Compensator 9116 Series 000, 100, 200, and 400 Installation and Operation Manual 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: [email protected]

Compensator Installation and Operation Manual Document #9610-15-1000-14 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...

Compensator Installation and Operation Manual Document #9610-15-1000-14 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected]

Compensator Installation and Operation Manual Document #9610-15-1000-14 Glossary of Terms Term Plate that interfaces Compensator to robot or assembly machine. Bottom Plate Plate that interfaces customer tooling to Compensator. Component that limits amount of compliance to prevent damage to compensator when overloaded. Component that provides compliance in the lateral, cocking, axial, and torsional directions. Pneumatically-powered locking mechanism that locks compensator rigid for accelerated movements to reduce wear on shear pads. Lock-up Screw Locking mechanism component that is pulled into...

Compensator Installation and Operation Manual Document #9610-15-1000-14 1. Safety 1.1 General Prior to purchase and installation, the customer should verify that the Compensator selected is rated for the maximum loads expected during operation (refer to Section 10—Specifications in this manual or contact ATI for assistance). The customer is responsible for understanding the function of the Compensator and implementing the proper hardware and/or software to operate the Compensator safely. All pneumatic fittings and tubing must be capable of withstanding the repetitive motions of the application...

Compensator Installation and Operation Manual Document #9610-15-1000-14 2. Product Overview 2.1 Introduction The Compensator is a compliance device that enhances the flexibility and reliability of a robot or assembly machine. Compensators are used in automated assembly applications to provide compliance for misalignment during assembly. The sizes covered in this manual include 9116 Series 000, 100, 200, and 400. The Compensator is designed to provide compliance in the lateral, cocking, axial, and torsional directions (see Figure 2.1). A key feature to the Compensator is the projected (remote)...

Compensator Installation and Operation Manual Document #9610-15-1000-14 3. Description 3.1 9116 Series 000, 100, 200, and 400 Compensator Assemblies The base 9116 Series Compensator assembly includes anodized aluminum top and bottom plates, hardened steel overload pins, and shear pads. The 000 and 100 use 3 shear pads. The 200 uses either 3 or 6 shear pads. The 400 uses either 6 or 12 shear pads. Units with lock-up include air cylinder(s), bearing plate, lock-up screws, and lock-up screw bushings. Units with lock sensing also require a sensor fitting and cabled proximity sensor (see Figure 3.1)....

Compensator Installation and Operation Manual Document #9610-15-1000-14 4. Application 4.1 Intended Use The Compensator is intended to be used in “peg-in-hole” type operations in the vertical orientation. The peg-in-hole example is an application involving the insertion of one part into another. There are a variety of peg-in-hole type applications that include: dowel pin insertion, mold alignment, washer insertion, bearings into housings, and shafts into bearings. If the Compensator is used in the horizontal orientation, over time the shear pads will develop sag. Rubber and most rubber-like materials...

Compensator Installation and Operation Manual Document #9610-15-1000-14 • • • Use lock-up device to reduce high inertia loads due to acceleration. A high compression load capacity will be needed for tight tolerance applications (i.e.; press fit). When needed, use six (6) shear pads on the 200 and twelve (12) on the 400 to double the load capacity. See Section 10—Specifications for model lateral and cocking load specifications. 4.) Minimize insertion force: Calculate your maximum insertion force by multiplying your assembly misalignment by the lateral stiffness. See Section 10—Specifications for...

Compensator Installation and Operation Manual Document #9610-15-1000-14 4.4 Repeatability The Compensator has a positional repeatability of +/-.026mm (.001”) when in the locked position. When unit is unlocked, shear pads have a positional repeatability of +/- .051mm (.002”). Single-Point Contact Force Sliding Contact Force Two-Point Contact Force Part B Chamfer size of Part B Minimum Dimension (Y) Figure 4.3—Assembly Inaccuracy Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected] Formatted: Style Caption + Not...

Compensator Installation and Operation Manual Document #9610-15-1000-14 5. Installation 5.1 Robot Side Interface The 000, 100, 200, and 400 have two options for interfacing to a robot or assembly machine. Units can be mounted by using the tapped holes on the robot side (top) plate or by bolting through robot side (top) plate to robot or assembly machine. All sizes have (2) dowel holes for location. Robot or assembly machine interface must accommodate sensor cable if unit is equipped with lock sensing. For size and location of mounting features and lock sensor cable exit, see Section 11—Drawings....