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Manual, F/T Sensor, Ethernet Axia
Document #9620-05-C-Ethernet Axia-02

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

www.ati-ia.com

C-29

Figure 5.4—Filter Attenuation at 2 kHz Sample Rate

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Figure 5.5—Filter Attenuation at 4 kHz Sample Rate

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Summary of Contents for ATI Axia130

Page 1: ...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 Ethernet Axia Manual Document 9620 05 C Ethernet Axia...

Page 2: ...tening system must obtain ATI s prior consent based upon assurance to ATI that a malfunction of ATI s component does not pose direct or indirect threat of injury or death and even if such consent is g...

Page 3: ...onnector C 15 3 3 2 Axia80 Sensor Cable P N 9105 C ZC22 ZC28 X C 16 3 3 3 Axia80 and Axia90 Sensor Cable P N 9105 C ZC27 ZC28 X C 16 3 3 4 Axia130 Sensor Cable P N 9105 C ZC28 ZC28 X C 17 3 3 5 Ethern...

Page 4: ...g a Customized Java Application C 54 8 Console Interface Through Telnet C 55 8 1 Setting Up a Console Interface Through Telnet C 55 8 2 Console Commands C 56 8 3 Console CAL SET Command Fields and Val...

Page 5: ...81 12 1 1 RDT Request For Records Structure C 82 12 1 2 RDT Records Sent Structure C 82 12 2 Calculating F T Values for RDT C 83 12 3 Multiple Clients C 83 12 4 Notes on UDP and RDT Mode C 83 12 5 Ex...

Page 6: ...919 772 0115 Fax 1 919 772 8259 www ati ia com C 6 14 Specifications C 93 14 1 Electrical Specifications C 93 14 2 Cable Specifications C 93 14 2 1 P N 9105 C ZC22 ZC28 X C 93 14 2 2 P N 9105 C ZC27...

Page 7: ...thernet equipment to obtain an IP address The Ethernet Axia system can obtain its IP address using DHCP on networks that support this protocol DINT Signed double integer 32 bit ENABL Boolean that uses...

Page 8: ...uments FT_FAQ pdf Mechanical Coupling When an external object such as customer tooling or utilities contacts a sensor s surface between the sensor s mounting side and tool side N A Not Applicable NVM...

Page 9: ...son of a user defined threshold to the loading on a transducer axis Torque The application of a force through a lever or moment arm that causes something to want to turn For example a user applies tor...

Page 10: ...e 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 hazardous sit...

Page 11: ...o the robot and customer tooling to the sensor For more information refer to the ATI customer drawings CAUTION Probing openings in the sensor causes damage to the instrumentation Avoid prying into the...

Page 12: ...ates sampling rates and Status codes Compatibility with the ATI Net F T sensor UDP interface and Java demo application for more information refer to Section 12 UDP Interface Using RDT Section 7 Java D...

Page 13: ...to the sensor from electrostatic discharge Ensure proper grounding procedures are followed when handling the sensor or cables connected to the sensor Failure to follow proper grounding procedures cou...

Page 14: ...C28 X Z2 Power and Ethernet cable to the customer application ATI P N 9105 C ZC28 U RJ45S X Unterminated end for power branch 1 RJ45 connector for Ethernet Note Cable lengths are shortened in the figu...

Page 15: ...nnector M8 6 pin Male Connector Schematic Pin Number Signal 1 2 6 3 4 5 1 Tx 2 Tx 3 Rx 4 Rx 5 V 6 V 0 V Ground Shell Shield 3 3 1 2 Axia80 and Axia90 8 pin M8 Male Connector Table 3 3 Axia80 and Axia9...

Page 16: ...ic Pin Number Signal 1 2 3 4 5 6 1 Tx 2 Tx 3 Rx 4 Rx 5 V 6 V 0 V Ground Shell Shield Table 3 6 ZC28 Connector M12 8 pin Male Connector Schematic Pin Number Signal 1 2 3 4 5 6 7 8 1 Reserved 2 V 3 V 0...

Page 17: ...8 1 Reserved 2 V 3 V 0 V Ground 4 Tx 5 Rx 6 Tx 7 Reserved 8 Rx Shell Shield 3 3 4 Axia130 Sensor Cable P N 9105 C ZC28 ZC28 X Table 3 9 ZC28 Connector M12 8 pin Female Connector Schematic Pin Number...

Page 18: ...ns connect to the customer s device For the signals and corresponding pin numbers wire color refer to the following sections Table 3 11 Branch 1 Unterminated End For Power Wire Jacket Color Signal Bra...

Page 19: ...for assistance 4 1 IP Address Configuration for Ethernet To apply new IP address settings power cycle the sensor New IP address settings are only loaded upon power up Configure an IP address for the...

Page 20: ...o the default the computer s Ethernet adapter must be set to a static IP address with the same first three fields as the NEW sensor IP address As an example 192 168 1 100 works if the sensor is using...

Page 21: ...another IP address with the same first three fields as the sensor 5 In the IP address field type 192 168 1 100 6 In the Subnet mask field type 255 255 255 0 7 Click on the OK button 8 On the Local Ar...

Page 22: ...t Axia Sensor on a Network NOTICE When assigned by a DHCP server IP addresses are not permanent and may change if the Ethernet Axia Sensor is disconnected from the network for a period of time Users s...

Page 23: ...r or the ATI Discovery Tool from the ATI website https www ati ia com Products ft software axia_software aspx 2 The first time this ATI Discovery Tool is downloaded the program may trigger a firewall...

Page 24: ...919 772 8259 www ati ia com C 24 Figure 4 5 Discovery Tool NOTICE In addition to the ATI website ATI provides this Discovery Tool in a directory that is sent to a user upon receipt of the sensor To ac...

Page 25: ...Axia sensor has three LEDs Sensor Status Link Activity and Diag When a user applies power the sensor completes a self test during which the LEDs under firmware control turn on individually Table 5 1 L...

Page 26: ...t 10 Hz speed Communication error The sensor is not able to communicate data over the communication protocol Red solid Status code error For more information on the error set refer to Table 5 7 Note 1...

Page 27: ...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 the data rate the customer d...

Page 28: ...tenuation 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 5 3...

Page 29: ...enuation 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 5 5 Fil...

Page 30: ...39 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com C 30 Figure 5 6 Filter Attenuation at 8 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 10000 Hz 37...

Page 31: ...Any ADC ISR overrun No 4 Reserved N A 5 Other error bit This bit is set whenever an error other than those specified in this table exists Yes 6 Reserved N A 7 Calibration Not Accessible This bit is s...

Page 32: ...greater than 105 Refer to the following Fxy Tz equation The total percentage of the calibrated range used by Fz and Txy axes is greater than 105 Refer to the following Fz Txy equation For Example An...

Page 33: ...05 C Ethernet Axia 02 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com C 33 The Fz Txy equation simplifies as follows Because the Fxy Tz equation...

Page 34: ...e demo program is written in Java and requires Java to be installed on the computer The system status is displayed on all pages near the top of the page This is the system status at the time a user lo...

Page 35: ...ce and torque data scaled with the counts per force and counts per torque displayed on the Configurations page For more information about how F T values are scaled refer to Section 8 4 1 Converting Co...

Page 36: ...d the Java Demo Application and additional demo software See also Section 7 Java Demo Application Figure 6 4 Demo Page 6 4 ADC Settings Page setting htm On the ADC Settings page a user can select the...

Page 37: ...he bias offset applied to the sensor strain gage readings To remove the bias offset set the fields to all zeros Note that the strain gage readings do not have a 1 1 correspondence to force and torque...

Page 38: ...ny condition is true or bitwise AND ing trigger only if ALL conditions are true Reset Latch button Clears any threshold latching Relay Momentary The user may select in how many tenths of a second 0 to...

Page 39: ...scription Greater Than Less Than Counts The loading level to be compared to the sensor reading This value displays in the units of the active configuration after a user clicks the Apply button To dete...

Page 40: ...ro The value displays in hexadecimal format 0x00 A user may type output codes in hexadecimal format or in decimal Bit pattern representing each thresholding statement number are in the following table...

Page 41: ...fer to the applicable manual in Table 2 1 From the Configurations page a user may obtain the following values the sensor s Serial Number Part Number calibration Family Time or date the sensor was cali...

Page 42: ...ions with the sensor is in Section 4 Connecting Through Ethernet Figure 6 8 Communications Page The descriptions for the fields on the Communications page Figure 6 8 are the following Ethernet Network...

Page 43: ...ocol These settings are applicable for UDP NOTICE Changing the RDT Output Rate does not change the ADC Sampling Frequency on the ADC Settings page Section 6 4 ADC Settings Page setting htm RDT Output...

Page 44: ...The System Information page provides a user with a summary of the Ethernet Axia sensor s current state ATI application engineers refer to this page when troubleshooting the sensor For status codes ref...

Page 45: ...Goodworth Drive Apex NC 27539 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com C 45 6 9 Status Log Page status htm The Status Log page reports the last 50 changes to the status code For more infor...

Page 46: ...com C 46 6 10 Interface Example Page examples htm On the Interface Example page a user can view TCP and RDT UDP commands command descriptions the command response if applicable and a user interpretati...

Page 47: ...h Drive Apex NC 27539 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com C 47 6 11 ATI Website Menu Item On the menu bar if a user clicks the ATI Website button a user goes to ATI Industrial Automat...

Page 48: ...uctions The file ATINetFT jar downloads If the browser does not automatically run the downloaded file manually open the file on the computer Figure 7 1 Demo Page NOTICE The Java Demo requires the Ethe...

Page 49: ...nfiguration related items will each display a question mark Figure 7 3 Java Demo Application The first time the demo is used the program may trigger a firewall alert If this occurs with a Windows 7 8...

Page 50: ...emo To collect F T data follow these steps 1 On the Java demo application main window select a file to save the data by one of the following methods refer to Figure 7 5 click the button to the right o...

Page 51: ...1031 Goodworth Drive Apex NC 27539 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com C 51 Figure 7 5 Java Demo Application while Collecting Data 5 To stop collecting data click the Stop Collecting...

Page 52: ...mmunication Page comm htm Note If a user changes the sample rate after start of the demo program this value does not update Row 3 Force Units the force unit a user selected on the Configuration page r...

Page 53: ...owing formula Rate Sample RDT Number Sequence RDT Time t Measuremen Elapsed Missing sequences indicate that data packages were lost For suggestions on how to avoid lost samples refer to Section 13 7 I...

Page 54: ...ith troubleshooting these error messages refer to Section 13 4 Java Demo Errors If there are excessive IO Exception Receive timed out errors refer to Section 13 7 Improving Ethernet Throughput Figure...

Page 55: ...face on the computer a user can communicate with the sensor Free Telnet console software such as PuTTY is available online For instructions on setting up a console through Telnet like PuTTY refer to t...

Page 56: ...name and password that can be set with a CAL SET command Table 8 2 or through the Communications webpage Section 6 7 Communication Page comm htm 5 Type a console command from Section 8 2 Console Comma...

Page 57: ...ry Commands for the Query C or S Command A query command reports a single line of F T data that is scaled by the counts per force or counts per torque C A query command reports continuous lines of F T...

Page 58: ...user sends this command without an operand all calibrations are reported 0 Calibration 0 1 Calibration 1 A Active calibration DIAG Not Applicable The diagnostic status command provides a report for e...

Page 59: ...meter is stored in NVM Table 8 2 set Fields Field Long Name User Read Write Description Example Contents Type serialNum FT Serial Read The FT serial number FT001234 STRING 8 partNum Calibration Part N...

Page 60: ...torque loads that are in F T counts 988570 32 bit unsigned integer peakNeg1 PeakLoadsNegFy 2099525 peakNeg2 PeakLoadsNegFz 91487584 peakNeg3 PeakLoadsNegTx 48751 peakNeg4 PeakLoadsNegTy 12854 peakNeg5...

Page 61: ...Write Tool transformation distance units 0 in 1 ft 2 mm 3 cm 4 m 2 8 bit integer ttau N A Read and Write Tool transformation angle units 0 degrees 1 radians 0 8 bit integer ttdx Dx Read and Write Too...

Page 62: ...ame ID and password value that can be set up to prompt a user to log into the telenet interface or to lock unlock webpages These fields can also be set up on the Ethernet Axia Communication webpage Se...

Page 63: ...hen a user holds another key for example enter until the output of data ceases The C command reports data at the rate specified in the rdtRate The data reported by issuing a query command can be adjus...

Page 64: ...The power on default specifier is the following FXYZTXYZ Table 8 3 Secondary S or C Commands Category Secondary Command or Specifier Notes Gage number s 0 Gage values are printed in counts only As ma...

Page 65: ...mmand specifies an ADC read counter that is incremented each time that the ADC is read This command uses a comma rather than a space to separate data values Troubleshooting This command specifies the...

Page 66: ...number 0 through 7 specifies to print the data for the corresponding gage number For example the 0 specifies to print data for gage 0 and the 3 specifies to print data for gage 3 4 S CDFXYZTXYZ is in...

Page 67: ...to 26 Reserved N A 27 Gage 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 If...

Page 68: ...eference point of origin Dx 97 3 mm Dy 46 1 mm Dz 201 82 mm Rx 90 rotation Ry 180 rotation Rz 0 rotation 1 Set the units to mm for distances and degrees for rotation user set ttdu 2 response set ttdu...

Page 69: ...com C 69 3 Send the tool transformation tt command user set tt response set tt Field Value ttdu 2 ttau 0 ttdx 97 3 ttdy 46 1 ttdz 201 82 ttrx 90 ttry 180 ttrz 0 If a user goes to the Configuration pag...

Page 70: ...TTP request netFTAddress is the Ethernet address of the Ethernet Axia sensor a separator CGIPage cgi the name of the CGI page that holds the variables to be accessed a separator marking the start of v...

Page 71: ...e Cutoff 0 no filter 5 0 51 1 11 97 6 0 26 2 4 66 7 0 12 3 2 17 8 0 07 4 1 04 setbiasn integers 32768 to 32767 Sets the offset value for strain gage n For example setbias3 0 would zero the bias of the...

Page 72: ...v0 20 mcon Hexadecimal 0x00 to 0xFF Sets the output code for threshold statement n mco0 0x00 Note 1 where n is an integer ranging from 0 to 15 representing the threshold statement index 9 4 CGI Variab...

Page 73: ...tation Rz with the units that are specified in the variable cfgtau 9 4 1 Example of Tool Transformation Functionality Through CGI For a more detailed explanation on the concept of tool transformation...

Page 74: ...ables 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 comnetip Any I...

Page 75: ...calibration info WRITETRANSFORM 2 Write tool transformation WRITETHRESHOLD 3 Write monitor condition 10 2 Read F T Command uint8 command Must be READFT 0 uint8 reserved 15 Should be all 0s uint16 MCEn...

Page 76: ...bit counts The status code is the upper 16 bits of the 32 bit status code The force and torque values in the response are equal to actual ft value calibration counts per unit 16 bit scaling factor Th...

Page 77: ...leUnits Units of rx ry rz int16 transform 6 dx dy dz rx ry rz uint8 reserved 5 Should be all zeroes The transform elements are multiplied by 100 to provide good granularity with integer numbers The di...

Page 78: ...USINT Unsigned short integer 8 bit The values of all data types are presented as an ASCII strings Arrays are represented if the suffix i is attached to the data type where i indicates the number of va...

Page 79: ...by active configuration cfgtdu USINT Tool transformation distance units that are used by an active configuration scfgtdu STRING16 Name of tool transformation distance units that are used by an active...

Page 80: ...ration 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 xml inde...

Page 81: ...command The default UDP port is 49152 A user can also change the UDP port through the sensor s Communication page Section 6 7 Communication Page comm htm In the RDT protocol there are 4 commands that...

Page 82: ...t32 status System status code Force and torque readings use counts values Int32 Fx X axis force Int32 Fy Y axis force Int32 Fz Z axis force Int32 Tx X axis torque Int32 Ty Y axis torque Int32 Tz Z axi...

Page 83: ...to maximize throughput UDP 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...

Page 84: ...tware information operating system PC type drivers application software and other relevant information about the application s configuration If possible be near the F T system when calling For additio...

Page 85: ...properly configured Solution Ethernet LAN must be connected during power up For more information refer to Section 4 Connecting Through Ethernet Cause The DHCP server waits more than 30 seconds to res...

Page 86: ...and displays question marks for configuration data Cause The Demo program is not able to communicate with the sensor Solution Check IP address and restart demo Symptom Excessive IO exception Receive t...

Page 87: ...Section 13 6 Reducing Noise Cause Noise can also indicate component failure within the system Solution Check the status code of the sensor refer to Section 5 5 Status Code Perform an accuracy check as...

Page 88: ...Busy Bit will be ON 1 The sensor is busy applying a change such as an ADC rate change filter or an active calibration Solution After applying changes wait until the Busy Bit is OFF 0 Then read data o...

Page 89: ...ming Solution Send the proper command via TCP UDP or Telnet to start the data stream When using ATI s NET F T Java Demo or F T Data Viewer click Start Reading Symptom The actual data output rate of th...

Page 90: ...ts such as N and Nm Solution Verify if a user or user s software is scaling the F T values to convert into units Use the CpF and CpT to convert the raw F T values into units for these count values ref...

Page 91: ...age config htm Console via Telnet Section 8 3 Console CAL SET Command Fields and Values CGI variables Section 9 4 CGI Variable Configurations config cgi TCP Section 10 6 Write Tool Transform Command X...

Page 92: ...everal switches or going through a hub 13 7 2 Choice of Operating System The Windows operating system periodically performs housekeeping processes that can require a significant amount of processing p...

Page 93: ...on stops the incorrectly wired supply input from damaging or powering on the sensor 14 2 Cable Specifications 14 2 1 P N 9105 C ZC22 ZC28 X Table 14 2 9105 C ZC22 ZC28 X M8 6 pin Female Connector to M...

Page 94: ...ng of the cable may exceed the IP rating of the sensor but the sensor IP rating remains the value listed in the sensor manual s specifications For the applicable sensor manual refer to Table 2 1 14 2...

Page 95: ...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 having been a...

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