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-26
6.1 Basic Guidance for Troubleshooting
Basic symptoms of inaccurate data and errors are listed in the following section. For each symptom, causes
and appropriate solutions are suggested.
Symptom: Noise — jumps
in force torque
readings greater
than 0.05% of
full-scale counts.
Cause:
Noise can be caused by mechanical vibrations and electrical
disturbances that are possibly from a poor ground. Electrical
interference can also come from a high noise output device
such as a motor.
Solution:
Make sure that the DC supply voltage for the Axia sensor
has little to no noise superimposed. Ground the sensor by
connecting the cable’s shield to ground. In most setups,
0 V is also connected to ground. Connect the robot or
other fixture to the same ground.
Verify that sensor cables do not cross over other cables or
are within close proximity to other equipment that could
generate electrical noise.
Avoid sources of mechanical noise. If not possible,
apply a filter to the data as described in the applicable
communication interface ATI manual in
.
Cause:
Noise can also indicate component failure within the system.
Solution:
Check the status code of the sensor; refer to the applicable
communication interface ATI manual in
.
Perform an accuracy check; refer to
or refer to
Section 4.5:
How do I evaluate the accuracy of health of the
sensor?
in the Frequently Asked Questions (FAQ) ATI
document located at:
https://www.ati-ia.com/library/
To return the sensor to ATI for inspection, contact ATI
for a Returned Materials Authorization (RMA); refer to
Section 5.2—Periodic Calibrating
Symptom: Drift — when
the force torque
data continues
to increase or
decrease after a
load is removed
.
Cause:
Some drift from a change in temperature is normal. Drift is observed
more easily in the Z axis, compared to the X and Y axes.
Solution:
For approximately thirty minutes, allow the sensor to
warm up until it is at a steady state with the air and other
objects touching the sensor.
Use the bias command to shift the readings back to zero.
Bias regularly.
Use an insulator between the sensor and any tooling
or fixtures which are at a different temperature. Avoid
creating a temperature gradient across the sensor. Shield
the sensor from excessive air flow.
For more information about how to avoid drift from
temperature change, refer to the following ATI
document:
