Manual, F/T Sensor, Axia80
Document #9620-05-B-Axia80-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •
B-22
4.2 Tool Transformation
By default, the forces and torques are reported with respect to a point of origin on the sensor that is set by
ATI. For the sensor’s point of origin, refer to the
ATI Axia sensor customer drawing
. The tool transformation
function allows measurement of the forces and torques at a reference point other than the sensor’s
point of origin.
CAUTION:
If the customer sets a reference point that is at the same location to which
a force is applied, there will be no report of a torque applied to the sensor. As a result,
the sensor could be overloaded (refer to
Section 4.2.1—Avoid Overloading the Sensor
). Therefore, when evaluating overloading conditions, use
the sensor’s point of origin as the reference point.
The user defines a reference point by inputting a parameter set that is a series of (3) displacements (D
x
\ D
y
\
D
z
) and (3) rotations (R
x
\ R
y
\ R
z
), for example:
D
x
= -97.3 mm D
y
= 46.1 mm D
z
= 201.82 mm R
x
= +90° rotation R
y
= +180° rotation R
z
= 0° rotation
If zeros are entered for any of the parameter set values, the tool transformation is not performed for that
particular parameter. Entering zero for all of the parameters, turns the tool transformation feature off. Once a
new parameter set is entered and saved, previously entered parameter sets are no longer in effect.
Once a user enters a parameter set, the displacements are performed first. The displacements of the user
reference frame of origin from the sensor point of origin is shown in the following figure. In this figure, the
user reference frame of origin has not yet rotated relative to the sensor point of origin.
NOTICE:
In the following figures, the sensor model is shown for reference only. The connector
and sensor axes may align differently between sensor models. To determine the location of the
default sensor axes, refer to the ATI sensor drawing or the axes labels on the sensor.
Figure 4.1—Tool Transformation : Distances
The robot side
of the sensor.
The tool side of
the sensor.
Sensing reference frame origin
that is set by the customer.
Customer tooling
X+
Y+
X+ Axis
before rotation.
Y+ Axis
before rotation.
Z+ Axis
before rotation.
Z+
201.82 mm
46.1 mm
97.3 mm
