Robotic Collision Sensor: Engineered Products For Robotic Productivity

Robotic Collision Sensor
U.S. Patent Nos. 6069415 and 6690208
SR-48, 61, 81, 101, 131, 176, and 221
Installation Instructions for Coolant Protection Boot
Document #: 9610-60-1008
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
Manual, Collision Sensor, Coolant Protection Boot
Document #9610-60-1008-07
Foreword
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
Sale, Service and Information about ATI products:

ATI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel: +1.919.772.0115
Fax: +1.919.772.8259
E-mail: info@ati-ia.com
Technical support and questions:
Application Engineering
Tel: +1.919.772.0115, Option 2, Option 2
Fax: +1.919.772.8259
E-mail: Mech_support@ati-ia.com
2
Document #9610-60-1008-07
Table of Contents
Foreword .......................................................................................................................................... 2
Glossary ........................................................................................................................................... 5
1. Installation of Coolant Protection Boot .................................................................................. 6
2. Design/Procurement of Interface Plates ................................................................................ 9
3. Drawings for Replacement Parts & Interface Plates ........................................................... 10
3.1 SR-48 ............................................................................................................................................ 10
3.2 SR-61 ............................................................................................................................................ 12
3.3 SR-81 ............................................................................................................................................ 14
3.4 SR-101 .......................................................................................................................................... 16
3.5 SR-131 .......................................................................................................................................... 18
3.6 SR-176 .......................................................................................................................................... 20
3.7 SR-221 .......................................................................................................................................... 22
4. Terms and Conditions of Sale ............................................................................................... 24
3
Document #9610-60-1008-07
Glossary
Term Definitions
Cylindrical aluminum housing and air pressure chamber. An interface plate to the user’s robot is usually
Body
attached here.
Collision The accidental impact between the end of arm tooling and some obstruction in its path.
Cover Plate Disk-shaped aluminum cover for Collision Sensor body.
The result of a disturbance that displaces the Collision Sensor components from their standard,
Crash
working position.
Interface Plate Optional component used to adapt the Collision Sensor body or stem to the user’s robot or tooling.
The component which, together with the Body, creates a pressure chamber. Varying the pressure in
Piston
this chamber varies the load required to move the piston.
Round tapered post containing tapped holes and a dowel pin hole. An interface plate to the user’s
Stem
tooling is usually attached here.
4
Document #9610-60-1008-07
1. Installation of Coolant Protection Boot

Prior to installing the Coolant Protection Boot, the Collision Sensor must be installed to the robot flange. The
tooling interface plate must be attached to the Collision Sensor and pneumatic pressure or spring pressure must be
supplied to the Collision Sensor.
1. Attach the robot interface plate to the robot flange, it is recommended to use thread- locking compound on all
mounting fasteners.
Figure 1.1—Install Robot Interface Plate
Robot Flange
Robot Interface Plate

Mounting Fasteners
Supplied by Customer
Locating Dowel Pin
NOTICE: A robot interface plate is required. The robot interface plate can be purchased from ATI
or manufactured by the customer using ATI approved drawings. The use of a robot interface plate
supplied by ATI is strongly recommended.
2. Attach the Collision Sensor to the robot interface plate using the fasteners supplied with ATI interface plate.
Refer to the Installation and Operation manual for Collision Sensor being installed for specific mounting
fastener torque and thread-locking compound requirements.
Figure 1.2—Install the Collision Sensor to the Robot Interface Plate

Optional Robot Interface Plate
Collision Sensor
Mounting Fasteners (Customer Supplied)

(ATI Supplied withCustom Interface Plate)
5
Document #9610-60-1008-07
3. Attach the tooling interface plate to the Collision Sensor using the fasteners supplied. Refer to the Installation
and Operation manual for Collision Sensor being installed for specific mounting fastener torque and thread-
locking compound requirements.
Figure 1.3—Install the Tooling Interface Plate to the Collision Sensor Stem
Collision Sensor
Stem
Tooling Interface Plate
Mounting Fasteners
4. Connect the pneumatic air hose to the Collision Sensor and apply 10-20 psi (0.69-1.38 bar) to raise the stem.
Note: This step is not required for Collision Sensors that are spring loaded. Refer to the Installation and
Operation manual for Collision Sensor being installed for specific pneumatic requirements.
NOTICE: SR-48, SR-61, SR-81, and SR-101 models are equipped with a #10-32 or M5 x 0.8 air port
connection. SR-131, SR-176, and SR-221 models are equipped with a 1/8” NPT air port connection
Figure 1.4—Install the Collision Sensor to the Robot Interface Plate

Collision Sensor
Pneumatic Connection
6
Document #9610-60-1008-07
5. For SR-48 model remove M3 socket head cap screw shown in Figure 1.5.
6. Temporarily stretch one of the garter springs over the Collision Sensor body and over switch connector block
assembly as shown in Figure 1.5. For the SR-48 model stretch garter spring over Collision Sensor body and into
groove in switch connector block assembly.
Figure 1.5—Stretch the Garter Spring over the Collision Sensor

Switch Connector M3 Socket Head
Garter Block Assembly Cap Screw Switch Connector
Spring
Block Assembly
Garter
Spring
SR-48 Model Only
7. Slide the coolant protection boot over the Tooling interface plate and onto the Collision Sensor cover. Make sure
the grooves in the boot are seated into the grooves in the Tooling interface plate and Collision Sensor cover.
Figure 1.6—Install the Coolant Protection Boot

Garter
Spring Spring
Grooves
Garter
Spring
Collision Sensor Cover

Tooling Interface Plate
Coolant Protection Boot

8. Stretch the first garter spring off the switch connector block assembly and into the groove in the boot and
Collision Sensor cover to secure the boot.
9. Stretch the second garter spring over the end of the coolant protection boot and into the first groove in the boot
and tooling interface plate.
10. For SR-48, install the M3 socket head cap screw. Tighten to 12 in-lbs.(1.36 Nm)
7
Document #9610-60-1008-07
2. Design/Procurement of Interface Plates

This sealing system utilizes a bellows style boot attached to the cover and stem side interface plate and a molded
wire channel gasket. In order to insure proper sealing the following items are necessary:
1. The unit must have been purchased from the factory with the coolant protection boot.(This is necessary since
the cover must contain the groove for the garter spring and be sealed to the body.)
2. Purchase custom collision sensor interface plates from ATI. Provide the robot and tooling interface patterns to
ATI and we will design and manufacture custom interface plates for your application.
or
Purchase blank collision sensor interface plates and modify them as follows:
Tooling to Collision Sensor Stem Interface Plate
a) The tooling mounting holes in the collision sensor stem to tooling interface plate must be surrounded with
o-rings installed in properly sized counterbores.
Robot to Collision Sensor Body Interface Plate
a) The robot mounting holes and dowel hole(s) in the collision sensor body to robot interface plate must be
oriented so that they do not cross the molded wire channel gasket.
Refer to Section 3—Drawings for Replacement Parts & Interface Plates for interface plate part numbers and
examples of properly modified interface plates.
8
3.1
Rev. Description Initiator Date
ITEM NO. QTY. PART NUMBER DESCRIPTION
01 ECO-11161; Initial Drawing DAW 7/5/2013
1 1 3700-60-1829 C5 Boot, SR-048
9160-FLEXBOOT-048
2 2 3610-0351800-20 Garter Spring, SR-048 Boot
3 1 3500-1265016-15A M6 x 16mm SFHCS, Blue Dyed
SR-48
Magni-565 w/Microspheres
4 1 NSS Blank IPS Stem to Tooling
5 1 3410-0001080-01 6mm x 1mm O-Ring Buna-N 9160-048-IPS-1830 Blank IPS Stem to Tooling
6 4 3540-0102006-11 2mm x 6mm Dowel Alloy Steel
7 4 3500-1262040-15A M4 x 40mm SFHCS, Blue Dyed
Magni-565 w/Microspheres
9160-048-IPB-1831 Blank IPB Body to Robot
8 2 3540-0104012-11 4mm x 12mm Dowel Alloy Steel 9160-048-IPB-1832 IPB SR-48 Body to BC31.5, (4)M5, Boss 20, Dowel 5
9 1 NSS Blank IPB Body to Robot
Robot Flange
NSS - Not sold seperately.
SR-048 Collision Sensor 9
8
7
9
6
4
5 Interface Plate to Robot
Positioning Dowel(s)
(Varies with Robot -
1 3 Customer Supplied)
2
Interface Plate to Robot
Mounting Screws
Customer Supplied)
Customer to Machine Pattern of

Tapped Holes for Attachment to
3. Drawings for Replacement Parts & Interface Plates
Tooling (See sheet 2 for More Details)

NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
SPECIFIED.
Tel: +1.919.772.0115 Email: info@ati-ia.com
DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
ALL DIMENSIONS ARE IN ISO 9001 Registered Company
MILLIMETERS.
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
TITLE
DRAWN BY: D. Wagner 7/6/13
CHECKED BY: DKL 7/9/13
SR-48 Collision Sensor Assembly (with Coolant Protection
Boot)
SCALE SIZE DRAWING NUMBER REVISION
3rd ANGLE PROJECTION PROJECT # 101217-3 SHEET 1 OF 2 3:4 B 9230-60-1170 01
Document #9610-60-1008-07
- See Sheet1 - -
.080
Example Machining of Tooling Interface Pattern .030
2.03 63
in Blank IPS Stem to Tooling R0.76
45°
CAUTION: O-RING SEALS REQUIRED AROUND ALL THRU .036
HOLES TO MAINTAIN SEALING 0.91
EXCEPTIONS: PRESS FIT DOWEL PIN HOLES 63
DETAIL B
SCALE 8 : 1
Document #9610-60-1008-07
.025
0.64 Included on blank interface plate when supplied by ATI.
Required if customer machines interface plate.
2X M5 Press Fit
A Dowel Pin Hole
B
45°
10
1.890
C'Bores for AS568A-009 O'rings .340
(Viton recommended for widest 48
8.64
range of fluid compatability)
4X M5x0.8 Thru
Equally Spaced .348
8.84
1.240 .052
B.C. 31.50 .048
A 1.320 SECTION A-A
1.220 SCALE 2 : 1
63

SPECIFIED.
MILLIMETERS.
TITLE
CHECKED BY: DKL 7/9/13
SR-48 Collision Sensor Assembly (with Coolant Protection
Boot)
3.2
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. Rev. Description Initiator Date

NOT TO BE REPRODUCED IN ANY MANNER EXCEPT ON
ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 01 Initial Version DAW 5/16/2007
ITEM NO. Default/

QTY. PART NUMBER DESCRIPTION
1 1 3700-60-1554 Flex Boot, SR-061
9160-FLEXBOOT-061
SR-61
2 2 3610-0368800-20 Garter Spring, SR-061 Boot

3 3 3500-1062012-15 M4-0.7 x 12mm SHCS, Blue
4 1 NSS Blank IPS Stem to Tooling 9160-061-IPS-1557 Blank IPS Stem to Tooling
5 1 3540-0103010-11 3mm x 10mm Dowel Alloy Steel
6 4 3500-1062040-11 M4-0.7 x 40mm SHCS, Black Oxide 9160-061-IPB-1479 Blank IPB Robot to Body
7 2 3540-0104014-11 4mm x 14mm Dowel Alloy Steel 9160-061-IPB-1481 IPB for SR-061 Body to BC40, (4)M6, Boss 25, D6
9160-061-IPB-1495 IPB for SR-061 Body to BC31.5, (4)M5, Boss 20, D5

Robot Flange
SR-061 Collision Sensor

7
11
6
Interface Plate to Robot Positioning Dowel(s)
(Varies with Robot - Customer Supplied)
4 5
3 Interface Plate to Robot Mounting Screws


Tooling (See Sheet 2 for More Details)
NOTES: UNLESS OTHERWISE SPECIFIED
DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS.
1031 Goodworth Drive, Apex, NC 27539, USA
ALL DIMENSIONS ARE IN MILLIMETERS. Tel: +1.919.772.0115 Email: info@ati-ia.com
Fax: +1.919.772.8259 www.ati-ia.com
ISO 9001 Registered Company
2
DRAWN BY: TITLE
D. Wagner 5/1/07
SR-061 with Coolant Protection Boot
CHECKED BY:
DSS 8-22-07
SCALE SIZE DRAWING NUMBER
WEIGHT LBS:
- 1:2 B 9230-60-1108-01
3rd ANGLE PROJECTION ASSEMBLY REF:
PRODUCT RELEASE # 060203-1 DATE: SHEET 1 OF 2
Document #9610-60-1008-07
ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
.079 - See Sheet1 - -
.030 2.01
Example Machining of Tooling Interface Pattern R0.76 63
in Blank IPS Stem to Tooling 45°
.036
CAUTION: O-RING SEALS REQUIRED AROUND ALL THRU 0.91
HOLES TO MAINTAIN SEALING
EXCEPTIONS: PRESS FIT DOWEL PIN HOLES AND THE 63
(3) SHCS ATTACHING THIS PLATE TO THE STEM OF THE DETAIL C
COLLISION SENSOR
SCALE 8 : 1
Document #9610-60-1008-07
.025
0.64 Included in machining of blank interface plate.
Required if customer machines interface plate.
M6 Press Fit Dowel Pin Hole
B
4X M6x1.0 Thru
C
45°
Equally Spaced
30°
.9863 .7107
12
.10
A A 2.362 .9853 2.5 .7097 1.15
60 25.052 18.052 29.2
25.027 18.026
1.57 .12
40 B.C. 3
C'Bores for ARP 568-011 O'rings .10

B (Viton recommended for widest 2.5
range of fluid compatability)
.438 .052
4X 11.13 SECTION B-B
.048
1.32
SCALE 1.5 : 1
4X 63 4X
1.22 NOTES: UNLESS OTHERWISE SPECIFIED
DRAWN BY: TITLE

D. Wagner 5/1/07
CHECKED BY:
DSS 8-22-07
SECTION A-A WEIGHT LBS:
- 1:1 B 9230-60-1108-01
SCALE 1.5 : 1 3rd ANGLE PROJECTION ASSEMBLY REF:
3.3
Item No. Quan. Part Number Description 03 Revised item 2 DAW 2/14/2007
04 added .070,3.070 dims and detailB DAW 4/3/2007
1 1 3700-60-1548 Flexible Boot, SR-081 05 drawing description was "SR-081 with Flexible Boot" DAW 8/28/2007
2 2 3610-0494000-20 Garter Spring, SR-081 9160-FLEXBOOT-081

SR-81
3 1 3700-60-1590 Molded Wire Channel Gasket, SR-081

4 4 3500-1064012-15 M5 x 12 SHCS - Grade 12.9 Metric Blue
6 2 3540-0103016-11 M3 x 16 Alloy Steel Dowel Pin Robot Flange
7 4 3500-1064045-15 M5 x 45 SHCS - Grade 12.9 Metric Blue 9160-081-IPB-1122 Blank IPB Body to Robot
8 2 3540-0105020-11 M5 x 20 Alloy Steel Dowel Pin 9160-081-IPB-1602 IPB for SR-81 Body to BC40, (4)M6, Boss 25, D6
9 1 NSS Blank IPB Body to Robot 9160-081-IPB-1604 IPB for SR-81 Body to BC50, (4)M6, Boss 31.5, D6
13
7
Interface Plate to Robot Positioning Dowel(s)

5 (Varies with Robot - Customer Supplied)
6
Interface Plate to Robot Mounting Screws
4
1


DRAWN BY: TITLE

D. Wagner 8/18/06
CHECKED BY:
DSS 3-30-07
2 SCALE SIZE DRAWING NUMBER
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. WEIGHT LBS:
-- 7:16 B 9230-60-1099-05
ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 3rd ANGLE PROJECTION ASSEMBLY REF:
Document #9610-60-1008-07
- See Sheet1 - -
Example Machining of Tooling Interface Pattern

in Blank IPS Stem to Tooling Example Machining of Robot Interface Pattern
in Blank IPB Body to Robot
CAUTION: O-RING SEALS REQUIRED AROUND ALL THRU
EXCEPTIONS: PRESS FIT DOWEL PIN HOLES AND THE CAUTION: ROBOT INTERFACE HOLES MUST NOT
(4) SHCS ATTACHING THIS PLATE TO THE STEM OF THE PROTRUDE INTO AREA OCCUPIED BY WIRE CHANNEL
GASKET LOCATED BETWEEN BODY AND INTERFACE PLATE
Document #9610-60-1008-07
COLLISION SENSOR
(2) M6 Press Fit Dowel Pin Holes 2.12

.39 53.8
10
3.15 3.15
80 80
.20
5.1
A A
3.070
77.98
14
.40
10.2
4X M6X1.0 Thru
Equally Spaced 1.575
40 B.C.
1.97
50 B.C.
45°
.070 63
1.78 4X 6.8[0.27] THRU ALL
1.45 11.3[0.44] 6.4[0.25]
36.8
.070 .040
1.78 63 1.02
45°
.080 DETAIL B
R2.03
.020 SCALE 2 : 1
.438
4X 11.113 C'Bores for ARP 568-011 O'rings R0.51
(Viton recommended for widest NOTES: UNLESS OTHERWISE SPECIFIED
range of fluid compatability) DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS.
.052 ALL DIMENSIONS ARE IN MILLIMETERS. Tel: +1.919.772.0115 Email: info@ati-ia.com
.048 Fax: +1.919.772.8259 www.ati-ia.com
1.32 ISO 9001 Registered Company
4X 4X 63
1.22
DRAWN BY: TITLE
D. Wagner 8/18/06
CHECKED BY:
DSS 3-30-07
WEIGHT LBS:
-- 1:1 B 9230-60-1099-05
SECTION A-A PRODUCT RELEASE # 060203-1 DATE: SHEET 2 OF 2
3.4

ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. Revised item 3, description of 9160-101-IPB-1669;
02 added dimensions to Detail B; revised drawing DAW 8/21/07
description
Item No. Quan. Part Number Description
1 1 3700-60-1558 Flexible Boot, SR-101
3 1 3700-60-1607 Molded Wire Channel Gasket, SR-081 & SR-101
SR-101

6 2 3540-0103016-11 M3 x 16 Alloy Steel Dowel Pin
7 4 3500-1064050-15 M5 x 50 SHCS - Grade 12.9 Metric Blue 9160-101-IPB-1131 Blank IPB Body to Robot
8 2 3540-0105020-11 M5 x 20 Alloy Steel Dowel Pin Robot Flange
9160-101-IPB-1669 IPB for SR-101 Body to BC40, (4)M6, Boss 25, D6
NSS - Not sold seperately. Interface Plate to Robot Positioning Dowel(s)

9
8
5
6
15
1
4
Interface Plate to Robot Mounting Screws



2 ISO 9001 Registered Company
DRAWN BY: TITLE

D. Wagner 2/15/07
CHECKED BY:
DSS 8/20/07
WEIGHT LBS:
--- 1:2 B 9230-60-1112-02
Document #9610-60-1008-07
- See Sheet1 - -

in Blank IPS Stem to Tooling Example Machining of Robot Interface Pattern
in Blank IPB Body to Robot
CAUTION: O-RING SEALS REQUIRED AROUND ALL THRU
HOLES TO MAINTAIN SEALING CAUTION: ROBOT INTERFACE HOLES MUST NOT
EXCEPTIONS: PRESS FIT DOWEL PIN HOLES AND THE PROTRUDE INTO AREA OCCUPIED BY WIRE CHANNEL
(4) SHCS ATTACHING THIS PLATE TO THE STEM OF THE GASKET LOCATED BETWEEN BODY AND INTERFACE PLATE
COLLISION SENSOR
Document #9610-60-1008-07
2X M6 Press Fit Dowel Pin Hole

.39 2.12
10 53.8
3.94
45°
100
1.85
46.9
25° .40 25°

A A 10.2
3.860
98.04
16
45°
.080
.020
2.03
R0.51
.010
R0.25
63
1.57
4X M6 x 1.0 Thru 1.97 40 B.C.
63
Equally Spaced 50 B.C. 45°
.030 20° 4X 6.6[0.26] THRU ALL

R0.76 11[0.43] 6.4[0.25]
.438 .100
11.13 C'Bores for ARP 568-011 O'rings 2.54 Equally Spaced
(Viton recommended for widest DETAIL B
.052 range of fluid compatabilty) SCALE 2 : 1 6mm Slip Fit Dowel Hole
.048 NOTES: UNLESS OTHERWISE SPECIFIED
1.32 63 1031 Goodworth Drive, Apex, NC 27539, USA
1.22 ALL DIMENSIONS ARE IN MILLIMETERS. Tel: +1.919.772.0115 Email: info@ati-ia.com
DRAWN BY: TITLE

D. Wagner 2/15/07
CHECKED BY:
SECTION A-A DSS 8/20/07
WEIGHT LBS:
SCALE 1 : 1 --- 1:2 B 9230-60-1112-02
3.5
Item No. Quan. Part Number Description 01 Initial Issue PS 6/26/2007

02 Revised to show new high strength cover/cam DAW 9/12/2007
1 1 3700-60-1563 Flexible Boot, SR-131
SR-131

7 4 3500-1066060-12 M6 x 60 SHCS - Black Oxide Robot Flange
9160-131-IPB-1310 Blank IPB Body to Robot
9160-131-IPB-1415 IPB for SR131 Body to BC90, (4)M8, Boss 50, Dowel 6

9

Positioning Dowel(s)
17
7
Tapped Holes for Attachment to Interface Plate to Robot
Tooling (See Sheet 2 for More Details) 5 Mounting Screws
6 3 (Varies with Robot - Customer Supplied)
2
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. Fax: +1.919.772.8259 www.ati-ia.com
NOT TO BE REPRODUCED IN ANY MANNER EXCEPT ON ISO 9001 Registered Company
DRAWN BY: TITLE

P.Sparrow, 6/26/07
CHECKED BY:
DAW 6/27/07
WEIGHT LBS:
--- 1:4 B 9230-60-1113-02
PRODUCT RELEASE # DATE: SHEET 1 OF 2
Document #9610-60-1008-07
Example Machining of Tooling Interface Pattern - See Sheet1 - -
in Blank IPS Stem to Tooling
CAUTION: O-RING SEALS REQUIRED AROUND ALL THRU Example Machining of Robot Interface Pattern
HOLES TO MAINTAIN SEALING in Blank IPB Body to Robot
EXCEPTIONS: PRESS FIT DOWEL PIN HOLES AND THE
(4) SHCS ATTACHING THIS PLATE TO THE STEM OF THE CAUTION: ROBOT INTERFACE HOLES MUST NOT
COLLISION SENSOR PROTRUDE INTO AREA OCCUPIED BY WIRE CHANNEL
GASKET LOCATED BETWEEN BODY AND INTERFACE PLATE
.08
(2) 6 Press Fit 1.9
Document #9610-60-1008-07
Dowel Holes
Equally Spaced 3.54 .50
B.C. 90 12.7
.36 6 Slip Fit
9.1 Dowel Hole
5.12
130
5.12
130
5.04
128 2.42
61.5
2.72
18
69.1
45°
C C
63
(4) Tapped M8 x 1.25 Thru 3.54
Equally Spaced B.C. 90
(4) C'Bored Thru Holes
A for M8 SHCS
.562 .010 Equally Spaced
(4) 14.275 R0.25
0.5 X 45°
.030 1031 Goodworth Drive, Apex, NC 27539, USA
R0.76 DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS.
(4) 63 ALL DIMENSIONS ARE IN MILLIMETERS. Tel: +1.919.772.0115 Email: info@ati-ia.com
.052 Fax: +1.919.772.8259 www.ati-ia.com
.020 45° PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC.
.048 NOT TO BE REPRODUCED IN ANY MANNER EXCEPT ON
R0.51 ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
1.32 .124
(4) DRAWN BY: TITLE
1.22 P.Sparrow, 6/26/07
C'Bores for AS-568A-013 3.15 SR-131 with Coolant Protection Boot
CHECKED BY:
O-rings DAW 6/27/07
SECTION C-C (Viton recommended for widest DETAIL A WEIGHT LBS:
--- 3:4 B 9230-60-1113-02
SCALE 2 : 1 range of fluid compatability) SCALE 3 : 1 3rd ANGLE PROJECTION ASSEMBLY REF:
PRODUCT RELEASE # DATE: SHEET 2 OF 2
3.6
01 Initial Version DAW 11/12/2007
02 Eco 14804; Corrected Detail A LJH 8/24/2016

1 1 3700-60-1581 Flexible Boot, SR-176
SR-176

4 6 3500-1068020-15 M8 x 20 SHCS Grade 12.9 Metric Blue
Robot Flange
7 4 3500-1068080-15 M8 x 80 SHCS Grade 12.9 Metric Blue
8 2 3540-0106024-11 M6 x 24 Alloy Steel Dowel Pin 9160-176-IPB-1289 Blank IPB Body to Robot

Mounting Screws
Customer to Machine Pattern of 7

Tooling (See Sheet 2 for More Details) Interface Plate to Robot
5 6 Positioning Dowel(s)
19
9 Customer Supplied)
8
3
2 4

SPECIFIED.
MILLIMETERS.
TITLE
CHECKED BY: DSS 11/15/07
SR-176 Collision Sensor Assembly (w C5 Boot)
Document #9610-60-1008-07
- See Sheet1 - -
Example Machining of Robot Interface Pattern
CAUTION: O-RING SEALS REQUIRED AROUND ALL THRU in Blank IPB Body to Robot
COLLISION SENSOR GASKET LOCATED BETWEEN BODY AND INTERFACE PLATE
.13
Document #9610-60-1008-07
3.2 20°
.63
15.9 [0.78]
[6.89] 20
6.89 175
175 .40
10.2
6.75
171.4 3.32
84.3
3.62
20
91.9
B B (2) 8 Press Fit

Dowel Holes
Equally Spaced
.500 B.C. 100 (2) M10 Slip Fit Dowel Holes

(6) 12.70
B.C. 100
(6) 63
A (6) C'Bored Thru Holes
for M8 SHCS
.052 C'Bores for AS-568A-012 Equally Spaced
.048 O'rings (Viton recommended
1.32 for widest range of fluid
(6) compatability)
1.22
SECTION B-B 63 NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
SCALE 1 : 1 SPECIFIED.
MILLIMETERS.
.200 PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
63
5.08 TITLE
.020 .030
CHECKED BY: DSS 11/15/07
SR-176 Collision Sensor Assembly (w C5 Boot)
R0.51 R0.76
DETAIL A SCALE SIZE DRAWING NUMBER REVISION
45°
SCALE 2 : 1 3rd ANGLE PROJECTION PROJECT # 060203-1 SHEET 2 OF 2 1:2 B 9230-60-1120 02
3.7

ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 02 Revised no. of screws from 4 to 6. DAW 11/15/2007
03 ECO-5966; Revised detail A corner radii DAW 11/20/2007

1 1 3700-60-1585 Flexible Boot, SR-221 Robot Flange
SR-221

4 4 3500-1070030-15A M10 x 30 SHCS Grade 12.9 Metric Blue
7 4 3500-1070100-15 M10 x 100 SHCS Grade 12.9 Metric Blue 9160-221-IPB-1358 Blank IPB Body to Robot
8 2 3540-0110040-11 M10 x 40 Alloy Steel Dowel Pin 9160-221-IPB-1417 IPB for SR-221 Body to BC125,
9 1 NSS Blank IPB Body to Robot (6)M10, Boss63, Dowel 10
NSS - Note sold seperately.
7 Interface Plate to Robot

6 Positioning Dowel(s)
9 Customer Supplied)
Customer to Machine Pattern of 8
21
Tapped Holes for Attachment to 5

3 Mounting Screws
4

DRAWN BY: TITLE

D. Wagner 9/26/07
SR-221 Collision Sensor Assembly (with C5 boot)
CHECKED BY:
DSS 11-2-07
WEIGHT LBS:
----------- 1:5 B 9230-60-1118-03
Document #9610-60-1008-07
Example Machining of Tooling Interface Pattern ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
- See Sheet1 - -
CAUTION: O-RING SEALS REQUIRED AROUND ALL THRU Example Machining of Robot Interface Pattern
HOLES TO MAINTAIN SEALING in Blank IPB Body to Robot
COLLISION SENSOR GASKET LOCATED BETWEEN BODY AND INTERFACE PLATE
02
Document #9610-60-1008-07
.75
(6)Tapped M10 x 1.25 Thru 19.1 .50
Equally Spaced .13 12.7
3.2
8.66
219.9
20°
4.23
107.4 4.53
115.1
8.52
216.3
22
(2) 10 Press Fit 4.92
C C Dowel Holes B.C. 125
Equally Spaced
4.92
B.C. 125
.562
(6) 14.27
[.020] (6) C'Bored Thru Holes
R0.51 03 A for M10 SHCS
(6) 63 Equally Spaced
63 NOTES: UNLESS OTHERWISE SPECIFIED

.052 C'Bores for AS-568A-013 DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS.
.048 O-rings (Viton recommended ALL DIMENSIONS ARE IN MILLIMETERS. Tel: +1.919.772.0115 Email: info@ati-ia.com
1.32 for widest range of fluid 63 Fax: +1.919.772.8259 www.ati-ia.com
(6) compatability) ISO 9001 Registered Company
1.22
SECTION C-C .200 DRAWN BY: TITLE
SCALE 1 : 1 5.08 D. Wagner 9/26/07
SR-221 Collision Sensor Assembly (with C5 boot)
CHECKED BY:
45° DSS 11-2-07
DETAIL A WEIGHT LBS:
.030 ----------- 1:5 B 9230-60-1118-03
SCALE 2 : 1 3rd ANGLE PROJECTION ASSEMBLY REF:
R0.76 PRODUCT RELEASE # 060203-1 DATE: SHEET 2 OF 2
Document #9610-60-1008-07
4. Terms and Conditions of Sale

The following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and
Conditions, which are on file at ATI and available upon request.
ATI warrants to Purchaser that Protector products purchased hereunder will be free from defects in material and
workmanship under normal use for a period of one (1) year from the date of shipment. The warranty period for
repairs made under a RMA shall be for the duration of the original warranty, or ninety (90) days from the date of
repaired product shipment, whichever is longer. 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. ATI’s entire liability and Purchaser’s sole
remedy under this warranty is limited to repair or replacement, at ATI’s election, of the defective part or item or, at
ATI’s 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. ATI’s 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 occurred.
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 ATI’s 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 ATI’s 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 Purchaser’s use in
operating the products supplied by ATI hereunder in Purchaser’s internal business operations.
Without ATI’s 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 Purchaser’s 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.
23

Robotic Collision Sensor: Engineered Products For Robotic Productivity

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Robotic Collision Sensor: Engineered Products For Robotic Productivity

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Robotic Collision Sensor

U.S. Patent Nos. 6069415 and 6690208

SR-48, 61, 81, 101, 131, 176, and 221

Installation Instructions for Coolant Protection Boot

Engineered Products for Robotic Productivity

©Copyright by ATI Industrial Automation. All rights reserved.

Sale, Service and Information about ATI products:

1. Installation of Coolant Protection Boot

Figure 1.1—Install Robot Interface Plate

Robot Interface Plate

Locating Dowel Pin

Figure 1.2—Install the Collision Sensor to the Robot Interface Plate

Mounting Fasteners (Customer Supplied)

Figure 1.4—Install the Collision Sensor to the Robot Interface Plate

Figure 1.5—Stretch the Garter Spring over the Collision Sensor

SR-48 Model Only

Figure 1.6—Install the Coolant Protection Boot

Collision Sensor Cover

Coolant Protection Boot

2. Design/Procurement of Interface Plates

SR-048 Collision Sensor 9

Customer to Machine Pattern of

Tooling (See sheet 2 for More Details)

3rd ANGLE PROJECTION PROJECT # 101217-3 SHEET 1 OF 2 3:4 B 9230-60-1170 01

NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA

3rd ANGLE PROJECTION PROJECT # 101217-3 SHEET 2 OF 2 2:1 B 9230-60-1170 01

PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. Rev. Description Initiator Date

ITEM NO. Default/

2 2 3610-0368800-20 Garter Spring, SR-061 Boot

NSS - Not sold seperately.

SR-061 Collision Sensor

3 Interface Plate to Robot Mounting Screws

Customer to Machine Pattern of

C'Bores for ARP 568-011 O'rings .10

DRAWN BY: TITLE

Rev. Description Initiator Date

2 2 3610-0494000-20 Garter Spring, SR-081 9160-FLEXBOOT-081

3 1 3700-60-1590 Molded Wire Channel Gasket, SR-081

NSS - Not sold seperately.

SR-081 Collision Sensor

Interface Plate to Robot Positioning Dowel(s)

Customer to Machine Pattern of

NOTES: UNLESS OTHERWISE SPECIFIED

DRAWN BY: TITLE

Example Machining of Tooling Interface Pattern

(2) M6 Press Fit Dowel Pin Holes 2.12

PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. Rev. Description Initiator Date

4 4 3500-1064012-15 M5 x 12 SHCS - Grade 12.9 Metric Blue

NSS - Not sold seperately. Interface Plate to Robot Positioning Dowel(s)

Interface Plate to Robot Mounting Screws

Customer to Machine Pattern of

NOTES: UNLESS OTHERWISE SPECIFIED

DRAWN BY: TITLE

Example Machining of Tooling Interface Pattern

2X M6 Press Fit Dowel Pin Hole

25° .40 25°

.030 20° 4X 6.6[0.26] THRU ALL

DRAWN BY: TITLE

Rev. Description Initiator Date

Item No. Quan. Part Number Description 01 Initial Issue PS 6/26/2007

4 4 3500-1066020-15 M6 x 20 SHCS - Grade 12.9 Metric Blue

NSS - Not sold seperately.

Interface Plate to Robot