the Compensator Installation and Operation Manual

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: [email protected]

Compensator

9116 Series 000, 100, 200, and 400

Installation and Operation Manual

Document #: 9610-15-1000December 2014

Compensator Installation and Operation ManualDocument #9610-15-1000-16

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected] 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: [email protected]

Technical support and questions:Application Engineering Tel: 919.772.0115, Option 2, Option 2 Fax: 919.772.8259 E-mail: [email protected]



Table of Contents1. .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) .............................................................................................................. 15

5. Maintenance ............................................................................................................................ 165.1 Preventive Maintenance ............................................................................................................. 16

6. Troubleshooting ..................................................................................................................... 176.1 Replaceing Shear Pads ............................................................................................................... 17

6.1.1 9116 000 Series Shear Pad Replacement ....................................................................... 18

6.1.2 9116 100 and 200 Series Shear Pad Replacement ......................................................... 19

6.1.3 9116 400 Series Shear Pad Replacement ....................................................................... 21

7. Serviceable Parts ................................................................................................................... 238. Specifications ......................................................................................................................... 249. Drawings ................................................................................................................................. 27



9.1 Customer Drawings .................................................................................................................... 279.1.1 Compensator 9116 Series 000 w/ Lock-up ...................................................................... 27

9.1.2 Compensator 9116 Series 100 w/ Lock-up and Sensor Ready ........................................ 28

9.1.3 Compensator 9116 Series 200 w/ 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



Glossary of TermsTerm Definition

Top 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 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 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 Wear bushing for lock-up screw.

Bushing

Lock Sensing Proximity sensor mounted in 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 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).



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 electrical and pneumatic lines must minimize the possibility of stress pullout, kinking, rupture, etc. All electrical power and pneumatics should be disconnected during servicing.



1.3 Safety PrecautionsWARNING: Do not perform maintenance or repair on 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 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.



2. Product OverviewThe Compensator is a compliance device that enhances the flexibility and reliability of a robot or assembly machine. Compensators are used in automated assembly applications to provide compliance for misalignment during assembly. The sizes covered in this manual include 9116 Series 000, 100, 200, and 400.

The Compensator is designed to provide compliance in the lateral, cocking, axial, and torsional directions (see Figure 2.1). A key feature to the Compensator is the projected (remote) compliance center. The Center-of-Compliance (C-of-C) is the point in 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



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 100, 200, and 400 sizes.

Figure 2.2—9116 Series Compensator Assembly (Lock-up Screw Bushing Not Shown)



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



2.2 ApplicationThe following section provides information about using the Compensator in a application.

2.2.1 Intended UseThe Compensator is intended to be used in “peg-in-hole” type operations in the vertical orientation. The peg-in-hole example is an application involving the insertion of one part into another. There are a variety of peg-in-hole type applications that include: dowel pin insertion, mold alignment, washer insertion, bearings into housings, and shafts into bearings. If the Compensator is used in the horizontal orientation, over time the shear pads will develop sag. Rubber and most rubber-like materials 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 the 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 two steps below (see Figure 2.3).

Step 1: Perform a tolerance study of 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 tooling handling part A.d. Locational tolerance of part B’s feature (i.e.; hole)e. Repeatability of 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 part A (a lead in is required on at least one part).b. Chamfer size on 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 two parallel surfaces

will contact. If your total clearance is less than your assembly misalignment, then increase the chamfer size on part A 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 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.



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 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 six (6) shear pads on the 200 and twelve (12) on the 400 to double the load

capacity. Refer to Section 8—Specifications for model lateral and cocking load specifications.



4. Minimize insertion force:Calculate your maximum insertion force by multiplying your assembly misalignment by the lateral stiffness. 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 three 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 two 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 many assembly applications. Excessive contact force causes galling, jamming, and broken parts. During a typical assembly process, there are three 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 +/-.026mm (.001”) when in the locked position. When unit is unlocked, shear pads have a positional repeatability of +/- .051mm (.002”).



3. Installation3.1 Robot Side Interface

The 000, 100, 200, and 400 have two options for interfacing to a robot or assembly machine. Units can be mounted by using the tapped holes on the robot side (top) plate or by bolting through robot side (top) plate to robot or assembly machine. All sizes have (2) dowel holes for location. Robot or assembly machine interface must accommodate sensor cable if unit is equipped with lock sensing. For size and location of mounting features and lock sensor cable exit, refer to Section 9.1—Customer Drawings. Mounting hardware not provided.

3.2 Tool Side InterfaceThe tool side (bottom) plate uses the same two 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 mounting features.

3.3 Pneumatic Connections for Units with Lock-up (optional)CAUTION: The routing of pneumatic lines must minimize the possibility of stress pullout, kinking, etc. Failure of pneumatic lines to operate the unit properly may result in damage to equipment.

Units equipped with lock-up require an air supply from 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 4mm 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 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 Connection4 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



3.4 Electrical Connection for Units with Lock Sensing (optional)CAUTION: The routing of electrical lines must minimize the possibility of stress pullout, kinking, etc. Failure of 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 25mm 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 1.02mm (.040”) on 100 and 200 with unit locked. Sensor gap should be set at 0.5mm (0.020”) on 400 with unit locked, refer to Figure 3.4.

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 three 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 60 to 120 psi (4.1 to 8.3 bar). In severe locking conditions, air supply can be adjusted to a maximum of 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 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 lock-up screw bushings.

CAUTION: Unit must be in the unlocked position for full compliance.

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 compensator when lock-up is being cycled. Injury could result from moving parts.



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 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 debris. Units with optional lock sensing should be inspected for debris and sensor and target faces cleaned. Routine inspection of pneumatic and electrical lines is recommended to avoid possible failure.

Table 5.1—Preventive maintenance checklistGeneral preventive maintenance Maintenance Schedule□ Inspect mounting fasteners for tightness. If lose tighten.

At lubrication periods

□ If equipped, clean sensor face and sensor target using a lint free cloth. Refer to Figure 2.1.

□ If equipped, Inspect sensor jam nut and fitting for tightness, if lose tighten. Refer to Section 9.2—Assembly Drawings for proper torque.

□ If equipped, inspect pneumatic lines and sensor cable for wear or damage, replace as required.

Inspection and Lubrication Normal locking conditions

Severe locking conditions

□ 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

□ 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 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)



Lock-up ScrewLock-up Screw Bushing



6. TroubleshootingRefer to the table below for trouble shooting information.

Symptom Possible Cause ResolutionUnit not returning to initial position when compliance force is removed. (without actuating lock-up)

Mounting fasteners are lose. Inspect mounting fasteners and tighten if 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 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.

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 ReplacementWARNING: Do not perform maintenance or repair on 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.

1. Turn off all energized circuits and remove the tooling from the compensator.2. If equipped, remove air lines from compensator.3. Remove the compensator from the robot.4. Remove the three 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 three 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 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 three 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) M3 Socket FlatHead Cap Screws

Shear Pad(Bonded Strain Element)

(3) M3 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 six M3 socket flat head cap screws.11. Orient each Shear Pad with fin pointing outward as shown in Figure 6.2 and secure to the top

plate with a M3 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 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 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 functioning properly, install compensator to robot. If not make any necessary adjustments and retest.

16. If equipped attach air lines to compensator.17. Reinstall tooling.

6.1.2 9116 100 and 200 Series Shear Pad ReplacementWARNING: Do not perform maintenance or repair on 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.

1. Turn off all energized circuits and remove the tooling from the compensator.2. If equipped remove air line from 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 three 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 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.10. Apply Loctite Primer 7649 and Loctite 222 to six M3 socket head cap screws.




(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



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.




Fin OrientedOutward



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 turning if required.


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 functioning properly, install compensator to robot. If not make any necessary adjustments and retest.

16. If equipped, attach air lines to compensator.17. Reinstall tooling.



6.1.3 9116 400 Series Shear Pad ReplacementWARNING: Do not perform maintenance or repair on 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.

1. Turn off all energized circuits and remove the tooling from the compensator.2. If equipped, remove air line from 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 three 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 turning if required. 7. Remove the three overload pins.8. If equipped, remove the three 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 to the top plate.13. Apply Loctite Primer 7649 and Loctite 222 to six M3 socket head cap screws.


M3 Socket Head Cap Screws


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.









Fin OrientedOutward

Alignment Notch Shear Pad

15. Clean the three 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 three 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 three overload pins through the bottom plate and bearing plate.20. Apply Loctite 222 to the three 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 turning if required.


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 functioning properly, install compensator to robot. If not make any necessary adjustments and retest.

24. If equipped attach air lines to compensator.25. Reinstall tooling.



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 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.

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 C mm (in)

Maximum Load Capacities StiffnessVertical 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 three types of shear pads: HCL-11A, -12A and -13A.4. 9116 Series 000 uses two types of shear pads: HCL-01A2 and -02A.5. 9116 Series 400 uses one type of shear pad: HCL-13A.

Table 8.1—ComponentSpecificationsLock SensorType M5x0.5 Threaded Barrel Proximity Sensor, NPN or PNP,

Normally OpenSupply Voltage Range 10–30 VDCOutput Current 200mARated Operating Distance (Sensing Range) 1.5mm (.059”)Air Cylinder 9116 Series 000 and 100Force Factor 0.25 lb/psi (15N/bar) 9116 Series 200 and 400Force Factor 0.4 lb/psi (28N/bar)



Table 8.2—ShearPadSpecificationsProperties Shear 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 82Oil 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

Figure 8.2—ShearPadSpecifications



9. Drawings9.1 Customer Drawings

9.1.1 Compensator 9116 Series 000 with Lock-up

B-BN

OITC

ES

rednilyCriA

cirteM

leetS

denedraH

niP

daolrevO

wercS

pu-kcoLgnihsuB

pu-kcoLcirte

Mwerc

S

CB

02C

B84

urhTelo

HtiFpilS)2(

rofle

woD

4decapS

yllauqE

ecafretnIremotsu

C

EDIS

TOB

OR

9.65

eloH

deppaT8.0-5

M)3(decaps

yllauqE

ecafretnIremotsu

C)1

etoN

eeS(

BB

4.7

5.14

4.7

CB

02C

B84

urhTelo

HtiFpilS)2(

rofle

woD

4decaps

yllauqEecafretnIre

motsuC

EDIS

LO

OT

9.65

eloH

deppaT8.0-5

M)3(decaps

yllauqE

ecafretnIremotsu

C)1

etoN

eeS(

.veRnoit

pircseD

rotaitin I

eta

D

40.eltit

gniw

ard

deta

dpU

SP5002/02/4

:rebmu

NtraPL-A-100-6119

:setoN

elohdeppat

5M

ehturht

SC

HS4

Mgnisufo

noitpoosl

A.1.gnitnuo

mrof.lanoitpo

pu-kcoL.2

DEIFICEPS

ESIWREHT

OSSEL

NU:SET

ON

.SKRO

WDIL

OSNI

NW

ARD

.G

NIW

ARD

ELA

CST

ON

OD

.SRETEMILLI

MNI

ERA

SN

OISNE

MID

LLA

40/6/9,epanS.J

40/01/9,worrap

S.P

4.0

1-321040

ASU,93572CN,xepA,evirD

htrowdooG1301moc.ai-ita

@ofni:liamE

5110.277.919.1+:leTmoc.ai-ita.www

9528.277.919.1+:xaFynap

moCderetsige R1009

OSI

pu-kcoL/w

000seire

S6119rotasnep

moC

6201-51-0329-

40B

1:11

1N

OITCEJ

ORPEL

GNA

dr3

:YBN

WARD

:YBDEK

CEHC

:SBLTHGIE

W

:FERYLB

MESSA

ELTIT

ELA

CSEZIS

REBMU

NG

NIWAR

D

#ESAELERT

CUD

ORP:ET

AD

FO

TEEHS

.C

NI,N

OITA

MOTUA

LAIRTSU

DNIITA

FO

YTREPORP

NOTPE

CXERE

NN

AM

YNA

NIDE

CUD

ORPEREB

OTTO

N.ITA

FO

NOITAZIR

OHTUANETTIR

WR

OIRPHTI

WR

ORE

DRO



9.1.2 Compensator 9116 Series 100 with Lock-up and Sensor Ready

CB

07°51 °53

°071

eloH

deppaT8.0-5

M)6(decaps

yllauqE

ecafretnIremotsu

C)1

etoN

eeS(

urhTelo

HtiFpil

S)2(rof

lewo

D5

ecafretnIremotsu

C

EDIS

LO

OT

08

4.7

54

4.7

rosneSkcoLelba

C)3

&2

etoN

eeS(

A-A

NOIT

CE

S

pu-kcoLcirte

Mwerc

S

pu-kcoLwerc

SgnihsuB

rednilyCri

Acirte

M

leetSdenedra

Hni

Pdaolrev

O

°51

°071

°53

CB

07

°03

CB

05

rosneS

kcoLnoitacoL

eloH

deppaT8.0-5

M)6(decaps

yllauqE

ecafretnIremotsu

C)1

etoN

eeS(

urhTelo

HtiFpilS)2(

rofle

woD

5ecafretnIre

motsuC

EDIS

TOB

OR

08

AA

.veRnoit

pircseD

rotaitin I

eta

D

60.2

etondet

ad

pUSP

5002/12/6

:rebmu

NtraPS-L-B-211-6119

:setoN

elohdeppat

5M

ehturht

SC

HS

4M

gnisufonoitpo

oslA.1.gnitnuo

mrof.elbacrosnes

etadom

moccatsum

etalpecafretni

edistoboR.2

ediw

mm6,snoisne

midtolstixeelbacrosnes

dednem

moceR

.peedm

m9yb

.lanoitpognisneS

kcoLdna

pu-kcoL.3

DEIFICEPS

ESIWREHT

OSSEL

NU:SET

ON

.SKRO

WDIL

OSNI

NW

ARD

.G

NIW

ARD

ELA

CST

ON

OD

.SRETEMILLI

MNI

ERA

SN

OISNE

MID

LLA

40/8/6,epanS.J

40/9/6,worrap

S.P

337.0

1-321040



@ofni:liamE


9528.277.919.1+:xaFynap

moCderetsigeR1009

OSI

ydaeRrosneS

&pu-kcoL/

w001

seireS

6119rotasnepmo

C

4201-51-0329-

60B

1:11

1N

OITCEJ

ORPEL

GNA

dr3

:YBN

WARD

:YBDEK

CEHC

:SBLTHGIE

W

:FERYLB

MESSA

ELTIT

ELA

CSEZIS

REBMU

NG

NIWAR

D

#ESAELERT

CUD

ORP:ET

AD

FO

TEEHS

.C

NI,N

OITA

MOTUA

LAIRTSU

DNIITA

FO

YTREPORP

NOTPE

CXERE

NN

AM

YNA

NIDE

CUD

ORPEREB

OTTO

N.ITA

FO

NOITAZIR

OHTUANETTIR

WR

OIRPHTI

WR

ORE

DRO



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



9.1.4 Compensator 9116 Series 400 with Lock-up and Lock Sensing

troP

kcolnU

rofgnittiF(

)gnibuTm

m4tro

PkcoL

rofgnittiF(

)gnibuTm

m4

.C.

B521

.C.

B4.201

.C.

B89.39

°02

°54

°51

°42

°54

)2(6

.pD

21,)tiFpil

S(ecafretnIre

motsuC

8.851

ediStoboR

rofelo

HurhT)6(

SC

HS

6M

ediSraF

morFdero

B'C

decapS

yllauqE

ecafretnIremotsu

C

.pD

21,0.1x6M

deppaT)6(decap

Syllauq

EecafretnIre

motsuC

rosneS

kcoLtol

StixE

elbaC

rosneS

kcoLnoitacoL

&kcoL

stroP

kcolnU

1.05

2121

°51°51

.C.

B521

°51

.C.

B56

)2(6

.pD

21,)tiFpil

S(ecafretnIre

motsuC

8.05urhTelbissecc

Aremotsu

C

8.851

ediSlooT

rofelo

HurhT)6(

SC

HS

6M

ediSraF

morFdero

B'C

decapS

yllauqE

ecafretnIremotsu

C

.pD

21,0.1x6M

deppaT)6(decap

Syllauq

EecafretnIre

motsuC

:rebmu

NtraPP-L-

D-314-6119:seto

N.gnisnes

kcoldna

pu-kcollanoitpohti

wn

wohstinU

.1

.veRnoitpircse

DrotaitinI

etaD

10eussIlaitinI

SP5002/6/9

DEIFICEPS

ESIWREHT

OSSEL

NU:SET

ON

.SKRO

WDIL

OSNI

NW

ARD

.G

NIW

ARD

ELA

CST

ON

OD

.SRETEMILLI

MNI

ERA

SN

OISNE

MID

LLA

50/6/9,worrap

S.P

50/7/9,epanS.J

1-926050



@ofni:liamE


9528.277.919.1+:xaFynap

moCderetsigeR1009

OSI

gnisneS

kcoL&

pu-kcoL/w

004seire

S6119rotasnep

moC

10-4301-51-0329B

8:51

1N

OITCEJ

ORPEL

GNA

dr3

:YBN

WARD

:YBDEK

CEHC

:SBLTHGIE

W

:FERYLB

MESSA

ELTI T

ELA

CSEZIS

REBMU

NG

NIWAR

D

#ESAELERT

CUD

ORP:ET

AD

FO

TEEHS

.C

NI,N

OITA

MOTUA

LAIRTSU

DNIITA

FO

YTREPORP

NOTPE

CXERE

NN

AM

YNA

NIDE

CUD

ORPEREB

OTTO

N.ITA

FO

NOITAZIR

OHTUANETTIR

WR

OIRPHTI

WR

ORE

DRO



9.2 Assembly Drawings9.2.1 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



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



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



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.



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)



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)



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)



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)



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



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



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)



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



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



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 defects in material and workmanship under normal use for a period of three (3) years from the date of shipment. This warranty does not cover components subject to wear and tear under normal usage or those requiring periodic replacement. ATI will have no liability under this warranty unless: (a) ATI is given written notice of the claimed defect and a description thereof within thirty (30) days after Purchaser discovers the defect and in any event not later than the last day of the warranty period; and (b) the defective item is received by ATI not later ten (10) days after the last day of the warranty period. ATI’s entire liability and Purchaser’s sole remedy under this warranty is limited to repair or replacement, at ATI’s election, of the defective part or item or, at ATI’s election, refund of the price paid for the item. The foregoing warranty does not apply to any defect or failure resulting from improper installation, operation, maintenance or repair by anyone other than ATI.

ATI will in no event be liable for incidental, consequential or special damages of any kind, even if ATI has been advised of the possibility of such damages. ATI’s aggregate liability will in no event exceed the amount paid by purchaser for the item which is the subject of claim or dispute. ATI will have no liability of any kind for failure of any equipment or other items not supplied by ATI.

No action against ATI, regardless of form, arising out of or in any way connected with products or services supplied hereunder may be brought more than one (1) year after the cause of action accrued.

No representation or agreement varying or extending the warranty and limitation of remedy provisions contained herein is authorized by ATI, and may not be relied upon as having been authorized by ATI, unless in writing and signed by an executive officer of ATI.

Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software and other technology made or developed by ATI in the course of providing products and services hereunder, and all rights therein under any patent, copyright or other law protecting intellectual property, shall be and remain ATI’s property. The sale of products or services hereunder does not convey any express or implied license under any patent, copyright or other intellectual property right owned or controlled by ATI, whether relating to the products sold or any other matter, except for the license expressly granted below.

In the course of supplying products and services hereunder, ATI may provide or disclose to Purchaser confidential and proprietary information of ATI relating to the design, operation or other aspects of ATI’s products. As between ATI and Purchaser, ownership of such information, including without limitation any computer software provided to Purchaser by ATI, shall remain in ATI and such information is licensed to Purchaser only for Purchaser’s use in operating the products supplied by ATI hereunder in Purchaser’s internal business operations.

Without ATI’s prior written permission, Purchaser will not use such information for any other purpose or provide or otherwise make such information available to any third party. Purchaser agrees to take all reasonable precautions to prevent any unauthorized use or disclosure of such information.

Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is in the public domain when received from ATI; (b) is thereafter published or otherwise enters the public domain through no fault of Purchaser; (c) is in Purchaser’s possession prior to receipt from ATI; (d) is lawfully obtained by Purchaser from a third party entitled to disclose it; or (f) is required to be disclosed by judicial order or other governmental authority, provided that, with respect to such required disclosures, Purchaser gives ATI prior notice thereof and uses all legally

available means to maintain the confidentiality of such information.

Documents

the Compensator Installation and Operation Manual