SCHUNK FT-AXIA 80 Ethernet, Software Manual

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Table of contents
01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443
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Table of contents
1 About this manual ................................................................................................... 4
1.1 Explanation of Warnings ...................................................................................... 5
2 Safety ...................................................................................................................... 6
2.1 General Safety Guidelines .................................................................................... 6
2.2 Safety Precautions................................................................................................ 6
3 Overview ................................................................................................................. 7
3.1 UR Kit.................................................................................................................... 8
3.1.1
Unpacking the UR Kit................................................................................ 9
3.1.2 Installing the Ethernet AXIA Sensor.......................................................... 9
4 URCap Software...................................................................................................... 10
4.1 Installing URCap Software .................................................................................. 11
4.2 Setting up URCap Software ................................................................................ 14
4.3 Determining the Tooling Mass and Offset.......................................................... 17
4.4 Uninstalling URCap Software.............................................................................. 19
5 Operation of the URCap Software ........................................................................... 21
5.1 Sample Rate........................................................................................................ 22
5.2 View Force and Torque Readings ....................................................................... 22
5.3 Program Node Commands and Options............................................................. 23
5.3.1
Program Node Commands ..................................................................... 26
5.3.2 Program Node Options ........................................................................... 28
5.3.3 Protective Stop Error .............................................................................. 33
6 Demo Programs ...................................................................................................... 34
6.1 Downloading Demo Programs............................................................................ 35
6.2 Installing Demo Programs and Setting a Start Position ...................................... 35
7 Operation ............................................................................................................... 41
7.1 Standard Demo Program .................................................................................... 41
7.2 Simple Demo ...................................................................................................... 42
8 Troubleshooting ..................................................................................................... 43
8.1 Errors with the URCap Software......................................................................... 44