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Manual, FT Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-05

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

www.ati-ia.com

 • Email: 

[email protected]

50

Figure 10.2—Filter Attenuation at 1 kHz Sample Rate

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Figure 10.3—Filter Attenuation at 2 kHz Sample Rate

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Summary of Contents for Axia80

Page 1: ...cts 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 Email info ati ia com Ethernet Axia F T Sensor Manual Document 9610 0...

Page 2: ...ife or makes injury probable Anyone who uses or incorporates ATI components within any potentially life threatening system must obtain ATI s prior consent based upon assurance to ATI that a malfunctio...

Page 3: ...n the Axia80 ZC22 Sensor 17 3 5 2 Pin Assignment for the 8 Pin M12 Male Connector on Cable P N 9105 C ZC22 ZC26 X 17 3 5 3 Pin Assignment for Cable P N 9105 C ZC26 U RJ45S X Branch 1 Unterminated End...

Page 4: ...ons CGI comm cgi 40 8 System Settings XML Pages 41 8 1 System and Configuration Information netftapi2 xml 42 8 2 Calibration Information netftcalapi xml 43 9 UDP Interface Using RDT 44 9 1 RDT Protoco...

Page 5: ...12 6 2 Electrical Interference 61 12 7 Detecting Sensitivity Changes 61 12 8 Improving Ethernet Throughput 62 12 8 1 Direct Connection between Axia Ethernet and Host 62 12 8 2 Choice of Operating Syst...

Page 6: ...ing standards Examples include CAN Modbus and PROFINET FS Full Scale F T Force and Torque Fxy The resultant force vector comprised of components Fx and Fy Hysteresis A source of measurement caused by...

Page 7: ...ibing the change from one digital value to the next increment RDT Raw Data Transfer RDT is a fast and simple Ethernet protocol for control and data transfer via UDP Resolution The smallest change in l...

Page 8: ...voiding 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 haz...

Page 9: ...N Using fasteners that exceed the customer interface depth penetrates the body of the sensor damages the electronics and voids the warranty Refer to Section 14 Drawings for more information CAUTION Pr...

Page 10: ...ments refer to Section 3 5 Pin Assignment for the Ethernet and Power Connection for Ethernet and power The Ethernet Axia sensor offers the following features Provides calibrated force torque data Bias...

Page 11: ...e Ensure proper grounding procedures are followed when handling the sensor or cables connected to the sensor Failure to follow proper grounding procedures could damage the sensor CAUTION Do not apply...

Page 12: ...t use dowel pin s that exceed length requirements and prevent the interface plate s from mating flush with the robot and customer tooling Fasteners that exceed length requirements create a gap between...

Page 13: ...nting Interface Plate CAUTION Do not subject the sensor s cable connector to the repetitive motion of the robot or other device Subjecting the connector to the repetitive motion will cause damage to t...

Page 14: ...51 2 Branch 2 Ethernet 5 7 22 28 5 1 1 57 2 2 Notes 1 Temperature affects cable flexibility ATI recommends increasing the minimum dynamic bending radius for lower temperatures The 6 pin 9105 C ZC22 Z...

Page 15: ...n the robot the customer tooling or tool interface plate can be installed Screws to have a minimum thread engagement length of 4 5 mm with a maximum thread engagement less than the threaded depth list...

Page 16: ...J45S 4 Unterminated End for Power Branch 1 RJ45 Connector Branch 2 Power and Ethernet Connection Tool Side for the Customer Tooling Mounting Side to the Interface Plate 3 4 Removing the Sensor from th...

Page 17: ...er Source Voltage Maximum Power Consumption DC Power 12 V min to 30 V max 1 5 W Notes 1 The power supply input is protected from a reversed polarity circuit 3 5 1 Pin Assignment for the 6 pin M8 Male...

Page 18: ...e 3 5 Cable 9105 C ZC26 U RJ45S X Branch 1 Unterminated Pin Number Wire Jacket Color and Signal Pin Number Wire Jacket Color Signal 1 Shield 2 Black V 3 White V 3 5 4 Pin Assignment for Cable P N 9105...

Page 19: ...nsor is in the following positions a Record the sensor s output Fx point n Fy point n Fz 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...

Page 20: ...interface has the lowest latency and chance of lost data packages and provides the best high speed connection NOTICE Most computers do not have a second Ethernet port one must be installed Contact yo...

Page 21: ...be connected to the Ethernet Axia sensor 1 Unplug the Ethernet cable from the LAN port on the computer 2 Open the computer s Internet Protocol TCP IP Properties window For a Windows Vista and Windows...

Page 22: ...the browser to view the Ethernet Axia F T s Welcome page Figure 4 2 The Ethernet Axia F T Sensor Welcome Page 11 On the left side of the page is a menu bar with buttons that link to various pages Clic...

Page 23: ...ay change if the Ethernet Axia Sensor is disconnected from the network for a period of time Contact your IT department for more information 14 Open up the TCP IP properties of the local area connectio...

Page 24: ...is disabled some non critical user interface features are not available The demo program is written in Java and requires Java to be installed on the computer The system status is displayed on all page...

Page 25: ...ine through them Transducer Loading Snapshot Counts Force Torque Data Displays the force and torque data scaled with the Counts per Force and Counts per Torque displayed in the Configurations page If...

Page 26: ...From the demo page the user may download the Java Demo Application Refer to Section 6 Java Demo Application Figure 5 4 Demo Page 5 4 ADC Settings Page setting htm The Settings page allows the user to...

Page 27: ...he software bias vector to all zeros Note that the strain gage readings do not have a one to one correspondence to force and torque readings 5 5 FT Configurations Page config htm The configurations pa...

Page 28: ...ti ia com 28 5 6 Communication Page comm htm The Communication Page displays and allows the user to set system networking options Usually these settings are set once when the system is first installed...

Page 29: ...Section 4 1 IP Address Configuration for Ethernet for usage details Contact your IT department for information on what static IP address to assign Static IP Subnet Mask Sets the subnet mask portion of...

Page 30: ...htm The System Information page shows a summary of the Ethernet Axia sensor s current state This page is used during troubleshooting by ATI Industrial Automation For status codes refer to Section 10 7...

Page 31: ...he file ATINetFT jar will be downloaded If the browser does not automatically run the downloaded file manually open the file on your computer Figure 6 1 Demo Page NOTICE The Java Demo requires the Eth...

Page 32: ...e necessary to tell the firewall to allow the program to use network connections If the firewall is told to block connections the utility will not be able to contact the Ethernet Axia sensor In this c...

Page 33: ...539 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com Email info ati ia com 33 6 2 Data Display with the Demo The main screen features a live display of the current F T data sequence numbers and st...

Page 34: ...for high speed data to the Ethernet Axia sensor You can see the RDT sequence incrementing now because the application requests more than a single record when in high speed mode The measurement data a...

Page 35: ...computer The speed is the RDT Output Rate defined on the Communications page Note If the sample rate is changed after start of the demo program this value will not be updated Line 3 Force Units This...

Page 36: ...the Ethernet F T to the host computer Elapsed measurement time can be found with using the formula Rate Sample RDT Number Sequence RDT Time t Measuremen Elapsed Missing sequences indicate that data p...

Page 37: ...er to Table 12 3 if you need help with error messages See Section 12 8 Improving Ethernet Throughput if there are excessive IO Exception Receive timed out errors Figure 6 7 Java Demo Application with...

Page 38: ...king the start of variable assignments firstVariableAssignment a variable assignment using the format described below nextVariableAssignment a variable assignment using the following format but the va...

Page 39: ...1953 3906 7812 Hz Sets the ADC sampling rate setuserfilter integers 0 to 8 Sets the cutoff frequency percent of the ADC sample rate of the low pass filtering as follows Value Cutoff Value Cutoff 0 no...

Page 40: ...comm cgi Variables Variable Name Allowed Values Description comnetdhcp Integers 0 or 1 Sets DHCP behavior Value Description 0 Use DHCP if available on network 1 Use software defined static IP values c...

Page 41: ...es of XML elements are as follows Table 8 1 Types Used by XML Elements Data Type Description DINT Signed double integer 32 bit ENABL Boolean using Enabled to represent 1 and Disabled to represent 0 HE...

Page 42: ...sn STRING8 Serial number of active configuration s calibration config cfgfu USINT Force units used by active configuration config scfgfu STRING8 Name of force units used by active configuration config...

Page 43: ...a calibration index is not specified the currently used calibration will be assumed For example to retrieve calibration information for the second calibration the requested page would be netftcalapi...

Page 44: ...ectly next to each other in memory Consult your compiler s documentation for information on structure alignment 9 1 RDT Protocol In the RDT protocol there are 4 commands that are listed in following t...

Page 45: ...X axis torque Int32 Ty Y axis torque Int32 Tz Z axis torque rdt_sequence The position of the RDT record within a single output stream The RDT sequence number is useful for determining if any records w...

Page 46: ...P does not check if a package was received In some Ethernet network configurations this can lead to the loss of RDT data sets By checking the RDT sequence number of each set it can be determined if a...

Page 47: ...tputs The Ethernet Axia sensor provides 3 LED units for Link Activity L A Diagnostic DIAG and Status Each of these units can be off red green or both red and green orange 10 2 1 LED Self Test Sequence...

Page 48: ...1 kHz 2 kHz 4 kHz 8 kHz Exact Sample Rate 488 Hz 976 Hz 1953 Hz 3906 Hz 7912 Hz 10 3 1 Sample Rate Versus Data Rate The data rate is how fast data can be output over the Ethernet network If the data...

Page 49: ...he cutoff frequencies for the different sampling rates are listed in the following table Table 10 2 Low Pass Filtering Selected Filter 3dB Cutoff Frequency in Hz at 488 Hz Sample Rate at 976 Hz Sample...

Page 50: ...Filter Attenuation at 1 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 115 Hz 350Hz 45 Hz 21 Hz 10 Hz 5 Hz 3 Hz 1 2 Hz Frequency Attenuation 0 7 Hz Figur...

Page 51: ...Hz 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 2 7 Hz 4 7 Hz 10 Hz 20 Hz 40 Hz 84 Hz 180 Hz 460 Hz 1000 Hz Frequency Attenuation Figure 10 5 Filter Attenua...

Page 52: ...rom the console The sensor writes changes to a non volatile memory only when the SAVEALL command is issued Table 10 4 Calibration Field Name Type Description serialNum FT Serial STRING 8 The FT Serial...

Page 53: ...tive force torque in counts peakNeg1 PeakLoadsNegFy peakNeg2 PeakLoadsNegFz peakNeg3 PeakLoadsNegTx peakNeg4 PeakLoadsNegTy peakNeg5 PeakLoadsNegTz GuA to GuB Reserved tca to tce sensorHwVer sensorIns...

Page 54: ...1 Supply Voltage Out of Range This bit is active high if the input voltage is outside the range of 12 V to 32 V Yes 2 Broken Gage This bit is active high whenever the gage reads positive full scale It...

Page 55: ...t when a F T load is outside the sensor s detection capability bit 30 is set when either of the following conditions are TRUE The total percentage of the calibrated range used by Fxy and Tz axes is pa...

Page 56: ...r Gage s disconnected list Gage s out of range list Force torque out of range Common error Simulated error Monitor Condition 0 Error unspecified Good no status code errors The following table lists th...

Page 57: ...ation recommends annual accuracy checks Refer to Section 3 6 Accuracy Check Procedure 12 Troubleshooting This section includes answers to some issues that might arise when setting up and using the Eth...

Page 58: ...lt IP address of 192 168 1 1 You can configure your computer to communicate with the sensor at its current address by following the instructions in Section 4 1 IP Address Configuration for Ethernet Th...

Page 59: ...nother process Selected file for data is in use by another program Close file or change file name and press Collect Streaming again The following message appears in a window titled Java Virtual Machin...

Page 60: ...accuracy and reduced life The Broken Gage Bit is set Refer to Section 10 7 Status Code An electrical failure has potentially occurred inside the sensor The sensor must be returned to ATI for diagnosis...

Page 61: ...y is Class 1 which has an earth ground connection 12 7 Detecting Sensitivity Changes Sensitivity checking of the sensor can also be used to measure the Ethernet Axia sensor s health Apply known loads...

Page 62: ...s fast data rates Disable software firewall One way to improve the Ethernet performance is not to have any software firewall activated In some cases this may require help from IT personnel Disable fi...

Page 63: ...tions Parameter Value Storage Temperature C 20 to 85 Operating Temperature C 0 to 65 Relative Humidity 95 non condensing 13 2 Electrical Specifications Table 13 2 Power Supply1 Power Source Voltage Ma...

Page 64: ...Material Aluminum and Stainless Steel 1 Do not touch internal electronics or instrumentation This could 2 damage transducer and will void the warranty Do not exceed interface depth may cause incorrec...

Page 65: ...rating Max 75 C 11 Temperature rating Min 40 C 12 Flexlife 10x cable OD Min 1 million cycles 126 cycles min 20 C 13 Flexlife 20x cable OD Min 10 million cycles 126 cycles min 20 C 14 Torsion test 3 m...

Page 66: ...WING ALL DIMENSIONS ARE IN INCHES DRAWN BY CHECKED BY A Glusiec 8 30 17 T Thurman 9 1 17 TITLE SCALE SIZE DRAWING NUMBER PROJECT SHEET OF 9105 C ZC22 ZC26 3 141028 1 01P PROPERTY OF ATI INDUSTRIAL AUT...

Page 67: ...mperature rating Max 75 C 11 Temperature rating Min 20 C 12 Flexlife 10x cable OD Min 1 million cycles 126 cycles min 20 C P1 13 Flexlife 20x cable OD Min 10 million cycles 126 cycles min 20 C P1 14 T...

Page 68: ...IN INCHES DRAWN BY CHECKED BY A Glusiec 8 30 17 T Thurman 9 1 17 TITLE SCALE SIZE DRAWING NUMBER PROJECT SHEET OF 9105 C ZC26 U RJ45S 4 141028 1 01P PROPERTY OF ATI INDUSTRIAL AUTOMATION INC NOT TO BE...

Page 69: ...e 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 havin...

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