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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-45

6.9

Status Log Page (status.htm)

The

Status Log

page reports the last 50 changes to the status code. For more information on the status code,

refer to

Section 5.5—Status Code

Figure 6.10—Status Log Page

Summary of Contents for ATI Axia80

Page 1: ...tion contains information about the sensor mechanical body Content includes a product overview installation instructions operation information preventative maintenance guidance troubleshooting guidelines and specifications The ATI document number for this modular manual section is 9620 05 B XX XX sensor model name C Communication Interface Version This section contains information about the electr...

Page 2: ...ot be divulged to any third party without prior written consent from ATI No warranty including implied warranties is made with regard to accuracy of this document or fitness of this device for a particular application ATI Industrial Automation shall not be liable for any errors contained in this document or for any incidental or consequential damages caused thereby ATI Industrial Automation also r...

Page 3: ...tuation 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 situation the consequences of not avoiding the hazard and the method for avoiding the situation CAUTION Notification of information or instructions that if not followed could result in moderate injury or wil...

Page 4: ...ion 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 authorized by ATI unless in writing and signed by an executive officer of ATI Unless otherwise agreed in writing by ATI all designs drawings data inventions software and other technology made or developed by ATI in the course of prov...

Page 5: ...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 Axia80 F T Sensor Manual Document 9620 05 B Axia80 ...

Page 6: ... component or system threatens life 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 malfunction of ATI s component does not pose direct or indirect threat of injury or death and even if such consent is given shall indemnify ATI from any claim loss liability and ...

Page 7: ... the Sensor B 16 3 5 Remove the Sensor B 18 3 6 Accuracy Check Procedure B 19 3 7 Detecting Sensitivity Changes B 20 4 Operation B 21 4 1 Sensor Environment B 21 4 2 Tool Transformation B 22 4 2 1 Avoid Overloading the Sensor During Tool Transformation B 24 4 2 2 Tool Transformation Functionality Through a Communication Interface B 24 5 Maintenance B 24 5 1 Periodic Inspection B 24 5 2 Periodic Ca...

Page 8: ...reviously applied loads Interface Plate A separate plate that attaches the sensor to another surface Interface plates are often used if the bolt pattern on the sensor doesn t match the bolt pattern on the robot arm or customer tooling The interface plate has two bolt patterns one on either side of the plate One side is for the sensor The other side is for the robot arm or customer tooling IP64 Ing...

Page 9: ...e Sensing Reference Frame Origin The point on the sensor from which all forces and torques are measured Sensor The component that converts a detected load into electrical signals Sensor System or configuration The entire assembly consisting of a sensor body and a system interface to translate force and torque signals into a specific communication interface protocol Tool Interface Plate An interfac...

Page 10: ...tion 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 situation the consequences of not avoiding the hazard and the method for avoiding the situation CAUTION Notification of information or instructions that if not followed could result in moderate injury or will c...

Page 11: ...sor to the robot and customer tooling to the sensor For more information refer to the customer drawings CAUTION Probing openings in the sensor causes damage to the instrumentation Avoid prying into the openings of the sensor CAUTION Do not overload the sensor Exceeding the single axis overload values of the sensor causes irreparable damage CAUTION The sensor should be protected from impact and sho...

Page 12: ...torque measurement range For the calibration ranges of each model refer to Section 7 3 Calibration Ranges The sensor s mounting side attaches to a rigid fixture or robot The tool side attaches to the customer tooling Both the mounting and tool sides have a 71 12 mm bolt circle pattern with 6 M5 tapped holes and 2 slip fit dowel holes If the sensor does not have the same bolt pattern as the mountin...

Page 13: ...erCAT 9105 C ZC22 ZC283 9105 C ZC28 U RJ45S x ATI F T EtherCAT Axia manual ATI document 9620 05 C EtherCAT Axia 9105 RS422 Axia80 MXX4 RS422 9105 C ZC27 ZC28 45 6 ATI F T RS422 Axia manual ATI document 9620 05 C RS422 Axia 9105 RS485 Axia80 MXX RS485 9105 C ZC33 ZC34 9105 CP ZC38 U 1 8 6 ATI F T Serial Axia manual4 Sections 4 5 and 6 ATI document 9610 05 Serial Axia Note 1 MXX signifies the full s...

Page 14: ...bration Ranges An overview of each model is summarized in the following table Table 2 2 Axia Models Model Part Number Number of Identifying Grooves1 Material Axia80 M8 9105 X3 Axia80 M8 3 Aluminum Axia80 M20 9105 X3 Axia80 M20 0 Axia80 M50 9105 X3 Axia80 M50 2 Stainless Steel Notes 1 Identifying grooves are physical indentations in the sensor body refer to Figure 2 2 These grooves provide users a ...

Page 15: ...he 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 could damage the sensor CAUTION Do not apply excessive force to the sensor and cable connector during installation or damage will occur to the connectors Align the keyway on the sensor and cable connector dur...

Page 16: ...vent interface plate from mating flush with the robot Fasteners that exceed length requirements create a gap between the interfacing surfaces and cause damage The interface plate must be as strong or stronger than the sensor so that maximum force and torque values applied to the sensor do not distort the interface plate For these force and torque values refer to Section 7 Specifications The interf...

Page 17: ... 3 2 Routing of the Sensor Cable Mounting Interface Plate Sensor Cable F T Sensor Restrain cable to keep repetitive motion from affecting the cable connection Robot Arm CAUTION Subjecting the connector to the repetitive motion will cause damage to the connector Restrain the cable close to the connector so that the repetitive motion of the robot does not interfere with the cable connector CAUTION I...

Page 18: ...oes not contact the cable Route the sensor cable so that it is not stressed pulled kinked cut or otherwise damaged throughout the full range of motion Use a robot dresspack solution if possible Examples of how to route the cable if a dresspack is not available are shown in the following figures and descriptions Affix the cable by using hook and loop straps or Velcro straps do not use cable ties or...

Page 19: ...ON When routing the cables do not bend less than the minimum bending radius specified in Table 3 1 A bend radius too small causes the cable to fail from fatigue of the robot s repetitive motion Table 3 1 Sensor Cable Bending Radius and Dynamic Twist Angle Cable Part Number Cable Diameter mm in Static Bending Radius at room temperature Dynamic Bending Radius at room temperature Dynamic Cable Twist ...

Page 20: ...hex key or 4 mm low profile hex key part of ATI Kit P N 9105 IP 2126 Supplies required Clean cloth Loctite 242 1 Clean the mounting surfaces 2 Use the mounting fasteners to attach the interface plate to the mounting surface NOTICE When installing an interface plate Screws must have a minimum thread engagement length of 4 5 mm Maximum screw thread engagement shall not exceed the threaded depth list...

Page 21: ...er application For the sensor and cable connector pinout information refer to the applicable manual in Table 2 1 6 After connecting the cable to the customer interface set up the sensor communication interface software for additional information about the software communication interface refer to the applicable manual in Table 2 1 7 Properly restrain and route the cable refer to Section 3 2 Routin...

Page 22: ...d 3 mm hex key 1 Turn off all energized circuits for example electrical 2 Remove the cable from the sensor 3 Supporting the customer tooling remove the customer supplied screws that attach the customer tooling to the sensor 4 Supporting the sensor use a 3 mm hex key to remove the 6 M4 socket head cap screws that secure to the sensor to the mounting interface plate or surface 5 Remove the sensor ...

Page 23: ...ensor Allow a 30 minute warm up time Minimize external sources of temperature change NOTICE For optimal results write a robot program to move the sensor and mass to each of the following positions sequentially At each position the robot should pause to record the sensor s output Avoid jogging the robot and waiting several minutes between each position 3 Move the robot so that the sensor is in the ...

Page 24: ...cting Sensitivity Changes Sensitivity checking of the sensor can also be used to measure the Axia sensor s health Apply known loads to the sensor and verifying the system output matches the known loads For example a sensor mounted to a robot arm may have an end effector attached to it Use the following process to set a sensitivity value 1 If the end effector has moving parts they must be moved in ...

Page 25: ...ble could enable moisture or water to enter an otherwise sealed sensor Ensure the cable jacketing has not deteriorated to prevent sensor damage NOTICE Sensors may react to exceptionally strong and changing electromagnetic fields such as those fields created by magnetic resonance imaging MRI machines The user must ensure that the dust and water in the environment does not exceed the IP64 rating of ...

Page 26: ...xample Dx 97 3 mm Dy 46 1 mm Dz 201 82 mm Rx 90 rotation Ry 180 rotation Rz 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...

Page 27: ...ion Y Axis after X rotation Z Z Axis after X rotation 2 The second rotation is about the Y axis of the new user output reference frame In this example Ry 180 rotation The user point of origin rotates 180 about the Y axis of the new user output reference frame in the following figure Figure 4 3 Tool Transformation Rotation About the Y Axis The robot side of the sensor The tool side of the sensor Cu...

Page 28: ...oint of origin as the reference point 4 2 2 Tool Transformation Functionality Through a Communication Interface The user defines a reference point by inputting a parameter set that is a series of 3 displacements Dx Dy Dz and 3 rotations Rx Ry Rz For commands that write a parameter set and units refer to the appropriate manual in Table 2 1 5 Maintenance 5 1 Periodic Inspection With industrial type ...

Page 29: ...r concerns addressed in the manuals Note Please read the manual before calling customer service Before calling have the following information available 1 Serial number e g FT01234 2 Sensor model e g Axia80 M50 3 Calibration US 15 50 SI 65 6 etc 4 Accurate and complete description of the question or problem 5 Computer and software information operating system PC type drivers application software an...

Page 30: ...use 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 Table 2 1 Perform an accuracy check refer to Section 3 6 Accuracy Check Procedure 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 ...

Page 31: ...here are no error bits ON continue troubleshooting Cause The sensor is not properly installed or not mounted to a flat stiff surface Solution Verify the sensor is correctly installed per Section 3 Installation Cause The mounting fasteners are not properly secured Solution Verify the fasteners are secured per the installation procedures in Section 3 4 Install the Sensor If fasteners are customer su...

Page 32: ... and CpT depending on the communication protocol the values may be further scaled by a 16 bit scale factor 16 bit counts must be divided by CpF or CpT 16 bit scale factor in order to convert to calibration units Cause If once the F T readings are converted to calibration units and exceed the sensor s calibration range per Section 7 3 Calibration Ranges the reported values are inaccurate and the se...

Page 33: ...er supply inputs are plugged in reverse then the reverse polarity protection stops the incorrectly wired supply input from damaging or powering on the sensor 7 3 Calibration Ranges Table 6 3 Calibration Range 0 and Calibration Range 1 Model Axia80 M8 Parameter Fxy Fz Txyz Calibration Range 0 SI 150 8 150 N 470 N 8 Nm Calibration Range 1 SI 75 4 75 N 235 N 4 Nm Notes 1 Each sensor is calibrated wit...

Page 34: ...calibrated sensing range Table 6 6 Default Peak Values in Counts Sensor Model Axia80 M8 Parameter Fx Fy Fz Tx Ty Tz Positive Default Value 2 25 x 108 7 05 x 108 1 2 x 107 Negative Default Value 2 25 x 108 7 05 x 108 1 2 x 107 Table 6 7 Default Peak Values in Counts Sensor Model Axia80 M20 Parameter Fx Fy Fz Tx Ty Tz Positive Default Value 7 50 x 108 1 35 x 109 3 0 x 107 Negative Default Value 7 50...

Page 35: ...on 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 authorized by ATI unless in writing and signed by an executive officer of ATI Unless otherwise agreed in writing by ATI all designs drawings data inventions software and other technology made or developed by ...

Page 36: ...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 37: ...atening 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 given shall indemnify ATI from any claim loss liability and related expenses arising from any injury or death resulting from use of ATI components All trademarks belong to their respective owners Wind...

Page 38: ...Connector 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 Ethernet Cable P N 9105 C ZC28 U RJ45S X C 18 4 Connecting Through Ethernet C 19 4 1 IP Address Configuration for Ethernet C 19 4 2 Connecting To the ATI Webpages Using a Windows Computer C 20 4 3 Finding ...

Page 39: ...ng 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 Values C 58 8 4 Query Commands S or C C 63 8 4 1 Converting Counts Per Force Torque to FT Values C 64 8 4 2 Secondary Commands for the Query C or S Command C 64 8 4 3 Examples of Secondary Commands Spec...

Page 40: ...C 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 Example Code C 83 13 Troubleshoot C 84 13 1 LED Errors C 84 13 2 Ethernet Communication Questions and Errors C 85 13 3 Ethernet Axia Webpage Errors C 86 13 4 Java Demo Errors C 86 13 5 Basic Guidance f...

Page 41: ...1 919 772 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 ZC28 X C 93 14 2 3 P N 9105 C ZC28 ZC28 X C 94 14 2 4 P N 9105 C ZC28 U RJ45S X C 94 15 Terms and Conditions of Sale C 95 ...

Page 42: ...Ethernet 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 Enabled to represent 1 and Disabled to represent 0 Ethernet A family of computer networking technologies commonly used in local area networks Fieldbus A generic term referring to any one of a number...

Page 43: ...cuments 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 Non Volatile Memory Storage of information or device memory that can be retrieved even after the device goes through a power cycle Overload The condition where more load is applied to the sensor than...

Page 44: ...ison 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 torque to a screw to make it turn Torque force x moment arm length Txy The resultant torque vector comprised of components Tx and Ty UART Universal asynchronous receiver transmitter UDINT Unsigned doubl...

Page 45: ...he 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 situation the consequences of not avoiding the hazard and the method for avoiding the situation CAUTION Notification of information or instructions that if not followed could result in moderate injury o...

Page 46: ...to 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 openings of the sensor CAUTION Do not overload the sensor Exceeding the single axis overload values of the sensor causes irreparable damage CAUTION The sensor should be protected from impact and sho...

Page 47: ...rates 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 Demo Application and the 9620 05 NET F T manual Compatibility with parts of the ATI Net F T web interface for more information Section 6 ATI Ethernet Axia Webpages Interface and the 9620 05 NET F T ma...

Page 48: ...e 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 could damage the sensor CAUTION Do not apply excessive force to the sensor and cable connector during installation or damage will occur to the connectors Align the keyway on the sensor and cable connect...

Page 49: ...ZC28 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 figure for reference only 3 3 Pin and Wire Assignments for Connectors CAUTION Ensure the cable shield is properly grounded Improper shielding on the cables can cause communication errors and an inoperati...

Page 50: ...onnector 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 Axia90 Sensor Connector M8 8 pin Male Connector Schematic Pin Number Signal 1 6 2 8 4 5 3 7 1 Reserved 2 V 3 V 0 V Ground 4 Tx 5 Rx 6 Tx 7 Reserved 8 Rx Shell Shield 3 3 1 3 Axia130 8 pin M12 Male Connect...

Page 51: ...tic 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 V Ground 4 Tx 5 Rx 6 Tx 7 Reserved 8 Rx Shell Shield 3 3 3 Axia80 and Axia90 Sensor Cable P N 9105 C ZC27 ZC28 X Table 3 7 ZC27 Connector M8 8 pin Female Connector Schematic Pin Number Signal 1 2 3 4...

Page 52: ...7 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 Signal 1 2 3 4 5 6 7 8 1 Reserved 2 V 3 V 0 V Ground 4 Tx 5 Rx 6 Tx 7 Reserved 8 Rx Shell Shield Table 3 10 ZC28 Connector M12 8 pin Male Connector Schematic Pin Number Signal 3 4 1 2 5 6 7 8 1 Reser...

Page 53: ...ons 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 Braided Metal Shield Shield Connect to Ground Brown V Brown White V 0 V Ground Blue White TP1 1 Reserved Blue TP1 1 Reserved Note 1 Reserved not used Table 3 12 Ethernet Connector RJ45 8 pin Female Conn...

Page 54: ...t 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 Ethernet Axia sensor with one of the following methods Method 1 Set the IP address to a static value stored on the Communication Settings webpage refer to Section 4 2 Connecting To the ATI Webpages U...

Page 55: ...to 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 the default IP address of 192 168 1 1 1 Disconnect the Ethernet cable from the LAN port on the computer 2 Open the computer s Internet Protocol TCP IP Properties window For Windows 7 8 10 operating s...

Page 56: ...e 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 Area Connection Properties window click the Close button 9 Use an Ethernet cable to connect the sensor to the computer s LAN connection Wait a moment to ensure the computer has time to recognize the co...

Page 57: ...et 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 should contact their IT department in this situation Static IP addresses are more favorable in permanent Ethernet F T applications because the IP address does not change For a complete description of ...

Page 58: ...er 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 alert Select the check boxes to give permission for the network to communicate with the sensor and click the Allow access button Figure 4 4 Windows 7 8 10 Firewall Alert NOTICE If the network is stil...

Page 59: ... 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 access the tool in the directory 9030 05 1026 open the folder Utilities open the folder ATI Discovery Tool and then install the file named setup ...

Page 60: ... 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 LED Self Test Sequence Sequence Order LED State Duration 0 All At power on some transient activity may be seen for only a few milliseconds 1 All Off Approximately one second for each state 2 Status Re...

Page 61: ...at 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 Amber is when both green and red LEDs are on 5 2 2 Diag LED One LED signals the diagnostic status of the Ethernet Axia sensor interface as follows Table 5 3 Diag LED LED Color State Description Gree...

Page 62: ... 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 does not receive the data from every internal sample over the network However any filters that are enabled work based on the faster internal sample rate and so the sensor filters out higher frequency ...

Page 63: ...ttenuation 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 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 ...

Page 64: ...tenuation 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 Filter Attenuation at 4 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 2 7 Hz 4 7 Hz 10 Hz 20 Hz 40 Hz 84 Hz 180 Hz 460 Hz 1000 Hz Frequency Attenuation ...

Page 65: ...539 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 373 Hz 958 Hz 2000 Hz 935 10 Hz 364 04 Hz 169 52 Hz 81 24 Hz 39 84 Hz 20 31 Hz 9 37 Hz 5 47 Hz Frequency Attenuation ...

Page 66: ...e 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 set whenever this is an error with NVM and a user s calibration settings cannot be loaded Perform an accuracy check as described in the applicable ATI sensor manual in Table 2 1 or in Section 4 5 How ...

Page 67: ...s 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 Axia90 M50 sensor that uses calibration range 0 is subjected to the following loads and has the following calibration ranges Note for calibration ranges refer to the appropriate sensor manual in Tabl...

Page 68: ...0 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 simplified to TRUE bit 30 in Table 5 7 is set ...

Page 69: ...he 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 loaded the page To display the current system status a user must reload the page Possible system status conditions are listed in Section 5 5 Status Code Screenshots and a summary of the page s function...

Page 70: ...rce 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 Counts Per Force Torque to FT Values If any strain gages are overloaded these values are invalid and displayed in red with a line through them Strain Gage Data Unbiased Gage Data These fields display t...

Page 71: ...ad 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 following the active calibration ADC sampling frequency low pass filter cutoff frequency and software bias values When a user clicks the Apply button the changes on this page are implemented on the s...

Page 72: ...the 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 readings 6 5 Thresholding Page moncon htm On the Thresholding page a user can set up to 16 threshold conditions Threshold conditions compare the sensor readings to simple user defined threshold state...

Page 73: ...any 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 25 5 seconds that the Minimum On Time the firmware should wait in momentary mode before automatically resetting the monitor latch condition In case of any enabled threshold condition becoming true t...

Page 74: ...escription 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 determine the Counts value to use from a value in user units multiply the value in user units by Counts per Force or Counts per Torque if appropriate Example Desired Loading Level 6 25 N Force Units N fr...

Page 75: ...ero 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 Table 6 3 Bit Patterns for Thresholds Breached Bit Pattern Bit Pattern Bit Pattern Bit Pattern 0 0x00000001 4 0x00000010 8 0x00000100 12 0x00001000 1 0x00000002 5 0x00000020 9 0x00000200 13 0x000020...

Page 76: ...efer 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 calibrated force units torque units counts per force and counts per torque Note that these are the same values that are in Section 8 3 Console CAL SET Command Fields and Values and Section 11 2 Calibrati...

Page 77: ...tions 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 Settings IPAddress Mode A user can configure the IP address of the sensor refer to Section 4 1 IP Address Configuration for Ethernet Static IPAddress A user can set the static IP address refer to Se...

Page 78: ...tocol 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 Rate A user can set the RDT ouput rate from 1 to the value of the ADC sampling rate in Section 5 3 Sample Rate RDT Buffer Size A user can set the RDT buffer size to a value from 1 to 40 RDT UDP Port ...

Page 79: ... 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 refer to Section 5 5 Status Code On the top of the page System Status is good if all hardware diagnostics report good The System Status is bad if any hardware diagnostics report bad Figure 6 9 System In...

Page 80: ... 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 information on the status code refer to Section 5 5 Status Code Figure 6 10 Status Log Page ...

Page 81: ... 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 interpretation of the command For more information on TCP and RDT UDP refer to Section 10 TCP Interface and Section 12 UDP Interface Using RDT Figure 6 11 Interface Example Page ...

Page 82: ...th 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 Automation s official website To use this feature be sure a user network is connected to the internet ...

Page 83: ...ructions 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 Ethernet F T to have its RDT Interface enabled RDT is enabled in the Ethernet F T by default For information on RDT settings refer to Section 6 7 Communication Page comm htm The demo program opens with t...

Page 84: ...onfiguration 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 10 operating system select the check boxes to give permission for the network to communicate with the sensor and click the Allow access button refer to Figure 7 4 If the network is still not connecti...

Page 85: ...Demo 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 of the file selection field and navigate to the file destination directly type the file path into the file selection field 2 Click the Start Collecting button refer to Figure 7 3 The application sends...

Page 86: ... 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 button the Collect Streaming button changes to Stop Collecting during collections ...

Page 87: ...ommunication 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 refer to Section 6 6 F T Configurations Page config htm Row 4 Counts per Unit Force Divide all force values Fx Fy Fz in the CSV file by this number to calculate the force values in a user selected uni...

Page 88: ...lowing 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 Improving Ethernet Throughput Column C F T Sequence a number that is incremented with each new F T measurement The user sets the rate on the ADC settings page Refer to Section 6 4 ADC Settings Page se...

Page 89: ...with 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 7 7 Java Demo Application with an Error Message 7 6 Developing a Customized Java Application Experienced Java programmers can develop Ethernet F T applications by using Java source code that is in th...

Page 90: ...rface 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 the following procedure 1 Open the serial console for example PuTTY A window opens that allows a user to set the configuration for the session 2 Set the configuration a Under Connection type select th...

Page 91: ...rname 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 Commands press the enter key to send the command NOTICE Commands are not case sensitive Figure 8 2 PuTTY Terminal Window 8 2 Console Commands These console commands can be used to view the status paramete...

Page 92: ...ary 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 data that stops when a user holds another key If using PuTTY Telnet press the enter key to stop CAL or SET no operand The CAL or SET command used without an operand reports all parameters field name...

Page 93: ...a 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 each of the gages within the sensor Compare this information to the values in the applicable sensor manual refer to Table 2 1 Use the status command for troubleshooting The report includes the followi...

Page 94: ...ameter 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 Number Read The calibration part number SI 150 8 STRING 30 calFamily Calibration Family Read The field always reads Ethernet Ethernet STRING 8 calTime Calibration Time Read The date and time the senso...

Page 95: ... 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 PeakLoadsNegTz 0 sensorHwVer N A Read The version of the sensor hardware 0 16 bit integer adcRate N A Read and Write The ADC update rate in Hz The ADC rate must be one of the following in units of H...

Page 96: ...d 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 Tool transform distances in units specified by ttdu field 10 5 float ttdy Dy 0 0 ttdz Dz 15 3 ttrx Rx Tool transform rotation angles in units specified by the ttau field 0 0 ttry Ry 0 0 ttrz Rz 90 0 bau...

Page 97: ...name 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 Section 6 7 Communication Page comm htm The default values for the username and password are admin and password In the console interface a user can retrieve both the username and password On the Commun...

Page 98: ...when 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 adjusted as detailed in the following section Query S command format user S response 34 928 N 10 234 N 0 370 N 0 1196 Nm 0 0787 Nm 0 9156 Nm Query C command format user C response 34 946 N 10 277 N 0 398 ...

Page 99: ...t 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 many as all gage numbers can be reported or as few as a single gage number 1 2 3 4 5 6 7 Axis X The user can choose to view force and torque data in the x y z axis The output value can be displayed in ...

Page 100: ...ommand 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 32 bit status code Refer to Section 8 4 4 How to Interpret the Output from Specifier 8 4 3 Examples of Secondary Commands Specifiers The following are examples of an S or C command with specifiers 1 ...

Page 101: ...A 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 interpreted as user S CDFXYZTXYZ response 961 959 963 960 966 965 a The S is a command for reporting a single line of data b The C and D specifies printing x y z or m F T data in counts decimal c The F...

Page 102: ...8 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 there is more than one error present the bit pattern can be different for example user S response 80000005 Using a free online calculator a user can convert the hexadecimal number to a binary number ...

Page 103: ...reference 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 2 ttdu was 1 now 2 user set ttau 0 response set ttau 0 ttau was 1 now 0 2 Write the distances and rotations user set ttdx 97 3 response set ttdx 97 3 ttdx was 0 now 97 3 user set ttdy 46 1 response s...

Page 104: ... 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 page on the ATI website Section 6 6 F T Configurations Page config htm the values in the Tool Transformation fields match these values that a user entered in the console ...

Page 105: ...HTTP 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 variable assignments firstVariableAssignment a variable assignment using the format described below nextVariableAssignment a variable assignment using the following format but the variable name is pro...

Page 106: ...ue 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 fourth strain gage Strain gages are enumerated starting at zero setbias3 0 9 3 Thresholding CGI moncon cgi A user can define Thresholding settings and conditions Table 9 2 moncon cgi Threshold Setti...

Page 107: ...cv0 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 Variable Configurations config cgi The user can set the calibration and tool transformation for the sensor refer to Section 6 6 F T Configurations Page config htm for related information Table 9 4 config c...

Page 108: ...otation 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 refer to the applicable manual in Table 2 1 For an example of how to send configuration variables through CGI refer to the following example A user wants to set the point of reference Dx 97 3 mm Dy 4...

Page 109: ...iables 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 IPV4 address in dot decimal notation Sets the static IP address to be used when DHCP is disabled comnetmsk Any IPV4 subnet mask in dot decimal notation Sets the subnet mask to be used when DHCP is dis...

Page 110: ... 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 MCEnable Bitmap of MCs to enable uint16 sysCommands Bitmap of system commands Each bit position 0 15 in MCEnable corresponds to the monitor condition at that index If the bit is a 1 that monitor conditio...

Page 111: ...6 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 The counts per unit and scaling factor are read using the read calibration information command or viewed from the sensor s Configuration webpage Section 6 6 F T Configurations Page config htm These val...

Page 112: ...gleUnits 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 distance unit codes are 1 Inch 2 Foot 3 Millimeter 4 Centimeter 5 Meter The angle unit codes are 1 Degrees 2 Radians The response is a standard Write Response 10 7 Write Monitor Condition Command uint8...

Page 113: ... 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 values in the array Array values in an XML element may be separated by a semicolon comma or space 11 1 System and Configuration Information netftapi2 xml The XML page netftapi2 xml retrieves the system...

Page 114: ... 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 configuration cfgtau USINT Tool transformation rotation units that are used by an active configuration scfgtau STRING8 Name of tool tranformation rotation units that are used by an active configurati...

Page 115: ...bration 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 index 1 Table 11 3 XML Elements in netftcalapi xml XML Element Data Type Calibration Information calsn STRING8 Serial number calpn STRING32 Calibration type caldt STRING20 Calibration date calmtx REAL Ma...

Page 116: ...e 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 are listed in following table A command received by the Ethernet Axia sensor takes precedence over previously received commands Table 12 1 RDT Commands Command Code Purpose Command Response Stop 0x0...

Page 117: ...nt32 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 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 were lost in transit For example in a request for 1...

Page 118: ...d 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 it can be determined if a data set was lost The RDT sequence number of each data set sent will be one greater than the last data set sent for that RDT request If a received data set s RDT sequence nu...

Page 119: ...ftware 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 additional troubleshooting information or to speak with a customer service representative please contact ATI at ATI Industrial Automation 1031 Goodworth Drive Apex NC 27539 USA www ati ia com Application En...

Page 120: ...t 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 respond and the sensor requires the DCHIP server to react more quickly Cause DHCP is not selected as the IP Address Mode on the Communications page Solution Verify the settings on the Communications pag...

Page 121: ... 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 timed out errors Cause The Ethernet connection was interrupted Solution Verify the Ethernet cabling is not damaged and properly installed Verify the power supply meets the requirements listed in Secti...

Page 122: ... 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 described in the applicable ATI sensor manual in Table 2 1 or in Section 4 5 How do I evaluate the accuracy of health of the sensor in the Frequently Asked Questions FAQ ATI document located at http...

Page 123: ...e 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 or make any other changes Symptom Status Code Bit 2 27 or 30 Out of Range Cause A load that is outside of the sensor s calibrated measurement range has been applied to the sensor Solution Remove appli...

Page 124: ...aming 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 the sensor is less than expected Cause The user is communicating with the sensor via TCP and the client the robot PC or PLC is not requesting packets fast enough Solution TCP is a request and response ...

Page 125: ...its 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 refer to ATI webpage Section 6 2 Snapshot Page rundata htm Console via Telnet Section 8 3 Console CAL SET Command Fields and Values TCP Section 10 5 Read Calibration Info Response XML Section 11 2 Calib...

Page 126: ...Page 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 XML Section 11 1 System and Configuration Information netftapi2 xml For more information on the concept of tool transformation refer to the applicable ATI manual in Table 2 1 Cause The sensor is not p...

Page 127: ...several 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 power over a short amount of time During these intervals a loss of data can occur because Windows does not treat UDP data with a high enough priority If a loss of data is not acceptable for the applic...

Page 128: ...ion 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 M12 A Coded 8 pin Male Connector Parameter Value Voltage Rating 30 V Current Rating 0 25 A IP Rating IP641 Operating Temperature Range Min Max 5 C to 70 C Note 1 The cable is rated IP64 when the cable...

Page 129: ...ing 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 4 P N 9105 C ZC28 U RJ45S X Table 14 5 9105 C ZC28 U RJ45S X 8 pin Female M12 Connector to Unterminated Wires and RJ45 Connector Parameter Value Voltage Rating 40 V Current Rating 0 25 A IP Rating IP...

Page 130: ... 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 authorized by ATI unless in writing and signed by an executive officer of ATI Unless otherwise agreed in writing by ATI all designs drawings data inventions software and other technology made or devel...

Page 131: ...al section does not apply to this sensor system Please contact an ATI representative for assistance if needed Sale Service and Information about ATI products ATI Industrial Automation 1031 Goodworth Drive Apex NC 27539 USA www ati ia com Tel 1 919 772 0115 Fax 1 919 772 8259 Application Engineering Tel 1 919 772 0115 Extension 511 Fax 1 919 772 8259 E mail ft support novanta com 24 7 Support 1 855...

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