of the air supply for locking and unlocking. The customer simply needs to plumb up to the Lock (L) and
Unlock (U) connections provided on the air adapter. It is important that the air adapter be supplied with
clean, dry, non-lubricated air supplied between 60 and 100 psi (4.56.9 Bar) and filtered at 50 microns or
better.
DANGER: Failure to use a 4-way valve and properly vent to atmosphere may cause the
locking mechanism to operate incorrectly and may cause the Quick-Change to not lock or
unlock as expected. This could result in damage to the product, attached tooling or
personnel.
Valve adapters are supplied with the tool changer to provide a fully integrated solution. The customer is only
required to supply the valve adapter with a single air supply. Again, it is important that clean, dry, nonlubricated air supplied between 60 and 100 psi (4.5 6.9 Bar) and filtered at 50 microns or better is provided.
An electrical connection is provided for valve control as detailed in drawings in Section 8 of this manual. In
most cases, control of this valve is integrated with an ATI-supplied control/signal module that is piggy-backed
onto the valve adapter.
C-3

DANGER: Tool changer release will occur with actuation of the Unlatch valve
manual override. Use of the manual override is restricted to contingency situations. The
tool changer and tool should be in a stand or storage location prior to actuation of the
manual override.
Access to a valve manual override is provided on the valve adapters. Reference the drawings in Section 8 for
location of the override on the valve adapter and the recommended tools for its actuation.
Use of the manual override should be restricted to contingency situations and only when the robot and tool are
in the stand or storage location. Actuation of the Unlatch valve manual override will result in tool changer
release.
4. Maintenance
Little or no maintenance is required for the air adapters as they consist of no wear components.
Likewise, the valve adapters should require little maintenance. The only wear components are the valve itself
and an exhaust muffler. Under normal operating conditions, the valve will last for millions of cycles.
5. Troubleshooting
Symptom
Changer not locking/unlocking
Possible Cause / Correction

Verify use of 4-way, properly exhausted, customer-supplied
Check for air leaks and o-ring integrity.
Check/Replace muffler; ensure clean air supply.
Check wiring and power supply to valve.

Assembly
Various
(See
Section 8.1
for Listing)
ATI Part Number
Description
3425-0000011-01
MAC Series 48 Single Solenoid Wash-down Valve (DC)

MAC #48B-AUA-000-GEUA-1GB MOD4507
3425-0000012-01
MAC Series 48 Double Solenoid Wash-down Valve (DC)

MAC #48B-BUA-000-GEUA-1GB MOD4507
3425-0000013-01
MAC Series 48 Single Solenoid Wash-down Valve (AC)

48A-AMA-000-GAAA-1KD-0389
3490-1010002-00
1/8 NPT Exhaust Muffler, 4CFM, 1-1/8"L, .437"
9120-C-3PM-3PF-0016
Picofast Cord set, 3-Pin, Threaded, Straight, 0.16M

(Turck #PKG 3M-0.16-PSG 3M/S90)
C-4
7. Specifications
Valve Adapters
Valves
Single Solenoid Valve
250mA @ 24VDC
MAC Series 48B-AUA, DC Voltage (6W Coil)
21mA @ 120VAC
MAC Series 48A-AMA, AC Voltage (2.5W Coil)
Double Solenoid Valve
250mA @ 24VDC
MAC Series 48B-BUA, DC Voltage (6W Coil x 2)
Solenoid Resistance
~325K
Typical resistance measured across valve coil

(DC versions)
8. Drawings
8.1
Available Air/Valve Adapter Listing
Part Number
Description
9005-20-1192
Tool Side Spacer Assembly (Works w/ 210/310/510/1210)
9005-20-1403
Tool Side Spacer Assembly for Air Blow-Off (Works w/ 210/310/510/1210)
9121-JA2-M
9121-JA3-M
Lock/Unlock Air Adapter, NPT, QC-210

Lock/Unlock Air Adapter, NPT, QC-310/510/1210
9121-JB2-M
9121-JB3-M
9121-JB7-M
9121-JB8-M
9121-JB9-M
9121-JB10-M
Lock/Unlock Air Adapter, G, QC-210

Lock/Unlock Air Adapter, G, QC-310/510/1210
Lock/Unlock Air Adapter, G, with Lock/Unlock/RTL, QC-210
Lock/Unlock Air Adapter, G, with Reversed Air Ports, QC-210
Lock/Unlock Air Adapter, NPT, with Lock/Unlock/RTL, Potted, QC-210
Lock/Unlock Air Adapter, G, QC-210
9121-JC2-M
9121-JC3-M
Valve Adapter, Single Solenoid, NPT, QC-210

Valve Adapter, Single Solenoid, NPT, QC-310/510/1210
9121-JD2-M
9121-JD3-M
Valve Adapter, Single Solenoid, G, QC-210

Valve Adapter, Single Solenoid, G, QC-310/510/1210
9121-JE2-M
9121-JE3-M
Valve Adapter, Double Solenoid, NPT, QC-210

Valve Adapter, Double Solenoid, NPT, QC-310/510/1210
9121-JF2-M
9121-JF3-M
Valve Adapter, Double Solenoid, G, QC-210

Valve Adapter, Double Solenoid, G, QC-310/510/1210
9121-JG2-M
9121-JG3-M
A/C Valve Adapter, Single Solenoid, NPT, QC-210

A/C Valve Adapter, Single Solenoid, NPT, QC-310/510/1210
9121-JN2-M
9121-JN3-M
9121-JN5-M
Single Solenoid Valve Adapter w/ Air Blow-Off, NPT, QC-210

Single Solenoid Valve Adapter w/ Air Blow Off, NPT, QC-310/510/1210
Double Solenoid Valve Adapter w/ Air Blow Off, NPT, QC-310/510/1210
9121-JP2-M
9121-JP3-M
Lock/Unlock Air Adapter, BSPT, QC-210

Lock/Unlock Air Adapter, BSPT, QC-310/510/1210
9121-JQ2-M
9121-JQ3-M
Master Valve Assembly, Double Solenoid with SST Mounting SHCS, BSPP, QC-210
Master Valve Assembly, Double Solenoid with SST Mounting SHCS, BSPP, QC310/510/1210
C-5
8.2
QC-210 Integrated Tool Changer Valve Arrangement (3 Sheets)
C-6
C-7
C-8
8.3
QC-310 Integrated Tool Changer Valve Arrangement (3 Sheets)
C-9
C - 10
C - 11

Document #9620-20-d-aa2,am2-11
Table of Contents
D. Air Modules ..................................................................................................................2

AA2/AM2............................................................................................................................2
1.
Product Overview .................................................................................................2
2.
Installation ............................................................................................................3
2.1
Installation .................................................................................................3
2.2
Removal ....................................................................................................3
3.
Operation .............................................................................................................3
4.
Maintenance ........................................................................................................4
4.1
Master-Side Self-Sealing Valve .................................................................4
4.2
Tool-Side Self-Sealing Valve .....................................................................4
5.
Troubleshooting ...................................................................................................5
6.
Recommended Spare Parts .................................................................................5
7.
Specifications .......................................................................................................5
8.
Drawings ..............................................................................................................6
8.1
AA2 Air Module Drawing ...........................................................................6
8.2
AM2 Air Module Drawing ...........................................................................7
Pinnacle Park1031 Goodworth DriveApex, NC 27539Tel: 919-772-0115Fax: 919-772-8259www.ati-ia.comEmail:info@ati-ia.com
D-1

D. Air Modules
AA2/AM2
1. Product Overview
There are several air modules available for the use with the tool changer as described in the table below. The
AA2 modules are shown in Figure 1.1.
AA2-M/AA2-T
(2) NPT, self-sealing ports master and tool
AA2-M/AA3-T
(2) NPT, self-sealing ports on the master/

(2) NPT, unchecked ports on the tool
AM2-M/AM2-T
(2) G, self-sealing ports master and tool
AM2-M/AM3-T
(2) G, self-sealing ports on the master/

(2) G, unchecked ports on the tool
Table 1.1Air Modules
NOTE:
Self-sealing ports are not to be used for vacuum service.
Figure 1.1AA2 Air Module (Typical)

D-2

2. Installation
The air modules are typically installed by ATI prior to shipment. The steps below outline the field installation
or removal as required.
CAUTION: Air supply should be clean, dry, and non-lubricated. Supply pressure should not
exceed 100 psi and should be filtered 50 micron or better. Connection lines should be
properly strain-relieved.
!
2.1
Installation
1.
2.
3.
2.2
It may be necessary to clean the mounting surface on the tool changer prior to installing the module
in order to remove any debris that may be present.
Align the module to the holes in the tool changer mounting surface using the dowels that are
pressed into the module housing. Push the module up flush with the mounting surface. Apply
Loctite-242 (or similar) thread locker to the socket head cap screws and tighten to 89 in-lbs. using
a hex key.
Connect customer plumbing to the module.
Removal
1.
2.
All customer plumbing connections to the module need to be purged and disconnected. Once the
supply lines have been turned off, the self-sealing valves on the module can be manually actuated
to purge the line pressure. Cover the valves with a rag prior to purging in order to keep the air from
impinging upon any person.
Remove the socket head cap screws and pull the module off the tool changer.
3. Operation
The air modules are designed to pass air utilities from the Master to the Tool for use by the customers tooling.
Self-sealing valves are provided so that the air circuits do not discharge during tool change and also so that the
circuits upstream of the tool changer do not have to be closed down prior to tool change.
D-3

4. Maintenance
Once installed the operation of the air modules is generally trouble free. Periodically the condition of the selfsealing valves should be checked. Replace any damaged or degraded components as necessary. Any
contamination in or around the mating surfaces of the modules should be removed with industrial contact
cleaner. During inspection, ensure that the fasteners attaching the modules to the tool changer are secure.
The modules may be field serviced as needed. The following list describes how to perform various operations.
4.1
Master-Side Self-Sealing Valve
1.
2.
3.
4.
5.
6.
4.2
The self-sealing valve assembly (stem, check valve, spring and seals) can be inspected by
removing the stem using a 2.5mm hex key. Be careful not to strip the hex on the stem during
removal.
Once the stem is removed all seals can be inspected and replaced as required.
The spring in the assembly should be inspected and replaced as required.
The stem should be inspected for straightness and replaced if bent.
To re-install the valve assembly, all components should be arranged in order as they were
removed. (See drawings in Section 8.)
Loctite-222 (or similar) thread locker should be applied to the threaded end of the stem and tighten
to 10 in-lbs. and the stem re-installed. The piston will have to be pushed down flush with the
mating surface in order to get the stem thread started. It is important that the U-cup seal around the
check valve is not damaged during this step. A small, flat-head screwdriver can be used to ensure
that the U-cup seal is fully located in the recess and not folded over itself prior to screwing in the
stem.
Tool-Side Self-Sealing Valve
1.
2.
3.
4.
5.
6.
The self-sealing valve assembly (plug, spring, piston and seals) can be inspected by removing the
plug on the bottom of the air module using either a spanner wrench or 8mm hex key. It may be
necessary to remove the tool side air module to have access to the plug. (Refer to the Section 2
Installation for instructions for module removal.)
Once the plug is removed all seals can be inspected and replaced as required.
The spring in the assembly should be inspected and replaced as required.
The plug may contain a dowel pin. The pin should be inspected for straightness and replaced if
bent.
To re-install the valve assembly, all components should be arranged in order as they were
removed. (See drawings in Section 8.)
Care should be taken not to damage the O-ring around the plug base during installation. Apply
Magnalube to the o-ring and torque the plug to 20 in-lbs.
D-4

5. Troubleshooting
Problem
Air Leakage
Poor Flow
Modules Won't
Couple
Cause
Remedy
Damaged/Worn
seals
Replace seals.
Debris blocking
valve seal
Clean in and around valve components. Ensure air

stream is free of large particulates, filter as necessary.
Bent stem
Replace stem. Check module attachment to tool

changer. Check robot program and ensure parallel
approach trajectory during tool changer coupling.
Corrosion
Consult ATI for assistance.
Flow path blockage
Inspect valve components and supply/return lines for

blockage, clean/repair as necessary.
Debris blocking
valve seal
Clean in and around valve components. Ensure air

stream is free of large particulates, filter as necessary.
Bent stem, dowel

pin
Replace stem, dowels as necessary. Check module

attachment to tool changer. Check robot program and
ensure parallel approach trajectory during tool changer
coupling.

See Drawings in Section 8 of this manual.
7. Specifications
Part Number
AA2-M/AA2-T
# Ports
Port Size
Cv
NPT
1.6
Maximum pressure of 100psi (6.9bar), Nitrile

seals, Self-sealing on Master and Tool (cannot
operate under a vacuum).
AA2-M/AA3-T
NPT
1.6

seals, Self-sealing on Master, unchecked on
Tool (cannot operate under a vacuum).
AM2-M/AM2-T
1.6

seals, Self-sealing on Master and Tool (cannot
operate under a vacuum).
AM2-M/AM3-T
1.6

seals, Self-sealing on Master, unchecked on
Tool (cannot operate under a vacuum).
D-5

8. Drawings
8.1
AA2 Air Module Drawing
D-6

8.2
AM2 Air Module Drawing
D-7

Document #9620-20-E-NA-03
Electrical Modules are not used in this application. For a list of available options please refer to
our catalog or contact our Sales department. We will be glad to assist you.
How to Reach Us
Apex, NC 27539 USA
www.ati-ia.com
Tel: 919.772.0115
Fax: 919.772.8259
Tel: 919.772.0115
Fax: 919.772.8259
E-1

Document #9620-20-F-NA-02
High-Power Modules are not used in this application. For a list of available options please refer
to our catalog or contact our Sales department. We will be glad to assist you.
How to Reach Us
Apex, NC 27539 USA
www.ati-ia.com
Tel: 919.772.0115
Fax: 919.772.8259
Tel: 919.772.0115
Fax: 919.772.8259
ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 (919)-772-0115 www.ati-ia.com
F-1

Document #9620-20-G-IP Shown in Customer Drawing-02
If Interface Plates are used in this application, details will be shown in the customer drawing
found at the front of this binder.
For a list of available options please refer to our catalog or contact our Sales department. We will
be glad to assist you.
How to Reach Us
Apex, NC 27539 USA
www.ati-ia.com
Tel: 919.772.0115
Fax: 919.772.8259
Tel: 919.772.0115
Fax: 919.772.8259
G-1

Document #9620-20-H-NA-03
Other Modules are not used in this application. For a list of available options please refer to our
catalog or contact our Sales department. We will be glad to assist you.
How to Reach Us
Apex, NC 27539 USA
www.ati-ia.com
Tel: 919.772.0115
Fax: 919.772.8259
Tel: 919.772.0115
Fax: 919.772.8259
H-1

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Quick-Change QC-310

Robotic Tool Changer

Installation and Operation Manual

Air/Valve/Mounting Adapter Assembly

Control & Signal ModuleMaster & Tool

Air ModuleMaster & Tool

Engineered Products for Robotic Productivity

Quick-Change Installation and Operation Manual

Glossary of Terms ..........................................................................................3

Product Overview ...........................................................................................6

Terms and Conditions of Sale.........................................................................7

Base Tool Changer

Control and Signal Module

Fluid Air Modules

High Power Modules

Quick-Change Installation and Operation Manual

Quick-Change Installation and Operation Manual

Simple, blank closure plate on standard Quick-Change Master assemblies

Tool used by the robot to perform a particular function.

Lock/Unlock sensing capability allows the customer to determine the state of

Quick-Change Installation and Operation Manual

1.1.2. Explanation of Warnings

Quick-Change Installation and Operation Manual

Quick-Change Installation and Operation Manual

Quick-Change Installation and Operation Manual

Terms and Conditions of Sale

Quick-Change Installation and Operation Manual

Document #9620-20-B-310 Series Base Tool Changer-16

Quick-Change Installation and Operation Manual

Document #9620-20-B-310 Series Base Tool Changer-16

B. Base Tool Changer

Master Plate Assembly

(9) Ball Bearing

Quick-Change Installation and Operation Manual

Document #9620-20-B-310 Series Base Tool Changer-16

Tool Plate Assembly

Prox Sensor Target

(4) Common Ledge

Figure 1.2Tool Plate Assembly

Quick-Change Installation and Operation Manual

Document #9620-20-B-310 Series Base Tool Changer-16

Fastener Size and

Master Plate to Robot Interface Plate (6061-T6 aluminum)

Minimum thread engagement of 24mm (0.94)

Master Plate to Robot Interface Plate (6061-T6 aluminum)

Minimum thread engagement of 18mm (0.71)

Minimum thread engagement of 16mm (0.63)

Master Plate to Robot (steel; USS 90KSI)

Minimum thread engagement of 12mm (0.47)

Master Plate to Robot (steel; USS 90KSI)

End-effector Interface Plate (aluminum) to Tool Plate

Quick-Change Installation and Operation Manual

Document #9620-20-B-310 Series Base Tool Changer-16

Figure 2.1Typical Installation (QC-502 Shown)

Quick-Change Installation and Operation Manual

Document #9620-20-B-310 Series Base Tool Changer-16

When using a locating boss, the race cover must be removed.

Tool Stand Design

Quick-Change Installation and Operation Manual

Document #9620-20-B-310 Series Base Tool Changer-16

Table 2.3Maximum Recommended Offsets Prior to Coupling

Tool Locating Features

Quick-Change Installation and Operation Manual

Document #9620-20-B-310 Series Base Tool Changer-16