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SCHUNK FT-AXIA Series, Assembly And Operating Manual, Page: 4 / 44

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Summary of Contents for FT-AXIA Series

Page 1: ...Translation of Original Operating Manual Assembly and Operating Manual FT AXIA Force torque sensor ...

Page 2: ...rsion 02 00 21 11 2022 en Dear Customer Thank you for trusting our products and our family owned company the leading technology supplier of robots and production machines Our team is always available to answer any questions on this product and other solutions Ask us questions and challenge us We will find a solution Best regards Your SCHUNK team Customer Management Tel 49 7133 103 2503 Fax 49 7133...

Page 3: ...0 2 8 Notes on safe operation 10 2 9 Malfunctions 10 2 10 Disposal 11 2 11 Fundamental dangers 11 2 11 1 Protection during handling and assembly 11 2 11 2 Protection during commissioning and operation 12 3 Technical data 13 3 1 Basic data 13 3 2 Ambient conditions and operating conditions 16 3 3 Standard peak values 16 3 4 Maximum permissible load 17 4 Design and description 24 4 1 Design 24 4 2 D...

Page 4: ...s 36 7 2 Checking the measured data 36 7 3 Removing the product from the robot arm 37 8 EU Declaration of Conformity 38 9 UKCA Declaration of Conformity 39 10 Appendix to the declaration of conformity 40 4 02 00 FT AXIA Assembly and Operating Manual en 1517831 ...

Page 5: ...anding and may deviate from the actual version 1 1 1 Presentation of Warning Labels To make risks clear the following signal words and symbols are used for safety notes DANGER Dangers for persons Non observance will inevitably cause irreversible injury or death WARNING Dangers for persons Non observance can lead to irreversible injury and even death CAUTION Dangers for persons Non observance can c...

Page 6: ... manual applies to the following sizes FT AXIA80 FT AXIA90 FT AXIA130 1 1 5 Calibration variants The sensors are available in different calibration variants which can be recognized by the number of grooves 1 on the outer housing Illustration shown as an example on FT AXIA80 DUAL SI 75 4 SI 150 8 Designation Number of grooves FT AXIA80 DUAL SI 75 4 SI 150 8 3 FT AXIA80 DUAL SI 200 8 SI 500 20 0 FT ...

Page 7: ...ching the workpiece and wear parts are not included in the warranty 1 3 Scope of delivery The scope of delivery includes Force torque sensor FT AXIA in the version ordered Connection cable Assembly and Operating Manual 1 4 Accessories A wide range of accessories are available for this product For information regarding which accessory articles can be used with the corresponding product variants see...

Page 8: ...4 The product is intended for installation in a machine automated system The applicable guidelines for the machine automated system must be observed and complied with The product is intended for industrial and industry oriented use Appropriate use of the product includes compliance with all instructions in this manual 2 2 Not intended use Any utilization that exceeds or differs from the appropriat...

Page 9: ...embly and operating manual Observe the national safety regulations and rules and general safety instructions The following personal qualifications are necessary for the various activities related to the product Trained electrician Due to their technical training knowledge and experience trained electricians are able to work on electrical systems recognize and avoid possible dangers and know the re...

Page 10: ...rsonnel Incorrect handling and assembly may impair the product s safety and cause serious injuries and considerable material damage Avoid any manner of working that may interfere with the function and operational safety of the product Use the product as intended Observe the safety notes and assembly instructions Do not expose the product to any corrosive media This does not apply to products that ...

Page 11: ...any parts by hand Do not reach into the open mechanism or movement area of the product during operation 2 11 1 Protection during handling and assembly Incorrect handling and assembly Incorrect handling and assembly may impair the product s safety and cause serious injuries and considerable material damage Have all work carried out by appropriately qualified personnel For all work secure the produc...

Page 12: ...onents Falling and violently ejected components can cause serious injuries and even death Take appropriate protective measures to secure the danger zone Never step into the danger zone during operation NOTICE Material damage due to incorrect grounding Damage to the sensor due to electrostatic discharge possible Make sure that all components are properly grounded ...

Page 13: ...rces Kx Ky N m 2 7 x 107 Z axis forces Kz N m 4 1 x 107 X axis Y axis torques Ktx Kty Nm rad 2 4 x 104 Z axis torques Ktz Nm rad 4 8 x 104 Single axis overload Fxy N 750 2 500 6 000 Fz N 2 300 4 500 10 000 Mxy Nm 40 100 210 Mz Nm 40 100 250 Resonant frequency Fx Fy Fz Hz 2 200 Mx My Mz Hz 2 600 Caution The overload values apply when loading in one relevant axis direction not when there is an overl...

Page 14: ...ted X axis Y axis forces Kx Ky N m 6 3 x 107 Z axis forces Kz N m 1 4 x 108 X axis Y axis torques Ktx Kty Nm rad 9 6 x 104 Z axis torques Ktz Nm rad 1 7 x 105 Single axis overload Fxy N 5 000 Fz N 10 000 Mxy Nm 250 Mz Nm 250 Resonant frequency Fx Fy Fz Hz 2 300 Mx My Mz Hz 2 900 Caution The overload values apply when loading in one relevant axis direction not when there is an overlap of forces and...

Page 15: ...y Nm rad 1 1 x 105 2 8 x 105 Z axis torques Ktz Nm rad 2 1 x 105 6 x 105 Single axis overload Fxy N 10 000 20 000 Fz N 20 000 30 000 Mxy Nm 620 1 500 Mz Nm 620 1 500 Resonant frequency Fx Fy Fz Hz 2 500 2 450 Mx My Mz Hz 4 000 2 900 Caution The overload values apply when loading in one relevant axis direction not when there is an overlap of forces and torques in several axis directions 3 4 17 More...

Page 16: ... values that are higher than these default values the sensor has been loaded beyond the intended calibrated detection range Designation Fxy N Fz N Mxy Nm FT AXIA80 DUAL SI 75 4 SI 150 8 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 FT AXIA80 DUAL SI 200 8 SI 500 20 Positive default value 7 5 x 108 1 35 x 109 3 0 x 107 Negative default...

Page 17: ... This error depends on the sum of all force and torque axes and is displayed as part of Zone B Sensor mode not guaranteed The sensor may no longer measure an increase in applied load in its output if load continues to be applied to the sensor This limit is shown in Zone C in the diagrams below The following diagrams show the maximum permissible load under which the force torque sensor may be used ...

Page 18: ... AXIA80 Calibration Fx Fy N Fz N Mx y z Nmm SI 150 8 150 470 8 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA80 DUAL SI 150 8 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA80 DUAL SI 150 8 ...

Page 19: ...0 20 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA80 DUAL SI 500 20 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA80 DUAL SI 500 20 19 02 00 FT AXIA Assembly and Operating Manual en 1517831 ...

Page 20: ...80 Calibration Fx Fy N Fz N Mx y z Nmm SI 1200 50 1 200 2 000 50 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA80 DUAL SI 1200 50 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA80 DUAL SI 1200 50 ...

Page 21: ...000 50 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA90 DUAL SI 1000 50 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA90 DUAL SI 1000 50 21 02 00 FT AXIA Assembly and Operating Manual en 1517831 ...

Page 22: ...Calibration Fx Fy N Fz N Mx y z Nmm SI 2000 125 2 000 4 000 125 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA130 DUAL SI 2000 125 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA130 DUAL SI 2000 125 ...

Page 23: ...0 300 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA130 DUAL SI 4000 300 FT outside the range Measuring device outside the range Sensor mode not guaranteed FT AXIA130 DUAL SI 4000 300 23 02 00 FT AXIA Assembly and Operating Manual en 1517831 ...

Page 24: ...nd signal cable 6 pin M8 2 Robot side for adapter plate or robot 3 Tool side for customer tool or end effector 4 Communication and status LEDs 5 Seal for protection class IP64 FT AXIA90 1 Plug connection with fitting for power and signal cable 8 pin M8 2 Robot side for adapter plate or robot 3 Tool side for customer tool or end effector 4 Communication and status LEDs ...

Page 25: ...ot 3 Tool side for customer tool or end effector 4 Communication and status LEDs 5 Identification groove 6 Through hole with 50 mm diameter 7 Terminal block with adjustable alignment 4 2 Description Rigid 6 axis force torque sensor for precise measuring in all six degrees of freedom 25 02 00 FT AXIA Assembly and Operating Manual en 1517831 ...

Page 26: ... unexpectedly and cause serious injuries Before starting any work on the product Switch off the power supply and secure against restarting Make sure that no residual energy remains in the system 1 Commission the associated interface 1 1 2 5 2 Check the evenness of the mounting surface 5 3 1 29 3 Screw the product to the machine system 5 3 1 29 If necessary use appropriate connection elements adapt...

Page 27: ...minal block in one of the 90 steps shown in the illustration 3 Apply Loctite 222 threadlocker to the thread of the screw 1 4 Tighten the screw 1 with a tightening torque of 0 9 Nm 5 3 Connections 5 3 1 Mechanical connection Evenness of the mounting surface The values apply to the whole mounting surface to which the product is mounted Requirements for evenness of the mounting surface Dimensions in ...

Page 28: ...actly Precise assembly is a prerequisite for proper functioning Adapter plate for robot flange and adapter plate for tool side 1 Robot 2 Adapter plate for robot flange 3 Mounting screws 5 4 Force torque sensor 6 Adapter plate for tool side 7 End effector 8 Alignment pin 11 9 Centering collar 10 12 The adapter plate must meet the following requirements For precise assembly the adapter plate require...

Page 29: ...check the saturation If an error occurs during assembly wait until the error disappears NOTICE Incorrect assembly will cause material damage The drilling patterns on the robot and tool side of the product are identical but the screw depths differ The screws for the robot side can cause damage to the product on the tool side Take care not to mix up the robot and tool side of the product NOTICE Risk...

Page 30: ...o the adapter plate 4 with mounting screws 2 and cylindrical pin 6 Observe the tightening torque 4 Fasten the end effector to the force torque sensor with mounting screws 7 IMPORTANT The tool must not touch any part of the sensor other than the tool side otherwise the load will not be detected correctly 5 Connect the sensor cable 8 to the force torque sensor 7 and customer application Tightening t...

Page 31: ...h mounting screws 8 and cylindrical pins 4 Observe the tightening torque 4 Fasten the end effector to the force torque sensor with mounting screws 7 IMPORTANT The tool must not touch any part of the sensor other than the tool side otherwise the load will not be detected correctly 5 Connect the sensor cable 6 to the force torque sensor 7 and customer application Tightening torque Designation FT AXI...

Page 32: ... 10 to the force torque sensor 6 with mounting screws 11 and alignment pin 9 Observe the tightening torque depth of engagement and strength class if required Observe the notes on the version of the adapter plate 5 Fasten the end effector to the adapter plate 10 force torque sensor 7 with mounting screws and cylindrical pin 12 IMPORTANT The tool must not touch any part of the sensor other than the ...

Page 33: ...adius mm static dynamic FT AXIA80 1329258 FTN CKIT ZC22 ZC28 4 6 25 50 1370864 FTN C ZC33 ZC34 1 6 2 31 62 FT AXIA90 1512851 FTN CKIT ZC27 ZC28 4 7 35 70 FT AXIA130 1512893 FTN CKIT ZC28 ZC28 5 7 65 31 80 FT AXIA80 90 130 1329260 FTN C ZC28 U RJ45S 4 6 25 50 1 Connect the plug 2 to the cable outlet 2 Observe the static bending radius 3 and fasten the sensor cable close to the connector 4 3 Observe...

Page 34: ...origin as the reference point when evaluating overload conditions By entering a set of parameters a reference point is defined which consists of a series of displacements DX DY DZ and rotations Rx Ry Rz If zeros are entered for one of the parameter set values the tool conversion will not be performed for this particular parameter Entering zeros for all parameters turns off the tool conversion Once...

Page 35: ...sketch With this example the rotation about the Z axis results only from the rotations about the X and Y axis the tool does not turn about the Z axis itself in this application 35 02 00 FT AXIA Assembly and Operating Manual en 1517831 ...

Page 36: ...damage annual Send the product to SCHUNK for calibration Recommendation as required Check functionality 7 2 36 Send damaged products to SCHUNK for repair 7 2 Checking the measured data To check the functionality of a force torque sensor known loads can be applied to the force torque sensor If the outputted values correspond to the known loads the force torque sensor is working 1 Position the robot...

Page 37: ...re against re connection Ensure that no residual energy remains in the system Secure components from falling down or over Disassembling the product 1 Switch off and deactivate all activated supply circuits e g electrics air water etc 2 Loosen the screws 6 and 8 and remove the end effector 7 3 Loosen the screws 4 and remove the end effector 4 4 Support the product 5 and use a hexagon socket wrench ...

Page 38: ... 2014 30 EU Applied harmonized standards especially EN 61326 2 3 2013 Electrical equipment for measurement control and laboratory use EMC requirements Part 2 3 Particular requirements Test configuration operational conditions and performance criteria for transducers with integrated or remote signal conditioning IEC 61326 2 3 2012 EN ISO 12100 2010 Safety of machinery General principles for design ...

Page 39: ...pplied harmonized standards especially EN 61326 2 3 2013 Electrical equipment for measurement control and laboratory use EMC requirements Part 2 3 Particular requirements Test configuration operational conditions and performance criteria for transducers with integrated or remote signal conditioning IEC 61326 2 3 2012 EN ISO 12100 2010 Safety of machinery General principles for design Risk assessme...

Page 40: ...TN AXIA80 DUAL SI 480 20 SI 1200 50 FTN AXIA90 SI 1000 50 FTN AXIA130 SI 2000 125 FTN AXIA130 SI 4000 300 FTE interface FTE AXIA80 DUAL SI 75 4 SI 150 8 FTE AXIA80 DUAL SI 200 8 SI 500 20 FTE AXIA80 DUAL SI 480 20 SI 1200 50 FTE AXIA90 SI 1000 50 FTE AXIA130 SI 2000 125 FTE AXIA130 SI 4000 300 FTRS interface FTR AXIA80 DUAL SI 75 4 SI 150 8 FTR AXIA80 DUAL SI 200 8 SI 500 20 FTR AXIA80 DUAL SI 480...

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Page 44: ...G Clamping and gripping technology Bahnhofstr 106 134 D 74348 Lauffen Neckar Tel 49 7133 103 0 Fax 49 7133 103 2399 info de schunk com schunk com Folgen Sie uns I Follow us 11 2022 2022 SCHUNK GmbH Co KG 02 00 FT AXIA Assembly and Operating Manual en 1517831 ...

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