ATI Technologies 9105-NET-axia80 Manual Download Page 1

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Engineered Products for Robotic Productivity

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •

www.ati-ia.com

Serial Axia F/T Sensor

Manual

Document #: 9610-05-Serial Axia

Summary of Contents for 9105-NET-axia80

Page 1: ...ineered Products for Robotic Productivity Pinnacle Park 1031 Goodworth Drive Apex NC 27539 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com Serial Axia F T Sensor Manual Document 9610 05 Serial Ax...

Page 2: ...nc Apex North Carolina USA All Rights Reserved Published in the USA In consideration that ATI Industrial Automation Inc ATI products are intended for use with robotic and or automated machines ATI doe...

Page 3: ...o Section 4 8 Status Code For the system s response to the status command refer to Section 5 13 Status Command status 5 Computer and software information operating system PC type drivers application s...

Page 4: ...Manual F T Sensor Serial Axia Document 9610 05 Serial Axia 05 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com 4 Statement of Compliance...

Page 5: ...oving the Sensor from the Robot 24 3 5 Pin and Wire Assignments for Serial and Power Connection 25 3 5 1 Pin Assignment for the 6 pin M8 Male Connector on the Sensor 25 3 5 2 Pin Assignment for Cable...

Page 6: ...ias Commands on off values 48 5 5 Peak Command peak 48 5 6 Peak Reset Command peak reset 49 5 7 Save All Command saveall 49 5 8 Set Command set 49 5 9 Write set Commands 53 5 9 1 Message Command set m...

Page 7: ...Axis w command 62 6 6 2 Set the ADC Sample Rate a command 63 6 6 3 Set the IIR Filter Shift Value f command 63 6 6 4 Set the Calibration Value c command 63 6 6 5 View the Current Output Bit or Calibra...

Page 8: ...mass x acceleration FS Full Scale FT or F T Force and Torque Fxy The resultant force vector comprised of components Fx and Fy Hysteresis A source of measurement error that is caused by the residual ef...

Page 9: ...component that converts a detected load into electrical signals Status Bit A unit of computer data sent from the ATI F T sensor Status Word The status code Tool Adapter Plate TAP The surface of the se...

Page 10: ...tuation 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 situati...

Page 11: ...r more information refer to the customer drawings on the ATI website CAUTION Probing openings in the sensor causes damage to the instrumentation Avoid prying into the openings of the sensor CAUTION Do...

Page 12: ...ation The sensor is IP64 rated A M8 6 pin male connector is for power and signals For the pin assignments refer to Section 3 5 Pin and Wire Assignments for Serial and Power Connection For available ca...

Page 13: ...d of interfacing with the sensor for transmitting and receiving data on demand refer to Section 2 2 Sync Functionality Overview for more information 2 The X in the part number represents cable length...

Page 14: ...ivation of the sync function the sensor outputs the most recently collected data point which is equivalent to the output from the s command Section 5 3 Query Commands s or c sent over a RS 485 cable i...

Page 15: ...Failure to follow proper grounding procedures could damage the sensor CAUTION Do not apply excessive force to the sensor and cable connector during installation or damage will occur to the connectors...

Page 16: ...wel pins that exceed length requirements and prevent the interface plate from mating flush with the robot and customer tooling Fasteners that exceed length requirements create a gap between the interf...

Page 17: ...lications where the cable is in a static condition dynamic applications subject the cable to a repetitive motion For dynamic applications restrain the cable at a distance that does not expose and dama...

Page 18: ...zip tie does not contact the cable CAUTION Improper cable routing may cause injury to personnel poor functionality of critical electrical lines or damage to the equipment The electrical line especiall...

Page 19: ...zip ties to restrain the cable around the robot arm INCORRECT CORRECT USE Velcro straps to bundle cables DO NOT USE zip ties to bundle cables CAUTION Do not damage or crush the cable by over tightenin...

Page 20: ...ts 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 in the customer drawing Unless otherwise specified apply Lo...

Page 21: ...for monitoring the status of the sensor For the Serial Axia Sensor LED outputs refer to Section 4 2 LED Outputs on the Serial Axia Sensor For the USB cable LED outputs refer to Section 4 3 LED Output...

Page 22: ...ereo Audio Jack Plug Sensor cable to the customer application USB cable to the Axia Serial sensor 6 After connecting the USB plug to the customer application or computer the operating system obtains t...

Page 23: ...Ports COM LPT the Serial Axia sensor is assigned a COM port Figure 3 9 Device Manager 8 To send commands through the USB cable set up a serial console refer to Section 3 6 Setting Up Communications w...

Page 24: ...mer tooling and or interface plate remove the customer supplied screws that attach to the customer tooling to the sensor 4 Supporting the sensor use a 4 mm hex key to remove the 6 M5 socket head cap s...

Page 25: ...4 V 30 V 1 5 W Notes 1 The power supply input is reverse polarity protected If the power and ground to the power supply inputs are plugged in reverse then the reverse polarity protection stops the inc...

Page 26: ...line Serial commands are covered in Section 5 Serial Commands and Section 6 Serial Axia Sensor Robot Mode For additional instructions on setting up a serial console like PuTTY refer to the following p...

Page 27: ...et the Connection Type to Serial b In the Serial Line field enter the assigned COM port from step 2 c In the Speed field enter the default baud rate of 115200 or the baud rate to which the user has se...

Page 28: ...19 772 8259 www ati ia com 28 e After a terminal window opens the user can then start entering commands f After a command is entered from Section 5 Serial Commands or Section 6 Serial Axia Sensor Robo...

Page 29: ...d 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...

Page 30: ...or s rated accuracy is 2 the range on all axes For a 500 N Fxy range and a 900 N Fz range the allowable errors of any single data point would be 10 N Fx y and 18 N Fz respectively Since Fz has the lar...

Page 31: ...r in the environment does not exceed the IP64 rating of the sensor 4 2 LED Outputs on the Serial Axia Sensor The sensor provides 3 LED units for Link Activity L A Diagnostic DIAG and Status Each of th...

Page 32: ...ls the health status of the sensor as follows Table 4 4 Sensor Status LED LED State Description Off The sensor is powering up and checking STATUS Red Indicates an error in the STATUS word refer to Tab...

Page 33: ...ta at 7 000 Hz the customer may want the Axia to be outputting data to the network at 7 000 Hz as well even though the sensor is not sampling that quickly internally If the sample rate is faster than...

Page 34: ...ation at 0 5 kHz Sample Rate 30 0 dB 24 0 dB 18 0 dB 12 0 dB 6 0 dB 0 0 dB 0 Hz 1 Hz 10 Hz 100 Hz 1000 Hz 0 3 Hz 0 6 Hz 1 3 Hz 2 5 Hz 5 Hz 10 Hz 22 Hz 60 Hz 200 Hz Frequency Attenuation Figure 4 2 Fil...

Page 35: ...tion at 2 kHz Sample Rate 30 0 dB 24 0 dB 18 0 dB 12 0 dB 6 0 dB 0 0 dB 0 Hz 1 Hz 10 Hz 100 Hz 1000 Hz 500 Hz 235 Hz 90 Hz 43 Hz 20 Hz 10 Hz 2 4 Hz 5 Hz 1 4 Hz Frequency Attenuation Figure 4 4 Filter...

Page 36: ...000 Hz 373 Hz 958 Hz 2000 Hz 935 10 Hz 364 04 Hz 169 52 Hz 81 24 Hz 39 84 Hz 20 31 Hz 9 37 Hz 5 47 Hz Frequency Attenuation 4 6 Bias Biasing is useful for eliminating the effects of gravity tool weigh...

Page 37: ...es a reference point by inputting a parameter set that is a series of 3 displacements Dx Dy Dz and 3 rotations Rx Ry Rz for example Dx 97 3 mm Dy 46 1 mm Dz 201 82 mm Rx 90 rotation Ry 180 rotation Rz...

Page 38: ...ation Y Axis after X rotation Z Z Axis after X rotation 2 The second rotation is about the Y axis of the new user output reference frame In this example Ry 180 rotation The user point of origin rotate...

Page 39: ...t of origin is zero Any force that is multiplied by a distance of zero yields zero torque The software tool transformation reports that no torque is applied to the sensor However the sensor s point of...

Page 40: ...Changing the ADC sampling rate Any ADC ISR overrun No 4 Reserved Yes 5 Other error bit This bit is set whenever an error other than those specified in this table exists Yes 6 to 15 Reserved Yes 16 to...

Page 41: ...ted ranges that are used in the preceding equations For Example An Axia80 M20 sensor that uses calibration range 0 is subjected to the following loads and has the following calibration ranges Table 4...

Page 42: ...17 Feb 21 2018 14 03 20 BL 3 Enter most commands without operands to display current status BIAS ON OFF values Control user bias PEAK View set clear peak values SET Print all fields SET field name Pr...

Page 43: ...ost commands without operands to display current status BIAS ON OFF values Control user bias PEAK View set clear peak values SET Print all fields SET field name Print matching field s SET field name v...

Page 44: ...5 Nm 0 0783 Nm 0 9159 Nm user holds another key such as Enter and waits for the data transmission to stop No return data 5 3 1 Converting Counts Per Force Torque to FT Values To obtain the real force...

Page 45: ...ling or dividing the count value by the cpf or cpt Refer to Section 5 3 1 Converting Counts Per Force Torque to FT Values Counts or Units c The XYZM data is displayed in counts u The XYZM data is disp...

Page 46: ...cifies printing torques whenever an x y z or m is seen from now on on this line c The X specifies printing Tx d The Y specifies printing Ty 3 S D0123 is interpreted as user s d01234567 response 246123...

Page 47: ...out of range 0x88000000 28 Simulated error 0x10000000 29 Calibration checksum error 0xA0000000 30 F T out of range 0xC0000000 31 Any error 0x80000000 Healthy 0x00000000 The bit pattern can be differen...

Page 48: ...ears the bias bit Also the user can bias the sensor with user determined values bias command format for turning the feature on or off user bias on response BIAS ON bias command format for turning the...

Page 49: ...2147 484 1350 000 1350 000 Tx Nm 2147 484 2147 484 30 000 30 000 Ty Nm 2147 484 2147 484 30 000 30 000 Tz Nm 2147 484 2147 484 30 000 30 000 5 7 Save All Command saveall The saveall command records a...

Page 50: ...ax Fx Counts Read The maximum rated value for this axis in F T counts 214748647 32 bit unsigned integer max1 Max Fy Counts max2 Max Fz Counts max3 Max Tx Counts max4 Max Ty Counts max5 Max Tz Counts f...

Page 51: ...51 peakNeg4 PeakLoadsNegTy 12854 peakNeg5 PeakLoadsNegTz 0 sensorHwVer N A Read The version of the sensor hardware 0 16 bit integer adcRate N A Read and Write The ADC update rate in Hz The ADC rate mu...

Page 52: ...oduct code HW Product Code String 20 hwRev The hardware revision number 0 16 bit integer ttdu N A Read and Write Tool transformation distance units 0 in 1 ft 2 mm 3 cm 4 m 0 8 bit integer ttau Tool tr...

Page 53: ...s 0 does not print unprompted messages set msg read and write command format for example user set msg response Field Value msg 1 user set msg 0 response msg was 1 now 0 5 9 2 RDT Sample Rate Command s...

Page 54: ...nd set calib The user can set the calibration range where 0 Calibration Range 0 1 Calibration Range 1 The values within the ranges are listed in Table 8 3 set calib read and write command format for e...

Page 55: ...e ttdu 1 user set ttdu 0 response ttdu was 1 now 0 5 9 8 Tool Transform Angle Units Command set ttau The user can set the units for the tool transformation angle where 0 degrees 1 radians set ttau rea...

Page 56: ...trx 30 response ttrx was 0 now 30 5 9 11 Baud Rate Command set baud The user can set the baud rate of the sensor The baud rate must be a value from 300 to 3000000 set baud read and write command forma...

Page 57: ...ction 4 2 4 Sensor Status LED simerr read command format for example user simerr response SIMERR ON simerr write command format for example user simerr off response SIMERR OFF 5 11 View Calibration Co...

Page 58: ...the values in Section 9 3 Calibration Ranges Use Section 5 13 Status Command status for troubleshooting diag command format user diag response Gage Counts Axis Units F T AllPeak AllPeak ToolTransform...

Page 59: ...bytes UART 115 4 KHz RX faults 1 SPI ADC 14 0 MHz SPI EEPROM 14 0 MHz MCU Clock Good 168 0 MHz MCU Part Good PIC32MZ2048EFH064 A1 S N 7fedd880 39c4fb9a MCU FPU ID a7 REV 32 UFRP 1 FC 1 HAS08 1 F64 1 L...

Page 60: ...user types the character for example r the software recognizes the input command and outputs data The console does not echo or show the command the user has entered 6 1 Enter and Exit Robot Mode m co...

Page 61: ...ters s response 0FFFF000000000000FFFFFFFF 1FFFF000000000000FFFFFFFF 2FFFF000000000000FFFFFFFF 3FFFF000000000000FFFFFFFF 4FFFF000000000000FFFFFFFF 5FFFF000000000000FFFFFFFF 6FFFF000000000000FFFFFFFF 7F...

Page 62: ...example Fx FFFF 15 2588 1 15 2588 0 06554 N Fy 0000 15 2588 0 15 2588 0 N Fz 0023 15 2588 35 15 2588 2 2938 N Tx 0000 15 2588 0 15 2588 0 N Ty 0000 15 2588 0 15 2588 0 N Tz 0000 15 2588 0 15 2588 0 N...

Page 63: ...the character f and an index value from 0 to 8 The value is saved to NVM Refer to Section 4 5 Low Pass Filter for more information about filtering For example the user enters f0 response Parameters s...

Page 64: ...wers to some issues that might arise when setting up and using the Serial Axia The question or problem is listed followed by its probable answer or solution They are categorized for easy reference The...

Page 65: ...he sensor is correctly installed Ensure the robot mounting and tool adapter plates are installed on the proper side of the sensor Refer to Section 3 Installation for more information Either the Force...

Page 66: ...not return quickly and completely to their original readings Hysteresis is caused by mechanical coupling explained in cause for drift or internal failure Use the bias command to shift the readings ba...

Page 67: ...end effector has moving parts they must be moved in a known position a Place the robot arm in an orientation that allows the gravity load from the end effector to exert load on many sensor output axes...

Page 68: ...Power Consumption Minimum Nominal Maximum Maximum DC Power 12 V 24 V 30 V 1 5 W Notes 1 The power supply input is reverse polarity protected If the power and ground to the power supply inputs are plu...

Page 69: ...emale A Coded M8 Connector and USB Type A Plug Parameter Value Voltage Rating 12 30 V IP Rating IP67 When the M8 connector is attached IP50 USB connector Operating Temperature Range Min Max 5 C to 70...

Page 70: ...ction 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 autho...

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