9116 series 000, 100, 200, and 400 - ati industrial automation · compensator installation and...
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Engineered Products for Robotic ProductivityPinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com
Compensator
9116 Series 000, 100, 200, and 400
Installation and Operation Manual
Document #: 9610-15-1000
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 2
ForewordCAUTION: 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 Sale, 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, Option 2, Option 2 Fax: 919.772.8259 E‑mail: mech_support@ati‑ia.com
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Table of ContentsForeword .......................................................................................................................................... 2How to Reach Us ............................................................................................................................. 2Glossary of Terms ........................................................................................................................... 51. .Safety ........................................................................................................................................ 6
1.1 ExplanationofNotifications ......................................................................................................... 6
1.2 General Safety Guidelines ............................................................................................................ 6
1.3 Safety Precautions ........................................................................................................................ 7
2. Product Overview ..................................................................................................................... 82.1 9116 Series 000, 100, 200, and 400 Compensator Assemblies ................................................. 9
2.2 Application ................................................................................................................................... 102.2.1 Intended Use .................................................................................................................... 10
2.2.2 Compensator Selection .................................................................................................... 10
2.2.3 Contact Force ................................................................................................................... 12
2.2.4 Repeatability ..................................................................................................................... 12
3. Installation .............................................................................................................................. 133.1 Robot Side Interface ................................................................................................................... 13
3.2 Tool Side Interface ...................................................................................................................... 13
3.3 Pneumatic Connections for Units with Lock-up (optional) ..................................................... 13
3.4 Electrical Connection for Units with Lock Sensing (optional) ................................................ 14
4. Operation ................................................................................................................................ 154.1 Compliance .................................................................................................................................. 15
4.2 Lock-up (optional) ....................................................................................................................... 15
4.3 Lock Sensing (optional) .............................................................................................................. 16
5. Maintenance ............................................................................................................................ 175.1 Preventive Maintenance ............................................................................................................. 17
6. Troubleshooting ..................................................................................................................... 186.1 Replacing shear pads ................................................................................................................. 19
6.1.1 9116 000 Series shear pad Replacement ........................................................................ 19
6.1.2 9116 100 and 200 Series shear pad Replacement .......................................................... 20
6.1.3 9116 400 Series shear pad Replacement ........................................................................ 22
7. Serviceable Parts ................................................................................................................... 248. Specifications ......................................................................................................................... 249. Drawings ................................................................................................................................. 27
9.1 Customer Drawings .................................................................................................................... 279.1.1 Compensator 9116 Series 000 with Lock‑up .................................................................... 27
Manual CompensatorDocument #9610-15-1000-17
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9.1.2 Compensator 9116 Series 100 with Lock‑up and Sensor Ready ..................................... 28
9.1.3 Compensator 9116 Series 200 with Lock‑up and Sensor Ready ..................................... 29
9.1.4 Compensator 9116 Series 400 with Lock‑up and Lock Sensing ...................................... 30
9.2 Assembly Drawings .................................................................................................................... 319.2.1 Compensator 9116 Series 000 with Lock‑up .................................................................... 31
9.2.2 Compensator 9116 Series 100 ......................................................................................... 32
9.2.3 Compensator 9116 Series 200 ‑ (3) shear pads Location A ............................................. 34
9.2.4 Compensator 9116 Series 200 ‑ (3) shear pads Location B ............................................ 36
9.2.5 Compensator 9116 Series 200 ‑ (6) shear pads Location C ............................................ 38
9.2.6 Compensator 9116 Series 400 ‑ (6) shear pads Location C ............................................ 40
9.2.7 Compensator 9116 Series 400 ‑ (12) shear pads Location D .......................................... 42
10. Terms and Conditions of Sale ............................................................................................... 44
Manual CompensatorDocument #9610-15-1000-17
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Glossary of TermsTerm DefinitionTop Plate Plate that interfaces Compensator to robot or assembly machine.Bottom Plate Plate that interfaces customer tooling to Compensator.
overload pin Component that limits amount of the compliance to prevent damage to Compensator when overloaded.
shear pad Component that provides compliance in the lateral, cocking, axial, and torsional directions.
Lock‑up Pneumatically‑powered locking mechanism that locks Compensator rigid for accelerated movements to reduce wear on the shear pads.
Lock‑up Screw Locking mechanism component that is pulled into bottom plate by the lock‑up to help securely lock unit.
Lock‑up Screw Bushing Wear bushing for lock‑up screw.
Lock Sensing Proximity sensor mounted in the sensor fitting detects when Compensator is locked.
Sensor Ready Compensator with sensor fitting. Customer supplies proximity sensor for lock sensing.
Insertion Contact Point at which part being inserted contacts its mating part. At this point a Point contact force is created.Center‑of‑Compliance The point in the space at which a contact force will cause a translation with no (C‑of‑C) rotation and a torque will cause a rotation with no translation.
RCC Remote Center‑of‑Compliance or Remote Compliance Center (same as C‑of‑C).
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1. .SafetyThe safety section describes general safety guidelines to be followed with this product, explanation of the notification found in this manual, and safety precaution that apply to the product. More specific notification are imbedded within the sections of the manual were they apply.
1.1 ExplanationofNotificationsThe notifications included here are specific to the product(s) covered by this manual. It is expected that the user heed all notifications from the robot manufacturer and/or the manufacturers of other components used in the installation.
DANGER: Notification of information or instructions that if not followed will result in death or serious injury. The notification provides information about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.
WARNING: Notification of information or instructions that if not followed could result in death or serious injury. The notification provides information about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.
CAUTION: Notification of information or instructions that if not followed could result in moderate injury or will cause damage to equipment. The notification provides information about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notification of specific information or instructions about maintaining, operating, installation, or setup of the product that if not followed could result in damage to equipment. The notification can emphasize but is not limited to specific grease types, good operating practices, or maintenance tips.
1.2 General Safety GuidelinesPrior to purchase and installation, the customer should verify that the Compensator selected is rated for the maximum loads expected during operation (refer to Section 8—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 without failing. The routing of the electrical and pneumatic lines must minimize the possibility of stress pullout, kinking, rupture, etc. All electrical power and pneumatics should be disconnected during servicing.
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1.3 Safety PrecautionsWARNING: Do not perform maintenance or repair on the Compensator unless all energized circuits (e.g. air, etc.) have been turned off. Injury or equipment damage can occur with energized circuits on. Turn off all energized circuits before performing maintenance or repair on the Compensator.
WARNING: The Compensator is only to be used for intended applications and applications approved by the manufacturer. Using the Compensator in the applications other than intended will result in damage to Compensator, or end‑of‑arm tooling and could cause injury to personnel.
CAUTION: During operation, the area inside the Compensator must be kept clear. Failure to keep area clear will result in damage to Compensator.
Manual CompensatorDocument #9610-15-1000-17
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2. Product OverviewThe Compensator is a compliance device that enhances the flexibility and reliability of a robot or assembly machine. Compensators are used in the 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) compliance center. The Center‑of‑Compliance (C‑of‑C) is the point in the space at which a contact force will cause a translation with no rotation and a torque will cause a rotation with no translation. When the Center‑of‑Compliance is near the insertion contact point, the insertion part axis will align with the location axis during assembly. The Compensator consists of a single device with all components contained within the unit’s outside diameter. The Compensator is available in various sizes and configurations, refer to Section 8—Specifications.
Figure 2.1—Product Description
Center-of-Compliance
Top Plate(Robot Side)
Bottom Plate(Tool Side)
Compression
Lateral
Tension
Cocking
Torsion
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2.1 9116 Series 000, 100, 200, and 400 Compensator AssembliesThe 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 2.2).Lock‑up and lock sensing is optional. Lock‑up is available on all sizes; lock sensing is only available on the 100, 200, and 400 sizes.
Figure 2.2—9116 Series Compensator Assembly (Lock-up Screw Bushing Not Shown)
Top Plate(Robot Side)
Bottom Plate(Tool Side)
Lock Sensor Cable
(3, 6, or 12) Shear Pads(Bonded Strain Elements)
Bearing Plate
(3) Overload Pins
Sensor and Fitting
(3) Lock-up Screws
Air CylinderUnlock Air Fitting
Lock Air Fitting
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2.2 ApplicationThe following section provides information about using the Compensator in the application.
2.2.1 Intended UseThe Compensator is intended to be used in the “peg‑in‑hole” type operations in the vertical orientation. The peg‑in‑hole example is an application involving the insertion of the one part into another. There are a variety of the 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 have memorization characteristics. Over time the rubber material memorizes the repeated position and will return to this position. When this occurs, the shear pads have developed sag. Use of Lock‑up option is recommended to prevent shear pad sag.
2.2.2 Compensator Selection1. Compare possible assembly misalignment with Compensator allowable misalignment: Follow the (2) steps below (see Figure 2.3).
Step 1: Perform a tolerance study of the your worst case assembly misalignment.a. Tolerance to which your assembly machine can position part A.b. Tolerance to which your feeder can position part B.c. Repeatability of the tooling handling part A.d. Locational tolerance of the part B’s feature (i.e.; hole)e. Repeatability of the Compensator is +/‑ 0.002” in the vertical position.
Assembly misalignment (worst case) = a) + b) + c) + d) + e)Step 2: Find your total clearance.
a. Chamfer size on the part A (a lead in the is required on the at least one part).b. Chamfer size on the part B.c. Worst case part clearance, Y subtract X.
Total Clearance = a) + b) +c)• The Compensator is needed when your assembly misalignment is greater than your part
clearance.• Your total clearance must be greater than your assembly misalignment or (2) parallel surfaces
will contact. If the your total clearance is less than your assembly misalignment, then increase the chamfer size on the part an and/or part B.
• Select a Compensator with allowable misalignment greater than your assembly misalignment, refer to Section 8—Specifications.
When the insertion axis is not vertical, the initial offset of the Compensator due to the weight of the tooling and part must be taken into consideration as there is some lateral and cocking deflection of the flexing shear pads. This reduces the allowable misalignment in the downward direction, while increasing it in the upward direction.
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Figure 2.3—Assembly Inaccuracy
2. Determine the Distance L and Select the Compensator with the Optimum (C‑of‑C)Calculate the total distance, L, from the tool side (bottom) plate of the Compensator to the initial contact point of the part being inserted (see Figure 2.4). Take into account any interface plates. Select the model with a Center‑of Compliance (C‑of‑C) within 30% of the distance L. It is better to have a C‑of‑C below the insertion point than above. If the fit between the peg and hole is loose, a model with a C‑of‑C within 60% of the distance L is allowable.
Figure 2.4—Determine the Distance L and Select the Compensator with the Optimum (C-of-C)
(Distance L) Center-of-Compliance (for the Compensator)
3. Determine the required load capacity:Observe the following guidelines:• The tension load capacity for a vertical application is the weight of the tool and part.• Use HCL‑13A shear pad for high‑impact loads.• 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 (6) shear pads on the 200 and (12) on the 400 to double the load capacity.
Refer to Section 8—Specifications for model lateral and cocking load specifications.
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4. Minimize insertion force:Calculate your maximum insertion force by multiplying your assembly misalignment by the lateral stiffness. Refer to Section 8—Specifications for lateral stiffness.• Make sure your assembly device can overcome the insertion force.• Minimize Compensator stiffness when handling lightweight or delicate parts.• Longer, heavier parts can usually tolerate a greater insertion force.The 100 and 200 use (3) types of shear pads. The HCL‑12A is the softest shear pad, while the HCL‑11A is nearly as soft, but with a longer C‑of‑C. The HCL‑13A is the stiffest shear pad with a C‑of‑C similar to the HCL‑12A. The 000 uses (2) types of shear pads, HCL‑01A2 and HCL‑02A. The HCL‑01A2 is the softest shear pad. The HCL‑02A is stiffer axially and laterally.Find the lowest stiffness model that is within the applications load capacity and near the optimum C‑of‑C.The 400 uses one type of shear pad, HCL‑13A.
5. EnvironmentThe shear pads performance can be affected by the environment, such as temperature and oil. Refer to Section 8—Specifications for shear pad specifications.
2.2.3 Contact ForceExcessive contact force is the main problem in the many assembly applications. Excessive contact force causes galling, jamming, and broken parts. During a typical assembly process, there are (3) main contact forces: single‑point, sliding, and two‑point (see Figure 2.5). The key to reducing single‑point or sliding contact force is using a compliance device with a low lateral stiffness. Two‑point contact force is reduced with a low cocking stiffness.
Figure 2.5—Contact Forces
2.2.4 RepeatabilityThe Compensator has a positional repeatability of the +/‑.026 mm (.001”) when in the locked position. When unit is unlocked, shear pads have a positional repeatability of the +/‑ .051 mm (.002”).
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3. Installation3.1 Robot Side Interface
The 000, 100, 200, and 400 have (2) 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 the unit is equipped with lock sensing. For size and location of the mounting features and lock sensor cable exit, refer to Section 9.1—Customer Drawings. Mounting hardware not provided.
3.2 Tool Side InterfaceThe tool side (bottom) plate uses the same (2) methods for mounting tooling to unit as the robot side (top) plate. This plate also has (2) dowel holes for location. Refer to See Section 9.1—Customer Drawings for size and location of the mounting features.
3.3 Pneumatic Connections for Units with Lock-up (optional)CAUTION: The routing of the pneumatic lines must minimize the possibility of stress pullout, kinking, etc. Failure of the pneumatic lines to operate the unit properly may result in damage to equipment.
Units equipped with lock‑up require an air supply from the 60 to 120 psi (4.1 to 8.3 bar) to operate lock‑up. Air supply should be clean, dry, and non‑lubricated. Air supply is connected to Compensator by 5/32” or 4 mm O.D. flexible, pneumatic tubing. See Figure 3.1 for air fitting identification.It is recommended that a single 4‑way valve be used to actuate the lock‑up cylinder. The valve may be of the either 4‑port or 5‑port configuration. When air is supplied to the Lock or Unlock Port on the Compensator, the opposite port must be vented to atmosphere (i.e., when air is supplied to the Lock Port, the Unlock Port must be open to the atmosphere.) Failure to vent trapped air or vacuum on the inactive port will negate the locking force of the lock‑up cylinder.
Figure 3.1—Lock-up Pneumatic Connection
4 or 5 -way Valve
Supply Clean, Dry, Non-lubricated Air 60 – 120 psi (4.1 – 8.3 Bar)Exhaust
Open to Atmosphere
Lock Port
Unlock Port
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3.4 Electrical Connection for Units with Lock Sensing (optional)CAUTION: The routing of the electrical lines must minimize the possibility of stress pullout, kinking, etc. Failure of the electrical lines to operate the unit properly may result in damage to equipment.
Units equipped with lock sensing use a M5 x 0.5 x 25 mm long threaded barrel proximity sensor. For power requirements and additional specifications, refer to Section 8—Specifications. Customers that order units sensor‑ready should use the same type proximity sensor as specified.
Figure 3.2—PNP Type Lock Sensor
(3) BlueBrown (1)
(4) BlackBrown (1)
Black (4)
Blue (3)
+Vs
Output
0 V
PNPZ
ConnectorPNP (Current Sourcing)
Figure 3.3—NPN Type Lock Sensor
(3) BlueBrown (1)
(4) BlackBrown (1)
Black (4)
Blue (3)
+Vs
Output
0 V
NPNZ
ConnectorNPN (Current Sinking)
Sensor gap should be set at 1.02 mm (.040”) on the 100 and 200 with unit locked. Sensor gap should be set at 0.5 mm (0.020”) on the 400 with unit locked, refer to Figure 3.4.
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Figure 3.4—Lock Sensor Gap Setting
Gap between face ofsensor and face of
target with compensatorin locked position
Sensor Fitting
Jam Nut
Target (Lock-up Screw)
Sensor
4. Operation4.1 Compliance
The Compensator’s compliance is limited by (3) overload pins. When the unit has reached maximum compliance, the overload pins support the load to prevent damage to shear pads. Refer to Figure 2.1 for compliant directions.
4.2 Lock-up (optional)Units equipped with lock‑up are recommended to use an air supply from the 60 to 120 psi (4.1 to 8.3 bar). in the severe locking conditions, air supply can be adjusted to a maximum of the 120 psi (8.3 bar). Refer to Section 8—Specifications for air cylinder force factors. Lock‑up is operated by applying air to the desired fitting (lock or unlock). Opposite fitting must be exhausted for cylinder to operate correctly. Unit is recommended to be locked in the vertical position. This creates a normal locking condition. Severe locking condition occurs when the unit is locked in the horizontal position under load. Load is being lifted by lock‑up mechanism, refer to Figure 4.1. Please note that severe locking conditions will create above normal wear on the lock‑up screw bushings. For recommended lubrication periods for normal and severe locking conditions, refer to Section 5—Maintenance. Using a flow control valve to reduce acceleration of the lock‑up screw into the tool side (bottom) plate will help reduce wear on the lock‑up screw bushings.
CAUTION: Unit must be in the unlocked position for full compliance.
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Figure 4.1—Locked Positions
Unlock Air Fitting
Lock Air Fitting
Load
Load
Vertical Lock Position / Normal Horizontal Lock Position / Severe
4.3 Lock Sensing (optional)Lock sensing is achieved by monitoring the position of the lock‑up screw on the 100 and 200. The bearing plate position is monitored on the 400 to achieve lock sensing. When air pressure is applied to the air cylinder to lock unit, the lock‑up screw is pulled into the tool side (bottom) plate. The lock‑up screw or bearing plate enters the sensing range of the proximity sensor sending a lock signal. Refer to Figure 3.4.
WARNING: Stay clear of the Compensator when lock‑up is being cycled. Injury could result from the moving parts.
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5. MaintenanceThe Compensators are designed to provide a long life with regular maintenance. A visual inspection and preventive maintenance schedule is provided is Section 5.1—Preventive Maintenance.Refer to Section 9.2—Assembly Drawings, for assembly drawings and instructions.
WARNING: Do not perform maintenance or repair on the Compensator unless the tool is safely supported or docked in the tool stand and all energized circuits (e.g. electrical, air, water, etc.) have been turned off. Injury or equipment damage can occur with tool not docked and energized circuits on. Dock the tool safely in the tool stand and turn off all energized circuits before performing maintenance or repair on the Compensator.
5.1 Preventive MaintenanceUnits should be visually inspected for debris build‑up, that mounting fasteners are secure, and the unit is functioning properly. Units with optional lock‑up mechanism should be inspected periodically to ensure that it is operating freely and is free of the debris. Units with optional lock sensing should be inspected for debris and sensor and target faces cleaned. Routine inspection of the pneumatic and electrical lines is recommended to avoid possible failure.
Table 5.1—Preventive Maintenance ChecklistGeneral preventive maintenance Maintenance Schedule
г Inspect mounting fasteners for tightness. If the lose tighten.
At lubrication periods
г If equipped, clean sensor face and sensor target using a lint free cloth. Refer to Figure 2.1.
г If equipped, Inspect sensor jam nut and fitting for tightness, if the lose tighten. Refer to Section 9.2—Assembly Drawings for proper torque.
г If equipped, inspect pneumatic lines and sensor cable for wear or damage, replace as required.
Inspection and Lubrication Normal locking conditions
Severe locking conditions
г Lubricate overload pins with a light machine oil where the pins contact the Bearing Plate. Refer to Figure 5.1.
Every 50,000 cycles
Every 25,000 cycles
г Inspect Lock‑up screws and bushing for debris and lubrication. If required clean and lubricate using anti‑Seize (MIL‑A‑907E). Lubricant should be applied under head of the lock‑up screw between lock‑up screw bushing and lock‑up screw Refer to Figure 5.1.
Every 250,000 cycles
Every 100,000 cycles
Figure 5.1—Section View
Overload Pin
Bearing Plate(In unlocked position)
Contact SurfacesSensor Fitting
Jam Nut
Face of the Sensor
Face of Target(Bottom of Lock-up Screw)
Top Plate(Robot Side)
Bottom Plate(Tool Side)
Lock-up ScrewLock-up Screw Bushing
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6. TroubleshootingWARNING: Do not perform maintenance or repair on the Compensator unless the tool is safely supported or docked in the tool stand and all energized circuits (e.g. electrical, air, water, etc.) have been turned off. Injury or equipment damage can occur with tool not docked and energized circuits on. Dock the tool safely in the tool stand and turn off all energized circuits before performing maintenance or repair on the Compensator.
Refer to the following table for trouble shooting information.
Table 6.1—TroubleshootingSymptom Possible Cause Resolution
Unit not returning to initial position when compliance force is removed. (without actuating lock‑up).
Mounting fasteners are lose. Inspect mounting fasteners and tighten If the lose.
shear pads (Bonded Strain elements) are damaged or worn.
Inspect shear pads for damage, replace If required. Refer to Section 6.1—Replaceing shear pads.
Unit will not lock or unlock.
Debris caught between lock‑up mechanism.
Verify area between bearing plate and bottom plate is clear. Verify the area between the Lock‑up screws and Lock‑up screw bushings are clear.
Air leak at unit. Verify pneumatic tubing is fully inserted into air fittings.
Air lines are connected to incorrect air fittings.
Verify that air lines are connected to correct air fittings and test lock‑up. Refer to Section 3.3—Pneumatic Connections for Units with Lock-up (optional).
Air is trapped in the opposite port being actuated or incorrect valve being used.
Verify that when air is supplied to one port, the opposite port is being exhausted and the correct valve is installed. Refer to Section 3.3—Pneumatic Connections for Units with Lock-up (optional).
Air supply not to specification.
Check air supply. Pneumatic cylinder rod should be compressed during locked condition. Cylinder rod should be fully extended during unlock condition. Refer to Section 3.3—Pneumatic Connections for Units with Lock-up (optional).
Damaged or worn Locking screws or bushings.
Verify locking mechanism is operating freely and is lubricated properly.
Lock sensor not operating properly.
There is debris between the sensor and target.
Inspect and clean If necessary the sensing face of the sensor and sensor target using a lint free cloth. Refer to Figure 5.1.
The Gap between the Sensor and the target is not adjusted properly.
Verify that sensor gap is set at correct distance and jam nut and sensor fitting are tight. Refer to Section 3.4—Electrical Connection for Units with Lock Sensing (optional).
Sensor is wired incorrectly to power source.
Verify sensor is wired correctly to power source. Refer to Section 3.4—Electrical Connection for Units with Lock Sensing (optional).
Unit is not compliant. Unit is locked. Verify unit is unlocked.
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 19
6.1 Replacing shear padsRefer to the following section for shear pad Replacement:Section 6.1.1—9116 000 Series shear pad Replacement.Section 6.1.2—9116 100 and 200 Series shear pad ReplacementSection 6.1.3—9116 400 Series shear pad Replacement
6.1.1 9116 000 Series shear pad ReplacementParts required: Section 9.2.1—Compensator 9116 Series 000 with Lock‑upSupplies required: Loctite Primer 7649 and 222Tools required: 1.5 mm, 2 mm, and 2.5 mm Allen wrench (hex key), torque wrench
1. Turn off all energized circuits and remove the tooling from the Compensator.2. If equipped, remove the air lines from the Compensator.3. Remove the Compensator from the robot.4. Remove the (3) M2.5 socket flat head cap screws securing the shear pads to the bottom plate.
Note: Be careful not to strip the hex socket while removing the screws.5. If equipped with locking option, move the bearing plate into the unlocked position. Push
towards the bottom plate.6. Loosen the (3) M4 socket flat head cap screws securing the overload pins to the top plate. Insert
a pin in the hole in the overload pin to keep it from the turning If required. Note: This will allow you to separate the top and bottom plates enough to get the shear pads out.
7. Remove the (3) M2.5 socket flat head cap screws securing the shear pads to the top plate. Note: Be careful not to strip the hex socket while removing the screws.
8. Gently remove the shear pads from the Compensator.
Figure 6.1—Replace shear pads (Bonded Strain Elements)
(3) M2.5 Socket FlatHead Cap Screws
Shear Pad(Bonded Strain Element)
(3) M2.5 Socket FlatHead Cap Screws
(3) M4 Socket Flat Head Cap Screws
Top Plate
Bottom PlateBearing Plate
Shear Pad (Bonded Strain Element)
Overload Pin
9. Make sure the seats for the shear pads on the inside of the top and bottom plates are clean. Install the new shear pads in the Compensator.
10. Apply Loctite Primer 7649 and Loctite 222 to (6) M2.5 socket flat head cap screws.
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 20
11. Orient each shear pad with fin pointing outward as shown in Figure 6.2 and secure to the top plate with a M2.5 socket head cap screws. Tighten to 64 in‑oz. Note: The shear pad will twist when securing with screw, hold the element in the proper orientation while securing to top plate.
Figure 6.2—Proper Orientation
Fin Oriented Outward
Compensator with Bottom Plate Removed
Shear PadFin Oriented Outward
Shear Pad (Bonded Strain Element)
Fin OrientedOutward
(Bonded Strain Element)
12. Secure the overload pins to the top plate, tighten the M4 socket flat head cap screws to 25 in‑lbs. Insert a pin in the hole in the overload pin to keep it from the turning If required.
13. If equipped with locking option, move the bearing plate into the locked position. Push towards the top plate.
14. Secure each shear pad to the bottom plate with a M2.5 socket head cap screws. Tighten to 64 in‑oz. Note: The shear pad will twist when securing with screw, hold the element in the proper orientation while securing to bottom plate.
15. If equipped run air lines to Compensator and test functionality, if the functioning properly, install the Compensator to robot. If not make any necessary adjustments and retest.
16. If equipped attach air lines to Compensator.17. Reinstall the tooling.
6.1.2 9116 100 and 200 Series shear pad ReplacementParts required: Section 9.2.2—Compensator 9116 Series 100,
Section 9.2.3—Compensator 9116 Series 200 ‑ (3) shear pads Location A, Section 9.2.4—Compensator 9116 Series 200 ‑ (3) shear pads Location B, Section 9.2.5—Compensator 9116 Series 200 ‑ (6) shear pads Location C
Supplies required: Loctite Primer 7649 and 222Tools required: 2 mm, and 2.5 mm Allen wrench (hex key), torque wrench
1. Turn off all energized circuits and remove the tooling from the Compensator.2. If equipped remove the air line from the Compensator.3. Remove the Compensator from the robot.4. Remove the M3 socket head cap screws securing the shear pads to the bottom plate. Refer to
Figure 6.35. If equipped with locking option, move the bearing plate into the unlocked position. Push
towards the bottom plate.6. Loosen the (3) M4 socket flat head cap screws securing the overload pins to the top plate. Insert
a pin in the hole in the overload pin to keep it from the turning If required. Note: This will allow you to separate the top and bottom plates enough to get the shear pads out.
7. Remove the M3 socket head cap screws securing the shear pads to the top plate.8. Gently remove the shear pads from the Compensator.9. Make sure the seats for the shear pads on the inside of the top and bottom plates are clean.
Install the new shear pads in the Compensator.
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 21
10. Apply Loctite Primer 7649 and Loctite 222 to (6) M3 socket head cap screws.
Figure 6.3—Replace shear pads (Bonded Strain Elements)
(3) M3 Socket Head Cap Screws
Shear Pad
(3) M3 Socket Head Cap Screws
(3) M4 Socket Flat Head Cap Screws
Top PlateBottom Plate Bearing Plate
Shear Pad
Overload Pin
(Bonded Strain Element)
(Bonded Strain Element)
11. Orient each shear pad with fin pointing outward as shown in Figure 6.4 and secure to the top plate with a M3 socket head cap screws. Tighten to 14 in‑lbs. Note: The shear pad will twist when securing with screw, hold the element in the proper orientation while securing to top plate.
Figure 6.4—Proper Orientation
Fin Oriented Outward
Shear Pad(Bonded Strain Element)
Fin OrientedOutward
Fin Oriented Outward
Compensator with Bottom Plate Removed
Shear Pad(Boned Strain Element)
12. Secure the overload pins to the top plate, tighten the M4 socket flat head cap screws to 25 in‑lbs. Insert a pin in the hole in the overload pin to keep it from the turning If required.
13. If equipped with locking option, move the bearing plate into the locked position. Push towards the top plate.
14. Secure each shear pad to the bottom plate with a M3 socket head cap screws. Tighten to 14 in‑lbs. Note: The shear pad will twist when securing with screw, hold the element in the proper orientation while securing to bottom plate.
15. If equipped, run air lines to Compensator and test functionality, if the functioning properly, install the Compensator to robot. If not make any necessary adjustments and retest.
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 22
16. If equipped, attach air lines to Compensator.17. Reinstall the tooling.
6.1.3 9116 400 Series shear pad ReplacementParts required: Section 9.2.6—Compensator 9116 Series 400 ‑ (6) shear pads Location C,
Section 9.2.7—Compensator 9116 Series 400 ‑ (12) shear pads Location DSupplies required: Loctite Primer 7649 and 222, ati‑seize (MIL‑A‑907E)Tools required: 2 mm, 2.5 mm, and 3 mm Allen wrench (hex key), torque wrench
1. Turn off all energized circuits and remove the tooling from the Compensator.2. If equipped, remove the air line from the Compensator.3. Remove the Compensator from the robot.4. Remove the M3 socket head cap screws securing the shear pads to the bottom plate.5. If equipped with locking option, move the bearing plate into the unlocked position. Push
towards the bottom plate.6. Remove the (3) M5 socket flat head cap screws securing the overload pins to the top plate.
Insert a pin in the hole in the overload pin to keep it from the turning if required. 7. Remove the (3) overload pins.8. If equipped, remove the (3) lock‑up screws from the bottom plate.9. Lift the bottom plate off the Compensator.10. Remove the M3 socket head cap screws securing the shear pads to the top plate.11. Remove the shear pads from the Compensator.12. Make sure the seats for the shear pads on the inside of the top and bottom plates are clean.
Install the new shear pads in the to the top plate.13. Apply Loctite Primer 7649 and Loctite 222 to (6) M3 socket head cap screws.
Figure 6.5—Replace shear pads (Bonded Strain Elements)
M3 Socket Head Cap Screws
Shear Pad(Bonded Strain Element)
M3 Socket Head Cap Screws (3) M4 Socket Flat
Head Cap Screws
Top Plate
Bottom Plate
Bearing
Overload Pin
Lock-up Screw
Plate
14. Orient each shear pad with fin pointing outward as shown in Figure 6.6 and secure to the top plate with a M3 socket head cap screws. Tighten to 14 in‑lbs. Note: The shear pad will twist when securing with screw, hold the element in the proper orientation while securing to top plate.
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 23
Figure 6.6—Proper Orientation
Fin Oriented Outward
Compensator with Bottom Plate Removed
(Bonded Strain Element)
Fin Oriented Outward
Shear Pad(Bonded Strain Element)
Fin OrientedOutward
Alignment Notch Shear Pad
15. Clean the (3) lock‑up bushings in the bottom plate. 16. Assemble the bottom plate to the Compensator make sure all the shear pads are seated in the
plate properly.17. Apply anti‑seize (MIL‑A‑907E) to the taper on the (3) lock‑up screws.18. Apply Loctite 222 to the threads of the lock‑up screws and secure the bottom plate to the
Compensator. Tighten to 35 in‑lbs.19. Insert the (3) overload pins through the bottom plate and bearing plate.20. Apply Loctite 222 to the (3) M5 socket flat head screws, and secure the overload pins to the
top plate, tighten the M5 socket flat head cap screws to 30 in‑lbs. Insert a pin in the hole in the overload pin to keep it from the turning if required.
21. If equipped with locking option, move the bearing plate into the locked position. Push towards the top plate.
22. Secure each shear pad to the bottom plate with a M3 socket head cap screws. Tighten to 14 in‑lbs. Note: The shear pad will twist when securing with screw, hold the element in the proper orientation while securing to bottom plate.
23. If equipped, run air lines to Compensator and test functionality, if the functioning properly, install the Compensator to robot. If not make any necessary adjustments and retest.
24. If equipped attach air lines to Compensator.25. Reinstall the tooling.
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 24
7. Serviceable PartsRefer to the following section for serviceable parts for each model:
Section 9.2.2—Compensator 9116 Series 100Section 9.2.3—Compensator 9116 Series 200 ‑ (3) shear pads Location ASection 9.2.4—Compensator 9116 Series 200 ‑ (3) shear pads Location BSection 9.2.5—Compensator 9116 Series 200 ‑ (6) shear pads Location CSection 9.2.6—Compensator 9116 Series 400 ‑ (6) shear pads Location CSection 9.2.7—Compensator 9116 Series 400 ‑ (12) shear pads Location D
8. SpecificationsThe tables below provide specification in the metric and standard units.
Size
Overall Size mm (in)
Weight w/ (3) shear pads N (lbs) Allowable Misalignment (Standard)
D H Standard w/ Lock-up & Sensor Lateral mm (in)
Cocking rad (degree)
Torsion rad (degree)
0001 56.9 (2.24) 41.4 (1.63) 1.3 (0.3) 1.8 (0.4) 1.7 (0.065) 0.017 (1.0) 0.079 (4.5)
100 80.0 (3.15) 45.0 (1.77) 2.2 (0.5) 3.1 (0.7) 2.2 (0.085) 0.019 (1.1) 0.087 (5.0)
200 99.1 (3.90) 45.0 (1.77) 3.6 (0.8) 4.9 (1.1) 2.2 (0.085) 0.019 (1.1) 0.070 (4.0)
4002 160.0 (6.3) 50.8 (2.0) 12.3 (2.76) 16.1 (3.62) 2.2 (0.085) 0.006 (0.3) 0.044 (2.5)
Notes:
1. Lock sensing currently not available.2. Weight shown is with (12) shear pads.
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 25
Figure 8.1—Compensator Assembly (9116 Series 100 Shown)
H
D
C-of-C
Compression
Lateral
Tension
Cocking
Torsion
(3), (6), or (12)Sheer Pads
Lock Sensor Cable
(3) Overload Pins
Model Number2345
C of the C mm (in)
Maximum Load Capacities Stiffness
Vertical N (lbs)1
Horizontal N (lbs)1
Compression N (lbs)
Cocking N-m (in-lbs)
Lateral N/mm (lbs/in)
Cocking N-m/rad (in-lbs/
rad)9116‑001‑A 23 (0.9) 22.2 (5) 6.7 (1.5) 355.9 (80) 3.4 (30) 5.8 (33) 180.8 (1600)
9116‑111‑B 122 (4.8) 44.5 (10) 8.9 (2) 1290.9 (290) 5.1 (45) 11.4 (65) 372.8 (3300)
9116‑112‑B 69 (2.7) 44.5 (10) 8.9 (2) 533.8 (120) 5.1 (45) 7.2 (41) 180.8 (1600)
9116‑113‑B 61 (2.4) 80.1 (18) 26.7 (6) 1290.0 (290) 7.9 (70) 26.3 (150) 632.7 (5600)
9116‑211‑A 140 (5.5) 53.4 (12) 8.9 (2) 1334.5 (300) 6.8 (60) 11.4 (65) 474.5 (4200)
9116‑211‑B 155 (6.1) 53.4 (12) 8.9 (2) 1378.9 (310) 7.3 (65) 11.4 (65) 553.6 (4900)
9116‑211‑C 148 (5.8) 106.9 (24) 17.8 (4) 2713.4 (610) 14.1 (125) 22.8 (130) 1028.1 (9100)
9116‑212‑A 82 (3.2) 62.3 (14) 8.9 (2) 622.8 (140) 6.8 (60) 7.2 (41) 226.0 (2000)
9116‑212‑B 92 (3.6) 62.3 (14) 8.9 (2) 711.7 (160) 7.3 (65) 7.2 (41) 271.2 (2400)
9116‑212‑C 87 (3.4) 124.6 (28) 17.8 (4) 1334.5 (300) 14.1 (125) 14.4 (82) 497.1 (4400)
9116‑213‑A 74 (2.9) 97.9 (22) 26.7 (6) 1334.5 (300) 8.5 (75) 26.3 (150) 790.9 (7000)
9116‑213‑B 82 (3.2) 97.9 (22) 26.7 (6) 1378.9 (310) 9.0 (80) 26.3 (150) 949.0 (8400)
9116‑213‑C 79 (3.1) 195.7 (44) 53.4 (12) 2713.4 (610) 17.5 (155) 52.5 (300) 1739.9 (15400)
9116‑413‑C 229 (9) 195.7 (44) 26.7 (6) 2713.4 (610) 39.7 (350) 70.0 (400) 9038.3 (80000)
9116‑413‑D 229 (9) 391.4 (88) 53.4 (12) 5426.8 (1220) 79.4 (700) 140.1 (800) 18076.7 (160000)
Notes: 1. When used in the vertical position, use the Vertical maximum load capacities. When used in the horizontal
position, use the Horizontal maximum load capacities.2. –A and –B models use (3) shear pads, ‑C uses (6), ‑D uses (12).3. 9116 Series 100 and 200 use (3) types of shear pads: HCL‑11A, ‑12A and ‑13A.4. 9116 Series 000 uses (2) types of shear pads: HCL‑01A2 and ‑02A.5. 9116 Series 400 uses one type of shear pad: HCL‑13A.
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 26
Table 8.1—ComponentSpecificationsLock Sensor
Type M5x0.5 Threaded Barrel Proximity Sensor, NPN or PNP, Normally Open
Supply Voltage Range 10–30 VDCOutput Current 200 mARated Operating Distance (Sensing Range) 1.5 mm (.059”)Air Cylinder 9116 Series 000 and 100Force Factor 0.25 lb/psi (15 N/bar) 9116 Series 200 and 400Force Factor 0.4 lb/psi (28 N/bar)
Figure 8.2—shearpadSpecifications
Table 8.2—shearpadSpecifications
Propertiesshear pad Number
HCL-01A2 HCL-02A HCL-11A HCL-12A HCL-13ACompatible Compensator Size 000 000 100, 200 100, 200 100, 200, 400Elastomer Neoprene Nitrile Neoprene Neoprene NitrileOperating Temperature, Celsius ‑29 to 82 ‑29 to 82 ‑29 to 82 ‑29 to 82 ‑29 to 82
Oil Resistance Good Excellent Good Good ExcellentOzone Resistance Good Good Good Good GoodLateral Stiffness (lbs/in) 6 (Very Low) 28 (High) 20 (Low) 14 (Very Low) 34 (High)Axial Stiffness (lbs/in) 2329 10498 24889 6075 8300
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 27
9. Drawings9.1 Customer Drawings
9.1.1 Compensator 9116 Series 000 with Lock-up
56.9
(3) M
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Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 28
9.1.2 Compensator 9116 Series 100 with Lock-up and Sensor Ready
80
15°
170°
35°
BC
70
30°
BC
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9230
-15-
1024
-06
B1:
11
1
0.74
0
0401
23-1
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 29
9.1.3 Compensator 9116 Series 200 with Lock-up and Sensor Ready
3rd
AN
GLE
PRO
JEC
TION
Part
Num
ber:
9116
-212
-C-L
-S
99.1B.C
. 89
30°
190°
B.C
. 63
.2 AA
(6) T
appe
d M
6x1.
0 Th
ruEq
ually
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
1)
(2) S
lip F
it H
ole
Thru
for
5 D
owel
Cus
tom
er In
terfa
ce
Lock
Sen
sor
Loca
tion
45
7.4
7.4
Lock
Sen
sor C
able
(See
Not
es 2
& 3
)
99.1
B.C
. 89
30°
190°
(6) T
appe
d M
6x1.
0 Th
ruEq
ually
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
1)
(2) S
lip F
it H
ole
Thru
for
5 D
owel
Cus
tom
er In
terfa
ce
SEC
TIO
N A
-A
Met
ric A
irC
ylin
der
Impr
oved
Met
ricLo
ck-u
p Sc
rew
Lock
-up
Scre
wBu
shin
g
Har
dene
d St
eel
Ove
rload
Pin
Not
es:
1. A
lso
optio
n of
pas
sing
M5
SHC
S th
ru M
6 ta
pped
hol
e
for
mou
ntin
g.2.
Rob
ot s
ide
inte
rface
mus
t acc
omm
odat
e se
nsor
cab
le.
R
ecom
men
ded
sens
or c
able
exi
t slo
t dim
ensi
ons,
6m
m w
ide
b
y 9m
m d
eep.
3.
Loc
k-up
and
Loc
k Se
nsin
g op
tiona
l.
Tool
Sid
eR
obot
Sid
e
Rev.
Des
crip
tion
Initi
ator
Dat
e
07EC
O 1
2099
: Up
dat
ed L
ock-
up S
crew
MSD
8/22
/201
4
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
P.Sp
arro
w, 6
/9/0
4
J.Sn
ape,
6/9
/04
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
2504
0123
-107
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Com
pens
ator
911
6 Se
ries
200
w/ L
ock-
up &
Sen
sor R
eady
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 30
9.1.4 Compensator 9116 Series 400 with Lock-up and Lock Sensing
(2)
6 (S
lip F
it), 1
2 D
p.C
usto
mer
Inte
rface
50.8
Thr
uC
usto
mer
Acc
essi
ble
158.
8
15°
15°
B.C
.12
5
15°
B.C
.65
(6) T
hru
Hol
e fo
rM
6 S
HC
SC
'Bor
ed F
rom
Far
Sid
eE
qual
ly S
pace
dC
usto
mer
Inte
rface
(6) T
appe
d M
6x1.
0, 1
2 D
p.E
qual
ly S
pace
d C
usto
mer
Inte
rface
Tool
Sid
e
50.1
1212
(2)
6 (S
lip F
it), 1
2 D
p.C
usto
mer
Inte
rface
158.
8
B.C
.12
5
B.C
.10
2.4
B.C
.93
.98
20°
45°
15°
24°
45°
(6) T
hru
Hol
e fo
rM
6 S
HC
SC
'Bor
ed F
rom
Far
Sid
eE
qual
ly S
pace
dC
usto
mer
Inte
rface
(6) T
appe
d M
6x1.
0, 1
2 D
p.E
qual
ly S
pace
d C
usto
mer
Inte
rface
Lock
Sen
sor
Cab
le E
xit S
lot
Lock
Sen
sor
Loca
tion
Rob
ot S
ide
Lock
&U
nloc
k P
orts
Unl
ock
Por
t(F
ittin
g fo
r4m
m T
ubin
g)Lo
ck P
ort
(Fitt
ing
for
4mm
Tub
ing)
Not
es:
1. U
nit s
how
n w
ith o
ptio
nal l
ock-
up a
nd lo
ck s
ensi
ng.
Par
t Num
ber:
9116
-413
-D-L
-P
Rev.
Des
crip
tion
Initi
ator
Dat
e
01In
itial
Issu
ePS
9/6/
2005
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D
DO
NO
T SC
ALE
DRA
WIN
G.
DRA
WN
IN S
OLID
WO
RKS.
ALL
DIM
ENSI
ON
S A
RE IN
MILL
IMET
ERS.
3rd
AN
GLE
PRO
JEC
TION
DRA
WN
BY:
CHE
CKE
D B
Y:
WEI
GHT
LBS
:
ASS
EMBL
Y RE
F:
P.Sp
arro
w, 9
/6/0
5
J.Sn
ape,
9/7
/05
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
DUC
T RE
LEA
SE #
DA
TE:
SHEE
T
OF
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C.
NO
T TO
BE
REPR
OD
UCED
IN A
NY
MA
NN
ER E
XCEP
T O
NO
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
HORI
ZATIO
N O
F A
TI.
Com
pens
ator
911
6 Se
ries
400
w/ L
ock-
up &
Loc
k Se
nsin
g
9230
-15-
1034
-01
B5:
81
1
0506
29-1
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 31
9.2 Assembly Drawings
9.2.1 Compensator 9116 Series 000 with Lock-up
3rd
AN
GLE
PRO
JEC
TION
9116
-001
-A37
10-1
5-10
0891
16-0
01-A
-L37
10-1
5-10
0891
16-0
02-A
3710
-15-
1005
9116
-002
-A-L
3710
-15-
1005
1N
ote
1C
ompe
nsat
or 9
116
Serie
s 00
0 Bo
ttom
Pla
te12
1 (N
ote
2)37
00-1
5-20
24C
ompe
nsat
or 9
116
Serie
s 00
0 Be
arin
g Pl
ate
133
See
Tabl
e A
Bond
ed S
train
Ele
men
t
ITEM
N
O.
QTY
.PA
RT
NU
MBE
RD
ESC
RIP
TIO
N
12
(Not
e 2)
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QSM
-M5-
4i2
1 (N
ote
2)34
15-0
0200
02-0
1Bi
mba
FM
-023
.2 M
etric
Cyl
inde
r, 14
mm
Bor
e3
2 (N
ote
2)35
00-1
0580
18-1
1M
3 x
18m
m S
HC
S 12
.94
635
00-1
2560
08-1
1M
2.5
x 8m
m S
FHC
S B
lack
Oxi
de
53
3500
-126
2010
-15A
M4
x 10
mm
SFH
CS
, Blu
e D
yed
Mag
ni-5
65
w/M
icro
sphe
res
61
(Not
e 2)
3500
-996
2010
-11
M4
x 10
But
ton
Hea
d Sc
rew
73
3700
-15-
1056
Pin,
over
load
for 0
00 s
erie
s co
mpe
nsat
or8
3 (N
ote
2)37
00-1
5-20
19C
ompe
nsat
or 9
116
Serie
s 00
0/10
0 Lo
ck-u
p Sc
rew
93
(Not
e 2)
Not
e 1
Com
pens
ator
911
6 Se
ries
000/
100
Lock
-up
Scre
w B
ushi
ng10
1N
ote
1C
ompe
nsat
or 9
116
Serie
s 00
0 To
p Pl
ate
11
Ass
embl
y N
o.B
onde
d S
train
E
lem
ent P
art N
o.
Rev.
Des
crip
tion
Initi
ato
rD
ate
01In
itia
l Dra
win
gD
AW
3/20
/201
4
Tabl
e A
Pre
-App
lied
Thre
adlo
cker
/
Loct
ite 7
649
- Loc
tite
222
/ 64
in-o
z
4
13
3
2
10
5
1
12
6
7
8
11
9
4
20 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/
64 in
-oz
Loct
ite 2
42 /
25 in
-lbs
Loct
ite 7
649
-Loc
tite
222
/ 19
in-lb
s
12 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/
25 in
-lbs
Ligh
t Mac
hine
Oil
Not
es: N
ot a
reco
mm
ende
d sp
art p
art.
Con
sult
ATI
for a
vaila
bilit
y.1.
Onl
y pr
esen
t on
units
with
ass
embl
y nu
mbe
r end
ing
in "L
" (Lo
ck-u
p).
2.
Com
pens
ator
911
6 Se
ries
000
(Par
ts Id
entif
icat
ion)
B3:
41
1RE
VIS
ION
ISO
9001
Reg
ister
ed C
ompa
ny
SPEC
IFIE
D.
NO
TES:
UN
LESS
OTH
ERW
ISE
DO
NO
T SC
ALE
DRA
WIN
G.
MILL
IMET
ERS.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/1
9/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
5501
ALL
DIM
ENSI
ON
S A
RE IN
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
om
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 32
9.2.2 Compensator 9116 Series 100
3rd
AN
GLE
PRO
JEC
TION
9116
-112
-B37
10-1
5-10
0291
16-1
12-B
-L37
10-1
5-10
0291
16-1
13-B
3710
-15-
1003
9116
-113
-B-L
3710
-15-
1003
3 (N
ote
2)37
00-1
5-20
19C
ompe
nsat
or 9
116
Ser
ies
000/
100
Lock
-up
Scr
ew11
1 (N
ote
2)37
00-1
5-20
20C
ompe
nsat
or 9
116
Ser
ies
100
Bea
ring
Pla
te12
3 (N
ote
2)N
ote
1C
ompe
nsat
or 9
116
Ser
ies
000/
100
Lock
-up
Scr
ew B
ushi
ng13
3S
ee T
able
AB
onde
d S
train
Ele
men
t
ITE
MN
O.
QTY
.P
AR
T N
UM
BE
RD
ES
CR
IPTI
ON
12
(Not
e 2)
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QS
M-M
5-4i
21(
Not
e 2)
3415
-002
0002
-01
Bim
ba F
M-0
23.2
Met
ric C
ylin
der,
14m
m B
ore
36
3500
-105
7005
-11
M3
x 5m
m S
HC
S B
lack
Oxi
de4
2 (N
ote
2)35
00-1
0580
20-1
5AM
3 x
20m
m S
HC
S B
lue
Dye
d M
agni
-565
, ND
Mic
rosp
here
s
53
3500
-126
2012
-15A
M4
x 12
mm
SFH
CS
, B
lue
Dye
d M
agni
-565
w
/Mic
rosp
here
s6
135
00-9
9620
10-1
1M
4 x
10 B
utto
n H
ead
Scr
ew7
337
00-1
5-10
26C
ompe
nsat
or 1
00 O
verlo
ad P
in8
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
100
Top
Pla
te9
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
100
Bot
tom
Pla
te10
Ass
embl
y N
o.B
onde
d S
train
E
lem
ent P
art N
o.91
16-1
11-B
3710
-15-
1001
9116
-111
-B-L
3710
-15-
1001
Rev.
Des
crip
tion
Initi
ato
rD
ate
01In
itia
l Dra
win
gD
AW
3/20
/201
4
B3:
41
2RE
VIS
ION
ISO
9001
Reg
ister
ed C
ompa
ny
SPEC
IFIE
D.
NO
TES:
UN
LESS
OTH
ERW
ISE
DO
NO
T SC
ALE
DRA
WIN
G.
MILL
IMET
ERS.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
0/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
5605
ALL
DIM
ENSI
ON
S A
RE IN
MA
NN
ER E
XCEP
T O
N O
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
HORI
ZATIO
N O
F A
TI.PR
OPE
RTY
OF
ATI
IND
USTR
IAL
AUT
OM
ATIO
N, I
NC
. NO
T TO
BE
REPR
OD
UCED
IN A
NY
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
om
Com
pens
ator
911
6 Se
ries
100
(Par
ts Id
entif
icat
ion)
Loct
ite 7
649
- Loc
tite
222
/ 14
in-lb
s
12 in
-lbs
8
25 in
-lbs
Pre
appl
ied
Thre
adlo
cker
/ 19
in-lb
s
Loct
ite 2
42 /
25 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/ 20
in-lb
s
Pre
appl
ied
Thre
adlo
cker
/
Loct
ite 7
649
-
14 in
-lbs
Loct
ite 2
22 /
12
10
3
7
6
4
13
11
2
1
5
Tabl
e A
3
Uni
ts w
ithou
t sen
sing
9
Not
es: N
ot a
reco
mm
ende
d sp
are
part.
Con
sult
ATI
for a
vaila
bilit
y.1.
Onl
y pr
esen
t on
units
with
ass
embl
y nu
mbe
r end
ing
in "L
" (Lo
ck-u
p).
2.Li
ght
Mac
hine
Oil
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 33
3rd
AN
GLE
PRO
JEC
TIONIT
EM N
O.
QTY
.PA
RT
NU
MBE
RD
ESC
RIP
TIO
N1
234
05-1
2200
04-0
1A
ir Fi
tting
, Fes
to Q
SM-M
5-4i
21
3415
-002
0002
-01
Bim
ba F
M-0
23.2
Met
ric C
ylin
der,
14m
m B
ore
36
3500
-105
7005
-11
M3
x 5m
m S
HC
S Bl
ack
Oxi
de4
235
00-1
0580
20-1
5AM
3 x
20m
m S
HC
S B
lue
Dye
d M
agni
-565
, ND
Mic
rosp
here
s5
335
00-1
2620
12-1
5AM
4 x
12m
m S
FHC
S,
Blu
e D
yed
Mag
ni-5
65 w
/Mic
rosp
here
s6
135
00-9
9620
10-1
1M
4 x
10 B
utto
n H
ead
Scre
w7
337
00-1
5-10
26C
ompe
nsat
or 1
00 O
verlo
ad P
in8
137
00-1
5-20
15Fi
tting
for M
5-0.
5 Lo
ck-U
p Se
nsor
91
Not
e 1
Com
pens
ator
911
6 Se
ries
100
Top
Plat
e10
1N
ote
1C
ompe
nsat
or 9
116
Serie
s 10
0 Bo
ttom
Pla
te11
337
00-1
5-20
19C
ompe
nsat
or 9
116
Serie
s 00
0/10
0 Lo
ck-u
p Sc
rew
121
3700
-15-
2020
Com
pens
ator
911
6 S
erie
s 10
0 B
earin
g P
late
133
Not
e 1
Com
pens
ator
911
6 Se
ries
000/
100
Lock
-up
Scre
w B
ushi
ng14
3Se
e Ta
ble
ABo
nded
Stra
in E
lem
ent
151
See
Tabl
e B
3 W
ire M
5 Pr
ox, w
/2m
Cab
le
Ass
embl
y N
o.B
onde
d S
train
E
lem
ent P
art N
o.91
16-1
11-B
-L-*
3710
-15-
1001
9116
-112
-B-L
-*37
10-1
5-10
0291
16-1
13-B
-L-*
3710
-15-
1003
Ass
embl
y N
o.3
Wire
M5
Pro
x P
art
No.
9116
-1**
-B-L
-P85
90-9
9099
99-4
991
16-1
**-B
-L-N
8590
-990
9999
-53
9116
-1**
-B-L
-Sno
sen
sor
Rev.
Des
crip
tion
Initi
ato
rD
ate
-Se
e Sh
eet2
--
Tabl
e A
Tabl
e B
* =
P, N
or S
B3:
42
2RE
VIS
ION
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
0/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
5605
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
omIS
O 90
01 R
egist
ered
Com
pany
Com
pens
ator
911
6 Se
ries
100
(Par
ts Id
entif
icat
ion)
2
83
59
1
4
14
6
7
13
12
11
3
15
15
10
Loct
ite76
49 -
Loct
ite 2
22 /
14 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/ 20
in-lb
s
Loct
ite 2
42 /
25 in
-lbs
Pre
appl
ied
Thre
adlo
cker
/ 19
in-lb
s15 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/ 20
in-lb
s
Pre
appl
ied
Thre
adlo
cker
/ 25
in-lb
s
12 in
-lbs
15
** =
11,
12,
or 1
3.
Uni
ts w
ith lo
ck-u
p an
d se
nsin
g
Not
es: N
ot a
reco
mm
ende
d sp
are
part.
Con
sult
ATI
for a
vaila
bilit
y.1.
Loct
ite 7
649
- Loc
tite
222
/ 14
in-lb
s
Ligh
tM
achi
ne O
il
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 34
9.2.3 Compensator 9116 Series 200 - (3) shear pads Location A
3rd
AN
GLE
PRO
JEC
TION
3X S
hear
Pad
Mou
ntin
g Lo
catio
nE
qual
ly S
pace
dIn
ner S
hear
Pad
Bol
t Circ
le ("
A" o
ptio
n)
6
Loct
ite 7
649
-
Ligh
tM
achi
ne O
il7
3
8
12
10
5
3
9
2
111
4
Uni
ts w
ith s
hear
pad
s on
inne
r bol
t circ
le b
ut n
o se
nsor
12 in
-lbs
Loct
ite 2
42 /
35 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/ 14
in-lb
s25
in-lb
s
Pre
appl
ied
Thre
adlo
cker
/ 19
in-lb
s
Pre
appl
ied
Thre
adlo
cker
/
30 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/
14 in
-lbs
Loct
ite 2
22 /
13
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
om
B1:
21
2RE
VIS
ION
SPEC
IFIE
D.
NO
TES:
UN
LESS
OTH
ERW
ISE
ISO
9001
Reg
ister
ed C
ompa
nyM
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
4/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
5704
ALL
DIM
ENSI
ON
S A
RE IN
MA
NN
ER E
XCEP
T O
N O
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
HORI
ZATIO
N O
F A
TI.PR
OPE
RTY
OF
ATI
IND
USTR
IAL
AUT
OM
ATIO
N, I
NC
. NO
T TO
BE
REPR
OD
UCED
IN A
NY
DO
NO
T SC
ALE
DRA
WIN
G.
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Com
pens
ator
911
6 Se
ries
200,
She
ar P
ad L
ocat
ion
A (P
arts
Id
entif
icat
ion)
9116
-212
-A37
10-1
5-10
0291
16-2
12-A
-L37
10-1
5-10
0291
16-2
13-A
3710
-15-
1003
9116
-213
-A-L
3710
-15-
1003
Not
e 1
Com
pens
ator
911
6 S
erie
s 20
0 B
otto
m P
late
111
(Not
e 2)
3700
-15-
2014
Com
pens
ator
911
6 S
erie
s 20
0 B
earin
g P
late
123
(Not
e 2)
Not
e 1
Com
pens
ator
911
6 S
erie
s 20
0 Lo
ck-u
p S
crew
B
ushi
ng13
3S
ee T
able
AB
onde
d S
train
Ele
men
t
ITE
M N
O.
QTY
.P
AR
T N
UM
BE
RD
ES
CR
IPTI
ON
12
(Not
e 2)
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QS
M-M
5-4i
21
(Not
e 2)
3415
-002
0001
-01
Bim
ba F
M-0
43.2
Met
ric C
ylin
der,
19m
m B
ore
36
3500
-105
7005
-11
M3
x 5m
m S
HC
S B
lack
Oxi
de
44
(Not
e 2)
3500
-105
8020
-15A
M3
x 20
mm
SH
CS
Blu
e D
yed
Mag
ni-5
65, N
D
Mic
rosp
here
s
53
3500
-126
2012
-15A
M4
x 12
mm
SFH
CS
, B
lue
Dye
d M
agni
-565
w
/Mic
rosp
here
s6
1 (N
ote
2)35
00-9
9640
10-1
1M
5 x
10 B
utto
n H
ead
Scr
ew7
337
00-1
5-10
36C
ompe
nsat
or 2
00 O
verlo
ad P
in8
3 (N
ote
2)37
00-1
5-20
10C
ompe
nsat
or 9
116
Ser
ies
200
Lock
-up
Scr
ew9
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Top
Pla
te10
1
Ass
embl
y N
o.B
onde
d S
train
E
lem
ent P
art N
o.91
16-2
11-A
3710
-15-
1001
9116
-211
-A-L
3710
-15-
1001
Rev.
Des
crip
tion
Initi
ato
rD
ate
01In
itia
l Dra
win
gD
AW
3/24
/201
4
Tabl
e A
Not
es: N
ot a
reco
mm
ende
d sp
are
part.
Con
sult
ATI
for a
vaila
bilit
y.1.
Onl
y pr
esen
t on
units
with
ass
embl
y nu
mbe
r end
ing
in "L
" (Lo
ck-u
p).
2.
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 35
3rd
AN
GLE
PRO
JEC
TION
3X S
hear
Pad
Mou
ntin
g Lo
catio
nE
qual
ly S
pace
dIn
ner S
hear
Pad
Bol
t Circ
le ("
A" o
ptio
n)
8
10
146
11
4
15
2
9
3
1
13
7
5
15
15
12
Loct
ite 2
42 /
35 in
-lbs
15 in
-lbs
Uni
ts w
ith s
hear
pad
s on
inne
r bol
t circ
le w
ith lo
ck-u
p an
d se
nsin
gTa
ble
A
Tabl
e B
* - P
, N o
r S
** -
11, 1
2 or
13.
3
12 in
-lbs
Pre
appl
ied
Thre
adlo
cker
/25
in-lb
s
Loct
ite 7
649
- Loc
tite
222
/ 14
in-lb
s
Pre
appl
ied
Thre
adlo
cker
/19
in-lb
s
Loct
ite 7
649
- Loc
tite
222
/30
in-lb
s
Loct
ite 7
649
-Lo
ctite
222
/14
in-lb
s
Loct
ite 7
649
- Loc
tite
222
/ 20
in-lb
sA
ssem
bly
No.
3 W
ire M
5 P
rox
Par
t N
o.91
16-2
**-A
-L-P
8590
-990
9999
-49
9116
-2**
-A-L
-N85
90-9
9099
99-5
391
16-2
**-A
-L-S
no s
enso
r
Ass
embl
y N
o.B
onde
d S
train
E
lem
ent P
art N
o.91
16-2
11-A
-L-*
3710
-15-
1001
9116
-212
-A-L
-*37
10-1
5-10
0291
16-2
13-A
-L-*
3710
-15-
1003
Rev.
Des
crip
tion
Initi
ato
rD
ate
-Se
e Sh
eet1
--
ITE
MN
O.
QTY
.P
AR
T N
UM
BE
RD
ES
CR
IPTI
ON
12
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QS
M-M
5-4i
21
3415
-002
0001
-01
Bim
ba F
M-0
43.2
Met
ric C
ylin
der,
19m
m B
ore
36
3500
-105
7005
-11
M3
x 5m
m S
HC
S B
lack
Oxi
de
44
3500
-105
8020
-15A
M3
x 20
mm
SH
CS
Blu
e D
yed
Mag
ni-5
65, N
D
Mic
rosp
here
s
53
3500
-126
2012
-15A
M4
x 12
mm
SFH
CS
, B
lue
Dye
d M
agni
-565
w
/Mic
rosp
here
s6
135
00-9
9640
10-1
1M
5 x
10 B
utto
n H
ead
Scr
ew7
337
00-1
5-10
36C
ompe
nsat
or 2
00 O
verlo
ad P
in8
337
00-1
5-20
10C
ompe
nsat
or 9
116
Ser
ies
200
Lock
-up
Scr
ew9
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Top
Pla
te10
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Bot
tom
Pla
te11
137
00-1
5-20
14C
ompe
nsat
or 9
116
Ser
ies
200
Bea
ring
Pla
te12
137
00-1
5-20
15Fi
tting
for M
5-0.
5 Lo
ck-U
p S
enso
r
133
Not
e 1
Com
pens
ator
911
6 S
erie
s 20
0 Lo
ck-u
p S
crew
B
ushi
ng14
3S
ee T
able
AB
onde
d S
train
Ele
men
t15
1S
ee T
able
B3
Wire
M5
Pro
x
Not
es: N
ot a
reco
mm
ende
d sp
are
part.
Con
sult
ATI
for a
vaila
bilit
y.1.
Ligh
tM
achi
ne O
il
B1:
22
2RE
VIS
ION
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
4/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
5704
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
omIS
O 90
01 R
egist
ered
Com
pany
Com
pens
ator
911
6 Se
ries
200,
She
ar P
ad L
ocat
ion
A (P
arts
Id
entif
icat
ion)
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 36
9.2.4 Compensator 9116 Series 200 - (3) shear pads Location B
3rd
AN
GLE
PRO
JEC
TION
30 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/
14 in
-lbs
7
3
10
13
9
3
5
8
12
6
11
4
2
Uni
ts w
ith s
hear
pad
s on
out
er b
olt c
ircle
with
lock
-up
but w
ithou
t sen
sor
25 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/ 14
in-lb
s
12 in
-lbs
Pre
appl
ied
Thre
adlo
cker
/ 19
in-lb
s
Pre
appl
ied
Thre
adlo
cker
/
1
Loct
ite 7
649
-Lo
ctite
222
/Lo
ctite
242
/ 35
in-lb
s
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
om
B1:
21
2RE
VIS
ION
SPEC
IFIE
D.
NO
TES:
UN
LESS
OTH
ERW
ISE
ISO
9001
Reg
ister
ed C
ompa
nyIN
CHE
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
5/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
5805
ALL
DIM
ENSI
ON
S A
RE IN
MA
NN
ER E
XCEP
T O
N O
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
HORI
ZATIO
N O
F A
TI.PR
OPE
RTY
OF
ATI
IND
USTR
IAL
AUT
OM
ATIO
N, I
NC
. NO
T TO
BE
REPR
OD
UCED
IN A
NY
DO
NO
T SC
ALE
DRA
WIN
G.
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Com
pens
ator
911
6 Se
ries
200,
She
ar P
ad L
ocat
ion
B (P
arts
Id
entif
icat
ion)
3 (N
ote
2)N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Lock
-up
Scr
ew
Bus
hing
133
See
Tab
le A
Bon
ded
Stra
in E
lem
ent
3710
-15-
1001
9116
-211
-B-L
3710
-15-
1001
9116
-211
-BIte
m 6
Par
t No.
Ass
embl
y N
o.
3710
-15-
1003
9116
-213
-B-L
3710
-15-
1003
9116
-213
-B37
10-1
5-10
0291
16-2
12-B
-L37
10-1
5-10
0291
16-2
12-B
ITE
M N
O.
QTY
.P
AR
T N
UM
BE
RD
ES
CR
IPTI
ON
12
(Not
e 2)
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QS
M-M
5-4i
21
(Not
e 2)
3415
-002
0001
-01
Bim
ba F
M-0
43.2
Met
ric C
ylin
der,
19m
m B
ore
36
3500
-105
7005
-11
M3
x 5m
m S
HC
S B
lack
Oxi
de
44
3500
-105
8020
-15A
M3
x 20
mm
SH
CS
Blu
e D
yed
Mag
ni-5
65, N
D
Mic
rosp
here
s
53
3500
-126
2012
-15A
M4
x 12
mm
SFH
CS
, B
lue
Dye
d M
agni
-565
w
/Mic
rosp
here
s6
1 (N
ote
2)35
00-9
9640
10-1
1M
5 x
10 B
utto
n H
ead
Scr
ew7
337
00-1
5-10
36C
ompe
nsat
or 2
00 O
verlo
ad P
in8
3 (N
ote
2)37
00-1
5-20
10C
ompe
nsat
or 9
116
Ser
ies
200
Lock
-up
Scr
ew9
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Top
Pla
te10
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Bot
tom
Pla
te11
1 (N
ote
2)37
00-1
5-20
14C
ompe
nsat
or 9
116
Ser
ies
200
Bea
ring
Pla
te
12
Rev.
Des
crip
tion
Initi
ato
rD
ate
01In
itia
l Dra
win
gD
AW
3/25
/201
4
Onl
y pr
esen
t on
units
with
ass
embl
y nu
mbe
r end
ing
in "L
" (Lo
ck-u
p).
Tabl
e A
2.Not
es: N
ot a
reco
mm
ende
d sp
are
part.
Con
sult
ATI
for a
vaila
bilit
y.1.
Ligh
tM
achi
ne O
il
3X S
hear
Pad
Mou
ntin
g Lo
catio
nE
qual
ly S
pace
dO
uter
She
ar P
adB
olt C
ircle
("B
" opt
ion)
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 37
3rd
AN
GLE
PRO
JEC
TION
7
3
10
14
9
35
8
13
6
11
4
2
112
in-lb
s
Uni
ts w
ith s
hear
pad
s on
out
er b
olt c
ircle
with
lock
-up
and
sens
or 15
12
1515
15 in
-lbs
Pre
appl
ied
Thre
adlo
cker
/25
in-lb
s
Loct
ite 7
649
- Loc
tite
222
/20
in-lb
s
Pre
appl
ied
Thre
adlo
cker
/19
in-lb
s
Loct
ite 2
42 /
35 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/30
in-lb
s
Loct
ite 7
649
- Loc
tite
222
/14
in-lb
s
Loct
ite 7
649
-Lo
ctite
222
/14
in-lb
s
Ass
embl
y N
o.Ite
m 6
Par
t No.
9116
-211
-B-L
-*37
10-1
5-10
0191
16-2
12-B
-L-*
3710
-15-
1002
9116
-213
-B-L
-*37
10-1
5-10
03
Rev.
Des
crip
tion
Initi
ato
rD
ate
-Se
e Sh
eet1
--
ITE
M N
O.
QTY
.P
AR
T N
UM
BE
RD
ES
CR
IPTI
ON
12
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QS
M-M
5-4i
21
3415
-002
0001
-01
Bim
ba F
M-0
43.2
Met
ric C
ylin
der,
19m
m B
ore
36
3500
-105
7005
-11
M3
x 5m
m S
HC
S B
lack
Oxi
de
44
3500
-105
8020
-15A
M3
x 20
mm
SH
CS
Blu
e D
yed
Mag
ni-5
65, N
D
Mic
rosp
here
s
53
3500
-126
2012
-15A
M4
x 12
mm
SFH
CS
, B
lue
Dye
d M
agni
-565
w
/Mic
rosp
here
s6
135
00-9
9640
10-1
1M
5 x
10 B
utto
n H
ead
Scr
ew7
337
00-1
5-10
36C
ompe
nsat
or 2
00 O
verlo
ad P
in8
337
00-1
5-20
10C
ompe
nsat
or 9
116
Ser
ies
200
Lock
-up
Scr
ew9
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Top
Pla
te10
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Bot
tom
Pla
te11
137
00-1
5-20
14C
ompe
nsat
or 9
116
Ser
ies
200
Bea
ring
Pla
te12
137
00-1
5-20
15Fi
tting
for M
5-0.
5 Lo
ck-U
p S
enso
r
133
Not
e 1
Com
pens
ator
911
6 S
erie
s 20
0 Lo
ck-u
p S
crew
B
ushi
ng14
3S
ee T
able
A B
onde
d S
train
Ele
men
t15
1S
ee T
able
B3
Wire
M5
Pro
x
Ass
embl
y N
o.3
Wire
M5
Pro
x P
art
No.
9116
-2-*
*-B
-L-P
8590
-990
9999
-49
9116
-2-*
*-B
-L-N
8590
-990
9999
-53
9116
-2-*
*-B
-L-S
no s
enso
r
Tabl
e A
Tabl
e B
* - P
, N o
r S.
** -
11, 1
2 or
13
Not
es: N
ot a
reco
mm
ende
d sp
are
part.
Con
sult
ATI
for a
vaila
bilit
y.1.
Ligh
tM
achi
ne O
il
B1:
22
2RE
VIS
ION
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
IN
CHE
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
5/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
5805
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
omIS
O 90
01 R
egist
ered
Com
pany
Com
pens
ator
911
6 Se
ries
200,
She
ar P
ad L
ocat
ion
B (P
arts
Id
entif
icat
ion)
3X S
hear
Pad
Mou
ntin
g Lo
catio
nE
qual
ly S
pace
dO
uter
She
ar P
adB
olt C
ircle
("B
" opt
ion)
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 38
9.2.5 Compensator 9116 Series 200 - (6) shear pads Location C
3rd
AN
GLE
PRO
JEC
TION
12 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/ 14
in-lb
s
25 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/
7
3
8
12
10
5
3
9
2
1113
1
4
Uni
ts w
ith s
hear
pad
s on
inne
r and
out
er b
olt c
ircle
s w
ithou
t sen
sor
Loct
ite 2
42 /
35 in
-lbs
30 in
-lbs
Loct
ite 7
649
- Loc
tite
222
/ 14
in-lb
s
Pre
appl
ied
Thre
adlo
cker
/ 19
in-lb
s
6
Pre
appl
ied
Thre
adlo
cker
/
Ligh
t Mac
hine
Oil
9116
-212
-C37
10-1
5-10
0291
16-2
12-C
-L37
10-1
5-10
0291
16-2
13-C
3710
-15-
1003
9116
-213
-C-L
3710
-15-
1003
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Bot
tom
Pla
te11
1 (N
ote
2)37
00-1
5-20
14C
ompe
nsat
or 9
116
Ser
ies
200
Bea
ring
Pla
te12
3 (N
ote
2)N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Lock
-up
Scr
ew B
ushi
ng13
6S
ee T
able
A B
onde
d S
train
Ele
men
t
ITE
M N
O.
QTY
.P
AR
T N
UM
BE
RD
ES
CR
IPTI
ON
12
(Not
e 2)
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QS
M-M
5-4i
21
(Not
e 2)
3415
-002
0001
-01
Bim
ba F
M-0
43.2
Met
ric C
ylin
der,
19m
m B
ore
312
3500
-105
7005
-11
M3
x 5m
m S
HC
S B
lack
Oxi
de4
4 (N
ote
2)35
00-1
0580
18-2
1M
3 x
18m
m S
HC
S, S
tain
less
53
3500
-126
2012
-15A
M4
x 12
mm
SFH
CS
, B
lue
Dye
d M
agni
-565
w
/Mic
rosp
here
s6
1 (N
ote
2)35
00-9
9640
10-1
1M
5 x
10 B
utto
n H
ead
Scr
ew7
337
00-1
5-10
36C
ompe
nsat
or 2
00 O
verlo
ad P
in8
3 (N
ote
2)37
00-1
5-20
10C
ompe
nsat
or 9
116
Ser
ies
200
Lock
-up
Scr
ew9
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Top
Pla
te10
Ass
embl
y N
o.B
onde
d S
train
E
lem
ent P
art N
o.91
16-2
11-C
3710
-15-
1001
9116
-211
-C-L
3710
-15-
1001
Rev.
Des
crip
tion
Initi
ato
rD
ate
01In
itia
l Dra
win
gD
AW
3/25
/201
4
Tabl
e A
Not
es: N
ot a
reco
mm
ende
d sp
are
part.
Con
sult
ATI
for a
vaila
bilit
y.1.
Onl
y pr
esen
t on
units
with
ass
embl
y nu
mbe
r end
ing
in "L
" (Lo
ck-u
p).
2.
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
om
B1:
21
2RE
VIS
ION
SPEC
IFIE
D.
NO
TES:
UN
LESS
OTH
ERW
ISE
ISO
9001
Reg
ister
ed C
ompa
nyM
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
5/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
59-
04
ALL
DIM
ENSI
ON
S A
RE IN
MA
NN
ER E
XCEP
T O
N O
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
HORI
ZATIO
N O
F A
TI.PR
OPE
RTY
OF
ATI
IND
USTR
IAL
AUT
OM
ATIO
N, I
NC
. NO
T TO
BE
REPR
OD
UCED
IN A
NY
DO
NO
T SC
ALE
DRA
WIN
G.
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Com
pens
ator
911
6 Se
ries
200
Shea
r Pad
Loc
atio
n C
(Par
ts
Iden
tific
atio
n)
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 39
3rd
AN
GLE
PRO
JEC
TION
8
10
146
11
4
15
2
9
3
1
13
3
7
5
15
15
12
12 in
-lbs
15 in
-lbs
Tabl
e A
Tabl
e B
Uni
ts w
ith s
hear
pad
s on
inne
r and
out
er b
olt c
ircle
s w
ith lo
ck-u
p an
d se
nsor
Loct
ite 7
649
- Loc
tite
222
/ 14
in-lb
s
Loct
ite 7
649
-Lo
ctite
222
/30
in-lb
s
Loct
ite 2
42 /
35 in
-lbs
Pre
appl
ied
Thre
adlo
cker
/19
in-lb
s
Loct
ite 7
649
- Loc
tite
222
/20
in-lb
s
Loct
ite 7
649
- Loc
tite
222
/14
in-lb
s
Pre
appl
ied
Thre
adlo
cker
/25
in-lb
s
Not
es: N
ot a
reco
mm
ende
d sp
are
part.
Con
sult
ATI
for a
vaila
bilit
y.1.
B1:
22
2RE
VIS
ION
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
5/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
59-
04
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
omIS
O 90
01 R
egist
ered
Com
pany
Com
pens
ator
911
6 Se
ries
200
Shea
r Pad
Loc
atio
n C
(Par
ts
Iden
tific
atio
n)
Ass
embl
y N
o.Ite
m 1
5 P
art N
o.91
16-2
**-C
-L-P
8590
-990
9999
-49
9116
-2**
-C-L
-N85
90-9
9099
99-5
391
16-2
**-C
-L-S
no s
enso
r
Ass
embl
y N
o.Ite
m 1
4 P
art N
o.91
16-2
11-C
-L-*
3710
-15-
1001
9116
-212
-C-L
-*37
10-1
5-10
0291
16-2
13-C
-L-*
3710
-15-
1003
Rev.
Des
crip
tion
Initi
ato
rD
ate
-Se
e Sh
eet1
--
ITE
M N
O.
QTY
.P
AR
T N
UM
BE
RD
ES
CR
IPTI
ON
12
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QS
M-M
5-4i
21
3415
-002
0001
-01
Bim
ba F
M-0
43.2
Met
ric C
ylin
der,
19m
m B
ore
312
3500
-105
7005
-11
M3
x 5m
m S
HC
S B
lack
Oxi
de
44
3500
-105
8020
-15A
M3
x 20
mm
SH
CS
Blu
e D
yed
Mag
ni-5
65, N
D
Mic
rosp
here
s
53
3500
-126
2012
-15A
M4
x 12
mm
SFH
CS
, B
lue
Dye
d M
agni
-565
w
/Mic
rosp
here
s6
135
00-9
9640
10-1
1M
5 x
10 B
utto
n H
ead
Scr
ew7
337
00-1
5-10
36C
ompe
nsat
or 2
00 O
verlo
ad P
in8
337
00-1
5-20
10C
ompe
nsat
or 9
116
Ser
ies
200
Lock
-up
Scr
ew9
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Top
Pla
te10
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
200
Bot
tom
Pla
te11
137
00-1
5-20
14C
ompe
nsat
or 9
116
Ser
ies
200
Bea
ring
Pla
te12
137
00-1
5-20
15Fi
tting
for M
5-0.
5 Lo
ck-U
p S
enso
r
133
Not
e 1
Com
pens
ator
911
6 S
erie
s 20
0 Lo
ck-u
p S
crew
B
ushi
ng14
6S
ee T
able
AB
onde
d S
train
Ele
men
t15
1S
ee T
able
B3
Wire
M5
Pro
x
* - P
, N o
r S
** -
11, 1
2 or
13.
Ligh
t Mac
hine
Oil
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 40
9.2.6 Compensator 9116 Series 400 - (6) shear pads Location C
3rd
AN
GLE
PRO
JEC
TION
Uni
ts w
ithou
t sen
sor
14
1
6
412
5 3
10
8
16
2
9
7
11
18
15
13
Loci
te 7
649
- Loc
tite
222
/ 14
in-lb
s.
Loct
ite 7
649
- Loc
tite
222
/ 35
in-lb
s.
Loc
tite
222
/ 35
in-lb
s.
25 in
-lbs.
Loct
ite 7
649
- Loc
tite
222
/ 19
in-lb
s.
Loct
ite 7
649
- Loc
tite
222
/ 7 in
-lbs.
Loct
ite 7
649
- Loc
tite
222
/ 30
in-lb
s.
12 in
-lbs.
5
Loct
ite 7
649
-
Loct
ite 7
649
- Loc
tite
222
/ 14
in-lb
s. Loct
ite 2
22 /
17
19
9116
-413
-C, 9
116-
413-
C-L
Ligh
t Mac
hine
Oil
Top
Pla
te6X
She
ar P
adE
qual
ly S
pace
d("
C" o
ptio
n)
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
om
B1:
41
2RE
VIS
ION
SPEC
IFIE
D.
NO
TES:
UN
LESS
OTH
ERW
ISE
ISO
9001
Reg
ister
ed C
ompa
nyM
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
5/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
6001
ALL
DIM
ENSI
ON
S A
RE IN
MA
NN
ER E
XCEP
T O
N O
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
HORI
ZATIO
N O
F A
TI.PR
OPE
RTY
OF
ATI
IND
USTR
IAL
AUT
OM
ATIO
N, I
NC
. NO
T TO
BE
REPR
OD
UCED
IN A
NY
DO
NO
T SC
ALE
DRA
WIN
G.
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Com
pens
ator
911
6 Se
ries
400,
She
ar P
ad L
ocat
ion
C (P
arts
Id
entif
icat
ion)
183
(Not
e 2)
3700
-15-
2056
Com
pens
ator
911
6 S
erie
s 40
0 Lo
ck-u
p S
crew
19
2.O
nly
pres
ent o
n un
its w
ith a
ssem
bly
num
ber e
ndin
g in
"L" (
Lock
-up)
.1.
Not
a re
com
men
ded
spar
e pa
rt. C
onsu
lt A
Ti fo
r ava
ilabi
lity.
Not
es:
637
10-1
5-10
03H
CL-
13A
Bon
ded
Stra
in E
lem
ent
ITE
MN
O.
QTY
.P
AR
T N
UM
BE
RD
ES
CR
IPTI
ON
110
(Not
e 2)
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QS
M-M
5-4i
22
(Not
e 2)
3405
-123
0002
-01
Qui
ck D
isco
nnec
t Stra
ight
Uni
on fo
r 4m
m /
5/32
" Tub
ing
31
(Not
e 2)
3415
-002
0001
-01
Bim
ba F
M-0
43.2
Met
ric C
ylin
der,
19m
m B
ore
42
(Not
e 2)
3415
-002
1019
-01
Bim
ba F
lat A
ir C
ylin
der (
4) P
orts
19m
m B
ore
512
3500
-105
7006
-15
M3-
0.5x
6 S
HC
S, B
lue
Dye
d M
agni
-565
612
(Not
e 2)
3500
-105
8018
-11
M3
x 18
mm
SH
CS
12.
97
3 (N
ote
2)35
00-1
0640
10-1
1M
5 x
10m
m S
HC
S B
lack
Oxi
de8
2 (N
ote
2)35
00-1
2580
10-1
1M
3 x
10m
m S
FHC
S B
lack
Oxi
de9
1 (N
ote
2)35
00-1
2620
16-1
1M
4 x
16m
m S
FHC
S B
lack
Oxi
de10
335
00-1
2630
16-1
1M
5 x
16m
m S
FHC
S B
lack
Oxi
de11
337
00-1
5-10
72O
verlo
ad P
in12
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Top
Pla
te13
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Bot
tom
Pla
te14
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Bea
ring
Pla
te15
3 (N
ote
2)N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Lock
-up
Scr
ew B
ushi
ng16
1 (N
ote
2)37
00-1
5-20
36C
ompe
nsat
or 9
116
Ser
ies
400
Air
Fitti
ng B
lock
173
(Not
e 2)
Not
e 1
Com
pens
ator
911
6 S
erie
s 40
0 B
earin
g P
late
Bus
hing
Rev.
Des
crip
tion
Initi
ato
rD
ate
01In
itia
l Dra
win
gD
AW
3/25
/201
4
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 41
3rd
AN
GLE
PRO
JEC
TION
15
1
6
413
5 3
1021 8
12
21
17
2
9
7
11
19
16
14
5Lo
ctite
764
9 - L
octit
e 22
2 / 1
4 in
-lbs.
Loct
ite 7
649
- Loc
tite
222
/ 35
in-lb
s.
Loc
tite
222
/ 35
in-lb
s.
Loct
ite 7
649
-Lo
ctite
222
/25
in-lb
s.
Loct
ite 7
649
- Loc
tite
222
/ 19
in-lb
s.
Loct
ite 7
649
- Loc
tite
222
/ 7 in
-lbs.
Loct
ite 7
649
- Loc
tite
222
/30
in-lb
s.
12 in
-lbs.Lo
ctite
764
9 - L
octit
e 22
2 / 1
4 in
-lbs.
Loct
ite 7
649
- Loc
tite
222
/ 20
in-lb
s.
Sen
sor J
am N
ut15
in-lb
s.
18
20
Uni
ts w
ith lo
ck-u
p an
d se
nsin
g
Ligh
t Mac
hine
Oil
Top
Pla
te6X
She
ar P
adE
qual
ly S
pace
d("
C" o
ptio
n)
Tabl
e A
Not
es: N
ot a
reco
mm
ende
d sp
are
part.
Con
sult
ATi
for a
vaila
bilit
y.1.
ITE
M N
O.
QTY
.P
AR
T N
UM
BE
RD
ES
CR
IPTI
ON
110
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QS
M-M
5-4i
22
3405
-123
0002
-01
Qui
ck D
isco
nnec
t Stra
ight
Uni
on fo
r 4m
m /
5/32
" Tub
ing
31
3415
-002
0001
-01
Bim
ba F
M-0
43.2
Met
ric C
ylin
der,
19m
m B
ore
42
3415
-002
1019
-01
Bim
ba F
lat A
ir C
ylin
der (
4) P
orts
19m
m B
ore
512
3500
-105
7006
-15
M3-
0.5x
6 S
HC
S, B
lue
Dye
d M
agni
-565
612
3500
-105
8018
-11
M3
x 18
mm
SH
CS
12.
97
335
00-1
0640
10-1
1M
5 x
10m
m S
HC
S B
lack
Oxi
de8
235
00-1
2580
10-1
1M
3 x
10m
m S
FHC
S B
lack
Oxi
de9
135
00-1
2620
16-1
1M
4 x
16m
m S
FHC
S B
lack
Oxi
de10
335
00-1
2630
16-1
1M
5 x
16m
m S
FHC
S B
lack
Oxi
de11
337
00-1
5-10
72O
verlo
ad P
in12
137
00-1
5-20
15Fi
tting
for M
5-0.
5 Lo
ck-U
p S
enso
r13
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Top
Pla
te14
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Bot
tom
Pla
te15
137
00-1
5-20
33C
ompe
nsat
or 9
116
Ser
ies
400
Bea
ring
Pla
te16
3N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Lock
-up
Scr
ew B
ushi
ng17
137
00-1
5-20
36C
ompe
nsat
or 9
116
Ser
ies
400
Air
Fitti
ng B
lock
183
3700
-15-
2037
Com
pens
ator
911
6 S
erie
s 40
0 B
earin
g P
late
Bus
hing
193
3700
-15-
2056
Com
pens
ator
911
6 S
erie
s 40
0 Lo
ck-u
p S
crew
(Sof
t)20
637
10-1
5-10
03H
CL-
13A
Bon
ded
Stra
in E
lem
ent
211
See
Tab
le A
3 W
ire M
5 P
rox,
w/2
m C
able
Rev.
Des
crip
tion
Initi
ato
rD
ate
-Se
e Sh
eet1
--
Ass
embl
y N
o.3
Wire
M5
Pro
x P
art
No.
9116
-413
-C-L
-P85
90-9
9099
99-4
991
16-4
13-C
-L-N
8590
-990
9999
-53
9116
-413
-C-L
-Sno
sen
sor
B1:
42
2RE
VIS
ION
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
5/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
6001
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
omIS
O 90
01 R
egist
ered
Com
pany
Com
pens
ator
911
6 Se
ries
400,
She
ar P
ad L
ocat
ion
C (P
arts
Id
entif
icat
ion)
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 42
9.2.7 Compensator 9116 Series 400 - (12) shear pads Location D
3rd
AN
GLE
PRO
JEC
TION
183
(Not
e 2)
3700
-15-
2056
Com
pens
ator
911
6 S
erie
s 40
0 Lo
ck-u
p S
crew
(Sof
t)19
2.O
nly
pres
ent o
n un
its w
ith a
ssem
bly
num
ber e
ndin
g in
"L" (
Lock
-up)
.1.
Not
a re
com
men
ded
spar
e pa
rt. C
onsu
lt A
Ti fo
r ava
ilabi
lity.
Not
es:
1237
10-1
5-10
03H
CL-
13A
Bon
ded
Stra
in E
lem
ent
ITE
MN
O.
nose
nsor
/QTY
.P
AR
T N
UM
BE
RD
ES
CR
IPTI
ON
110
(Not
e 2)
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QS
M-M
5-4i
22
(Not
e 2)
3405
-123
0002
-01
Qui
ck D
isco
nnec
t Stra
ight
Uni
on fo
r 4m
m /
5/32
" Tub
ing
31
(Not
e 2)
3415
-002
0001
-01
Bim
ba F
M-0
43.2
Met
ric C
ylin
der,
19m
m B
ore
42
(Not
e 2)
3415
-002
1019
-01
Bim
ba F
lat A
ir C
ylin
der (
4) P
orts
19m
m B
ore
524
3500
-105
7006
-15
M3-
0.5x
6 S
HC
S, B
lue
Dye
d M
agni
-565
612
(Not
e 2)
3500
-105
8018
-11
M3
x 18
mm
SH
CS
12.
97
3 (N
ote
2)35
00-1
0640
10-1
1M
5 x
10m
m S
HC
S B
lack
Oxi
de8
2 (N
ote
2)35
00-1
2580
10-1
1M
3 x
10m
m S
FHC
S B
lack
Oxi
de9
1 (N
ote
2)35
00-1
2620
16-1
1M
4 x
16m
m S
FHC
S B
lack
Oxi
de10
335
00-1
2630
16-1
1M
5 x
16m
m S
FHC
S B
lack
Oxi
de11
337
00-1
5-10
72O
verlo
ad P
in12
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Top
Pla
te13
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Bot
tom
Pla
te14
1 (N
ote
2)N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Bea
ring
Pla
te15
3 (N
ote
2)N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Lock
-up
Scr
ew B
ushi
ng16
1 (N
ote
2)37
00-1
5-20
36C
ompe
nsat
or 9
116
Ser
ies
400
Air
Fitti
ng B
lock
173
(Not
e 2)
Not
e 1
Com
pens
ator
911
6 S
erie
s 40
0 B
earin
g P
late
Bus
hing
Rev.
Des
crip
tion
Initi
ato
rD
ate
01In
itia
l Dra
win
gD
AW
3/25
/201
4
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
om
B1:
41
2RE
VIS
ION
SPEC
IFIE
D.
NO
TES:
UN
LESS
OTH
ERW
ISE
ISO
9001
Reg
ister
ed C
ompa
nyM
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
5/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
6106
ALL
DIM
ENSI
ON
S A
RE IN
MA
NN
ER E
XCEP
T O
N O
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
HORI
ZATIO
N O
F A
TI.PR
OPE
RTY
OF
ATI
IND
USTR
IAL
AUT
OM
ATIO
N, I
NC
. NO
T TO
BE
REPR
OD
UCED
IN A
NY
DO
NO
T SC
ALE
DRA
WIN
G.
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Com
pens
ator
911
6 Se
ries
400,
She
ar P
ad L
ocat
ion
D (P
arts
Id
entif
icat
ion)
Uni
ts w
ithou
t sen
sor
14
1
6
412
5
3
10
8
16
2
9
7
11
18
15
13
Loct
ite 7
649
- Loc
tite
222
/ 14
in-lb
s.
Loct
ite 7
649
- Loc
tite
222
/ 35
in-lb
s.
Loc
tite
222
/ 35
in-lb
s.
25 in
-lbs.
Loct
ite 7
649
- Loc
tite
222
/ 19
in-lb
s.
Loct
ite 7
649
- Loc
tite
222
/ 7 in
-lbs.
Loct
ite 7
649
- Loc
tite
222
/ 30
in-lb
s.
12 in
-lbs.
Loct
ite 7
649
- Loc
tite
222
/
5
14 in
-lbs.
Loct
ite 7
649
- Loc
tite
222
/
17
19
9116
-413
-D a
nd 9
116-
413-
D-L
Ligh
t Mac
hine
Oil
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 43
3rd
AN
GLE
PRO
JEC
TION
Tabl
e A
Not
es: N
ot a
reco
mm
ende
d sp
are
part.
Con
sult
ATi
for a
vaila
bilit
y.1.
Rev.
Des
crip
tion
Initi
ato
rD
ate
-Se
e Sh
eet1
--
Ass
embl
y N
o.3
Wire
M5
Pro
x P
art
No.
9116
-413
-D-L
-P85
90-9
9099
99-4
991
16-4
13-D
-L-N
8590
-990
9999
-53
9116
-413
-D-L
-Sno
sen
sor
ITE
MN
O.
Def
ault/
QTY
.P
AR
T N
UM
BE
RD
ES
CR
IPTI
ON
110
3405
-122
0004
-01
Air
Fitti
ng, F
esto
QS
M-M
5-4i
22
3405
-123
0002
-01
Qui
ck D
isco
nnec
t Stra
ight
Uni
on fo
r 4m
m /
5/32
" Tub
ing
31
3415
-002
0001
-01
Bim
ba F
M-0
43.2
Met
ric C
ylin
der,
19m
m B
ore
42
3415
-002
1019
-01
Bim
ba F
lat A
ir C
ylin
der (
4) P
orts
19m
m B
ore
524
3500
-105
7006
-15
M3-
0.5x
6 S
HC
S, B
lue
Dye
d M
agni
-565
612
3500
-105
8018
-11
M3
x 18
mm
SH
CS
12.
97
335
00-1
0640
10-1
1M
5 x
10m
m S
HC
S B
lack
Oxi
de8
235
00-1
2580
10-1
1M
3 x
10m
m S
FHC
S B
lack
Oxi
de9
135
00-1
2620
16-1
1M
4 x
16m
m S
FHC
S B
lack
Oxi
de10
335
00-1
2630
16-1
1M
5 x
16m
m S
FHC
S B
lack
Oxi
de11
337
00-1
5-10
72O
verlo
ad P
in12
137
00-1
5-20
15Fi
tting
for M
5-0.
5 Lo
ck-U
p S
enso
r13
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Top
Pla
te14
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Bot
tom
Pla
te15
1N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Bea
ring
Pla
te16
3N
ote
1C
ompe
nsat
or 9
116
Ser
ies
400
Lock
-up
Scr
ew B
ushi
ng17
137
00-1
5-20
36C
ompe
nsat
or 9
116
Ser
ies
400
Air
Fitti
ng B
lock
183
Not
e 1
Com
pens
ator
911
6 S
erie
s 40
0 B
earin
g P
late
Bus
hing
193
3700
-15-
2056
Com
pens
ator
911
6 S
erie
s 40
0 Lo
ck-u
p S
crew
(Sof
t)20
1237
10-1
5-10
03H
CL-
13A
Bon
ded
Stra
in E
lem
ent
211
See
Tab
le A
3 W
ire M
5 P
rox,
w/2
m C
able
B1:
42
2RE
VIS
ION
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. W
agne
r 3/2
5/14
DSS
4/2
4/14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-1
5-10
6106
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th D
rive,
Apex
, NC
2753
9, US
ATe
l: +1
.919.7
72.01
15
Em
ail: i
nfo@
ati-i
a.com
Fax:
+1.91
9.772
.8259
w
ww.at
i-ia.c
omIS
O 90
01 R
egist
ered
Com
pany
Com
pens
ator
911
6 Se
ries
400,
She
ar P
ad L
ocat
ion
D (P
arts
Id
entif
icat
ion)
15
1
6
413
5
3
10
21
8
12
21
17 2
9
7
11
19
16
14
5Lo
ctite
764
9 - L
octit
e 22
2 / 1
4 in
-lbs.
Loct
ite 7
649
- Loc
tite
222
/ 35
in-lb
s.
Loc
tite
222
/ 35
in-lb
s.
Loct
ite 7
649
-Lo
ctite
222
/25
in-lb
s.
Loct
ite 7
649
- Loc
tite
222
/ 19
in-lb
s.
Loct
ite 7
649
-Lo
ctite
222
/7
in-lb
s.
Loct
ite 7
649
- Loc
tite
222
/ 30
in-lb
s.
12 in
-lbs.
Loct
ite 7
649
- Loc
tite
222
/14
in-lb
s.Lo
ctite
764
9 - L
octit
e 22
2 / 2
0 in
-lbs.
Sen
sor J
am N
ut15
in-lb
s.
18
20
Uni
ts w
ith lo
ck-u
p an
d se
nsin
g
Ligh
t Mac
hine
Oil
Manual CompensatorDocument #9610-15-1000-17
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com • Email: info@ati‑ia.com 44
10. Terms and Conditions of SaleThe 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 robotic Tool Changer products purchased hereunder will be free from the defects in the material and workmanship under normal use for a period of (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 the any event not later than the last day of the warranty period; and (b) the defective item is received by ATI not later (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 the improper installation, operation, maintenance or repair by anyone other than ATI.
ATI will in the 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 the 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 the 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 the writing and signed by an executive officer of ATI.
Unless otherwise agreed in the 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 the ATI and such information is licensed to Purchaser only for Purchaser’s use in the operating the products supplied by ATI hereunder in the 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 the ATI; (b) is thereafter published or otherwise enters the public domain through no fault of Purchaser; (c) is in the Purchaser’s possession prior to receipt from the ATI; (d) is lawfully obtained by Purchaser from the 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.