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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

Axia90 F/T Sensor

Manual

Document #: 9620-05-B-Axia90

Summary of Contents for ATI Axia90 F

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 Axia90 F T Sensor Manual Document 9620 05 B Axia90 ...

Page 2: ...mponent 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 rel...

Page 3: ...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 Calibrating B 24 6 ...

Page 4: ...nt error caused by the residual effects of previously 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 fo...

Page 5: ...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 6: ...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 7: ...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 8: ...m diameter bolt circle BC for 6 M4 socket head cap screws and 2 3 mm slip fit dowel pin holes The tool side attaches to the customer tooling The tool side has a 50 mm BC pattern with 7 M6 tapped holes 6 mm slip fit dowel pin hole and a 31 5 mm recess For more information on the mounting patterns refer to the ATI Axia sensor customer drawing If the sensor does not have the same bolt pattern as the ...

Page 9: ...8 U RJ45S x ATI F T Ethernet Axia manual ATI document 9620 05 C Ethernet Axia 9105 ECAT Axia90 M50 EtherCAT 9105 C ZC27 ZC28 41 9105 C ZC28 U RJ45S x ATI F T EtherCAT Axia manual ATI document 9620 05 C EtherCAT Axia 9105 RS422 Axia90 M50 RS422 9105 C ZC27 ZC28 41 ATI F T RS422 Axia manual ATI document 9620 05 C RS422 Axia 9105 RS485 Axia90 M50 RS485 9105 C ZC27 ZC28 41 2 ATI F T Serial Axia manual...

Page 10: ...d 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 during installation to avoid applying excessive force to the connectors Keyway on the cable connector Keyway on the sensor connector ...

Page 11: ...owel pins that exceed length requirements and prevent 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 va...

Page 12: ... 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 13: ...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 14: ...rush the cable by over tightening the straps on the cable CAUTION 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 ...

Page 15: ...mages of the sensor support bracket and P clip refer to Figure 3 2 and Figure 3 5 Table 3 2 Cable Kit 9105 CKIT ZC27 ZC28 X Part Number Description Quantity 9105 C ZC27 ZC28 4 8 pin M12 connector to 8 pin M12 connector with a 4 m cable 1 9005 05 1078 1 bracket 1 M5 x 10 socket head cap screw 1 M5 flat washer and 1 tie 1 9005 05 1079 1 P clamp and 1 M5 x 10 socket head cap screw 1 ...

Page 16: ...t length of 4 5 mm Maximum screw thread engagement shall not exceed the threaded depth listed on the ATI Axia sensor customer drawing Unless otherwise specified apply Loctite 242 to the 6 M4 socket head cap screws class 12 9 so that the fasteners secure the sensor to the mounting plate 3 Attach the mounting side of the sensor to the interface plate a Secure the mounting side of the sensor to the i...

Page 17: ...customer 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 ...

Page 18: ...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 19: ...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 20: ...ecting 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 21: ...of the sensor cable 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 water in the environment does not exceed the IP67 rat...

Page 22: ...m 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 Once a user ent...

Page 23: ...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 sensor shown for reference only The robot side of the senso...

Page 24: ...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 25: ...oncerns 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 Axia90 M50 3 Calibration e g 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 a...

Page 26: ...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 27: ...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 28: ...vert them to calibration units such as N and Nm In addition to CpF 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 ...

Page 29: ...erse polarity protected If the power and ground to the power 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 Range Table 6 3 Calibration Range Model Axia90 M50 Parameter Fxy Fz Txyz Calibration Range 0 SI 1000 50 1000 N 2000 N 50 Nm 7 4 Default Peak Values When powered on the ...

Page 30: ...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 ...

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