Manual, FT Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-05
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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.
1.
Attach a fixed mass to the tool side of the F/T sensor.
•
The mass on the tool side can be the weight of the tooling used in an application.
a. Remove cables that form bridges between the sensor’s mounting and tool sides.
2. 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
3. Find F
x, average
, F
y, average
, and F
z, average
.
a. Perform the following equations.
4. For each of the 6 points, complete the following calculation:
5.
The calculated tooling masses for all (6) points should deviate from each other by less than twice the
worst accuracy rating of the sensor. The worst accuracy rating for the Axia is 36 N.
•
For example: max (tooling masses) - min (tooling masses) < 36 N
•
In addition, the tooling mass should be within 36 N of the results of this test when it was
performed with a new sensor.
•
If this test fails, then the sensor should be returned to ATI for diagnosis or recalibration.