Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
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3.6 Accuracy Check Procedure
Complete the following procedures after the initial installation of the sensor to the robot and once annually
for maintenance.
NOTICE:
The mass on the tool side can be the weight of the tooling used in the application.
1.
Attach a fixed mass to the tool side of the F/T sensor:
a. Remove cables that form bridges between the sensor’s mounting and tool sides.
2.
Power on the sensor. Allow a 30 minute warm-up time. Minimize external sources of
temperature change.
3. Move the robot so that the sensor is in the following positions:
a.
Record the sensor’s output, F
x, point n
\ F
y, point n
\ F
z, point n
at each point without biasing:
•
Point 1: +Z up
•
Point 2: +X up
•
Point 3: +Y up
•
Point 4: -X up
•
Point 5: -Y up
•
Point 6: -Z up
4. Calculate F
x, average
\ F
y, average
\ F
z, average
:
a.
Use the following equations, to complete the calculations:
5.
For each of the 6 points, complete the following calculation:
