ATI Technologies 9105-ECAT-Axia80-M20, Manual, Page: 18 / 50

Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com
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3.3 Installing the Sensor to the Robot
Parts required: Refer to Figure 3.5 and (the customer drawing on the ATI website).
Tools required: 4 mm hex key
Supplies required: Clean rag, Loctite
®
242 (if applicable, refer to step 3 and 4 )
1. Clean the mounting surfaces.
2. Attach the mounting interface plate to the robot arm with the mounting fasteners.
NOTICE: When mounting the sensor to the mounting interface plate, mounting the customer
tooling or interface plate to the sensor, consider the following points:
•
Screws must have a minimum thread engagement length of 4.5 mm and a maximum
thread engagement less than the threaded depth that is listed the customer drawing on
the ATI website.
•
Unless otherwise specified, apply Loctite 242 to the (6) M5 socket head cap screws (class
12.9) so that the fasteners secure the sensor to the mounting plate.
3.
Attach the sensor to the mounting adapter plate.
a.
Using a 4 mm hex key, secure the sensor to the mounting adapter plate with the (6) M5 socket head
cap screws, class 12.9. Tighten the fasteners per the specifications in the following table.
Table 3.2—Torque Values for Axia Models
Model Torque
Axia80-M8
52 in-lbs (5.88 Nm)
Axia80-M20
Axia80-M50
75 in-lbs (8.47 Nm)
4. Once the sensor is installed on the robot, the customer tooling or tool interface plate can be installed.
NOTICE:
The tool must not touch any other part of the sensor except the tool side; otherwise,
the sensor does not properly detect loads.
5. Connect the cable(s) to the sensor and customer application.
a.
Connect a power and EtherCAT cable (ATI P/N 9105-C-ZC22-ZC28-X) to the sensor’s connection.
Tighten to 4.43 in-lbs (0.5 Nm).
b.
Connect the branched cable (ATI P/N 9105-C-ZC28-U-RJ45S-X) to the cable from step
a . Tighten
to 7.08 in-lbs (0.8 Nm).
c.
Connect the RJ45 and power connections to the customer application.
NOTICE: For the LED outputs that occur whenever power is applied to the sensor, refer to
Section 4.2.1—LED Self-Test Sequence .
6. Properly restrain and route the power and EtherCAT cable; refer to
Section 3.2—Routing the Cable .
7.
After installation is complete, the sensor is ready for an accuracy check (refer to Section 3.6—Accuracy
Check Procedure ).
8.
Safely start normal operation.