SCHUNK FTR-AXIA Assembly And Operating Manual Download

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Translation of Original Operating Manual

Assembly and Operating Manual
FTR-AXIA

Force/torque sensor

Summary of Contents for FTR-AXIA

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

Page 2: ...rsion 01 00 12 05 2021 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 2500 Fax 49 7133...

Page 3: ...Personal protective equipment 10 2 8 Notes on safe operation 10 2 9 Malfunctions 11 2 10 Disposal 11 2 11 Fundamental dangers 12 2 11 1 Protection during handling and assembly 12 2 11 2 Protection during commissioning and operation 12 3 Technical data 13 3 1 Basic data 13 3 2 Ranges of measurement 14 4 Design and description 15 4 1 Design 15 4 2 Description 15 4 3 Special features of the FTR Axia ...

Page 4: ...6 Operation 33 6 1 LEDs 33 6 2 Measurement and transmission data 35 6 3 Filters and dampening 36 6 4 Measurement deviations 39 6 5 Command reference 41 7 Troubleshooting 45 8 Maintenance 47 8 1 Maintenance intervals 47 8 2 Removing the product from the robot arm 48 8 3 Drawing 49 9 EU Declaration of Conformity 50 4 01 00 FTR AXIA Assembly and Operating Manual en 1398962 ...

Page 5: ...asic understanding and may differ from the actual product design In addition to these instructions the documents listed under Applicable documents 6 are applicable 1 1 1 Presentation of Warning Labels To make risks clear the following signal words and symbols are used for safety notes DANGER Danger for persons Non observance will inevitably cause irreversible injury or death WARNING Dangers for pe...

Page 6: ...ccessories The documents marked with an asterisk can be downloaded on our homepage schunk com 1 2 Warranty If the product is used as intended the warranty is valid for 24 months from the ex works delivery date under the following conditions Observe the specified maintenance and lubrication intervals Observe the ambient conditions and operating conditions Parts touching the workpiece and wear parts...

Page 7: ...ange of accessories are available for this product For information regarding which accessory articles can be used with the corresponding product variants see catalog data sheet 7 01 00 FTR AXIA Assembly and Operating Manual en 1398962 ...

Page 8: ...and 4 The product is intended for installation in a machine system The applicable guidelines 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 appropriate use is regarded as misuse 2 3 Constru...

Page 9: ...ational 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 relevant standards and regulations Qualifi...

Page 10: ...goggles when handling hazardous substances Wear close fitting protective clothing and also wear long hair in a hairnet when dealing with moving components 2 8 Notes on safe operation Incorrect handling of the personnel 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 f...

Page 11: ... malfunction has been rectified Test the product after a malfunction to establish whether it still functions properly and no increased risks have arisen 2 10 Disposal Handling of disposal The incorrect handling of disposal may impair the product s safety and cause serious injuries as well as considerable material and environmental harm Follow local regulations on dispatching product components for...

Page 12: ...r 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 product against accidental operation Observe the relevant accident prevention rules Use suitable assembly and transport equipment and take precautions to prevent jamming and crushing Incorrect lifting of loads Falling loads may ca...

Page 13: ...7 x 107 4 1 x 107 Torque rigidity calculative N rad X and Y axis Z axis 2 4 x 104 4 8 x 104 Natural frequencies Hz FX FY MZ MX MY FZ 2200 2600 Caution The overload values apply only when loading in one relevant axis direction not when there is an overlap of forces and torques in several axis directions More technical data is included in the catalog data sheet Whichever is the latest version 13 01 ...

Page 14: ...ibration version The product can be calibrated differently depending on the version Version FTR AXIA SI 75 4 SI 150 8 Parameter FXY N FZ N MXYZ Nm Range of measurement 1 150 470 8 Range of measurement 2 75 235 4 Version FTR AXIA SI 200 8 SI 500 20 Parameter FXY N FZ N MXYZ Nm Range of measurement 1 500 900 20 Range of measurement 2 200 360 8 Version FTR AXIA SI 480 20 SI 1200 50 Parameter FXY N FZ...

Page 15: ...tion Forces and torques are measured via three measuring bridges each with four silicone strain gauges in six directions FX FY FZ MX MY MZ Acting forces and torques are measured and transferred to a PC as calibrated data Interfering contours are avoided due to the compact housing A very high rigidity ensures the accuracy of measured values and prevents unwanted movement or twisting of the sensor I...

Page 16: ... features of the FTR Axia 80 In addition to the LEDs on the product LEDs on the USB port tell you about the current data flow USB connector 27 Functional principle The robot side of the housing 2 is screwed onto the robot or adapter plate The customer tool such as a gripper or another end effector is mounted onto the tool side 3 Six screws ensure a secure hold in each case two alignment pins each ...

Page 17: ...e Y axis direction compared to the robot side For the most part the tool side is moved both in the X and Y directions simultaneously leading therefore to the result FXY 4 4 2 Z axis force measurement Z axis force measurement When measuring force in the Z axis direction the tool side of the product is moved in the Z axis direction compared to the robot side This leads to the result FZ 17 01 00 FTR ...

Page 18: ...ts The torques that act on the product around the axes are measured Item Axis Measurement 1 Z axis The tool side is twisted compared to the robot side MZ 2 Y axis The tool side is tilted in the Y axis direction compared to the robot side MY 3 X axis The tool side is tilted in the X axis direction compared to the robot side MX ...

Page 19: ...apter plate or robot Mounting screw 6 Piece M5 x 8 5 12 9 Tightening torque Nm 5 88 8 47 Drilled hole for alignment pin 2 Piece Ø 4 H7 Tool side connection Mounting screw 4 Piece M5 x 5 2 12 9 Tightening torque Nm 5 88 8 47 Mounting screw supplied by the customer 6 Piece M5 x 5 12 9 Tightening torque Nm 5 88 8 47 Drilled hole for alignment pin 2 Piece Ø 3 H7 19 01 00 FTR AXIA Assembly and Operatin...

Page 20: ...or precise positioning on the robot and product Alignment pins prevent unwanted shifting and twisting Information about fastening elements on the tool and robot side is provided in the relevant manuals The adapter plate must be thick enough to ensure the required depth of engagement for the fastening screws The adapter plate must allow for rigid mounting on the product The fastening screws must ha...

Page 21: ... Alignment pin 3 mm 4 Robot arm 5 Alignment hub 6 Assembly adapter plate 7 Alignment pin 3 mm 8 Fastening screw M5 x 5 2 9 Alignment pin 4 mm provided by customer 10 Tool adapter plate provided by customer 11 Fastening screw provided by customer 12 Alignment pin 4 mm provided by customer 13 Alignment pin 3 mm provided by customer 14 Fastening screw M5 x 8 5 21 01 00 FTR AXIA Assembly and Operating...

Page 22: ...er Ensure that all work has been carried out in accordance with the specifications in these instructions Observe tightening torques CAUTION Incorrect assembly will cause material damage The drilling patterns on the assembly and tool side of the product are identical but the depths of engagement differ The screws for the assembly side can cause damage to the product on the tool side Take care not t...

Page 23: ...faces 2 Apply threadlocker 3 If necessary secure the adapter plate 4 to the robot 1 using the screws 2 and alignment pin 3 Observe the tightening torque depth of engagement and strength class if required Observe the notes on the version of the adapter plate Requirements for adapter plates 20 4 Attach the product 7 to the robot Use a hexagon socket wrench for this purpose Tighten the screws 5 Obser...

Page 24: ...ided by customer 4 Mounting screw 1 Clean the mounting surfaces 2 Apply threadlocker 3 If necessary secure the adapter plate to the product 1 Observe the tightening torque depth of engagement and strength class if required Observe the notes on the version of the adapter plate Requirements for adapter plates 20 4 Secure the end effector 3 to the product 1 using the screws 4 and alignment pin 2 Obse...

Page 25: ...the product Circular plug pin allocation 6 pin Pin allocation Pin Signal 1 RS485 2 RS485 3 CLK SYNC 4 GND for CLK SYNC 5 V 6 V Circular plug with feather key 6 pin 25 01 00 FTR AXIA Assembly and Operating Manual en 1398962 ...

Page 26: ...ct and tighten it max 0 5 Nm 2 Connect the USB port of the sensor cable to the PC 3 Perform a functional test install driver 28 4 Install the cable 5 Make sure that all cables are fastened bunched and tension relieved to ensure sufficient freedom of movement during operation CAUTION Material damage due to incorrect assembly If the plug connection is tightened with a tool e g a wrench do not exceed...

Page 27: ... Connect the jack cable with the synchronization application 3 Perform a function test install driver 28 4 Install the cable 5 Make sure that all cables are fastened bunched and tension relieved to ensure sufficient freedom of movement during operation Item Meaning 1 USB connection to the product 2 Optional sensor cable for synchronization 3 USB connector LED Rx Yellow data transfer to USB interfa...

Page 28: ...ect Update driver software or automatically search for current driver software NOTE Run field not available no PC access rights Depending on the PC settings the Run button may not be available It may appear with the corresponding user rights Right click with the mouse on a free space in the task bar Context Menu Characteristics tab Start Menu button Adapt activate the Run option Or Ask the adminis...

Page 29: ...e mean values from all six points determine FX mean value FY mean value and FZ mean value 7 Calculate the following for each of the 6 points x y z x point n F F F F x average F F y average F F z average F y point n z point n Tooling Mass Fx 2 Fy 2 Fz 2 The calculated weight of the mounted tool has to be less than twice the worst accuracy assessment of the sensor for all six points calculated Examp...

Page 30: ...re may also be used for serial consoles in this documentation the connection is described by way of example with the Windows operating system and PuTTY software Note The PuTTY software is a command line editor without a graphical user interface and is only available in English Installing PuTTY 1 Download the software www putty org and store it locally on the PC connected to the product 2 Start ins...

Page 31: ... the clipboard select this with the mouse Right clicking will then insert the text from the clipboard To avoid error messages due to copied over formatting tabs or graphics it is recommended that you only copy unformatted plain text Area command Setting Configuration Session Connection type Select Serial Configuration Connection Serial Serial line Select the COM port previously identified as the c...

Page 32: ... Display define values for tool conversion set command 44 SAVEALL Save all parameters set in the permanent memory STATUS Print out status report RESET Reset controller Tips 1 When inputting text in the console window upper and lower case is not important 2 In the console window select the text to copy it and insert it by right clicking To insert text via a context menu rather than directly the fun...

Page 33: ... Off No serial connection established Green Normal operation serial connection established After a connection has been established the LED will light up for 5 seconds LED DIAG Description Off Serial interface ready for operation Red Error detected during communication error code entered in the status word LED STATUS Description Off Product starts or checks the status Red Indicates an error in the ...

Page 34: ...s on USB port A LED Description LED Rx Off No receipt of data via USB port Yellow Receipt of data via USB port B LED Description LED Tx Off No data transfer via USB port Blue Data transfer via USB port C LED Description LED PWR Off No power supply established Green Power supply established ...

Page 35: ...ata measured will be transferred If the sampling rate is lower than the data rate it may happen that no new measurement was taken between two data transmission points in time In this case the values of the last measurement are transferred again Schematic diagram Sampling rate Data rate Example A Data rate is higher than sampling rate is measured less frequently than it is transferred individual me...

Page 36: ...tion on the limit frequency with different sampling rates Filter 488 kHz 976 kHz 1953 kHz 3906 kHz 7912 kHz 0 200 350 500 1000 2000 1 58 115 235 460 935 10 2 22 45 90 180 364 04 3 10 21 43 84 169 52 4 5 10 20 40 81 24 5 2 5 5 10 20 39 84 6 1 3 3 5 10 20 31 7 0 6 1 2 2 4 4 7 9 37 8 0 3 0 7 1 4 2 7 5 47 Filter damping Damping describes the oscillation behavior of the filter If damping is very low th...

Page 37: ...requency Filter damping at 1 kHz sampling rate Attenuation Frequency Filter damping at 2 kHz sampling rate Attenuation Frequency Filter damping at 4 kHz sampling rate 37 01 00 FTR AXIA Assembly and Operating Manual en 1398962 ...

Page 38: ...brations caused by movement and electrical interference can also lead to noise Noise can be reduced by means of the following measures As far as possible avoid or reduce mechanical vibrations Set a low pass filter in accordance with requirements and activate this Avoid interference from motors or other electronic devices and ensure sufficient earthing of other devices For all devices ensure a prot...

Page 39: ...rolled via the BIAS command Tool conversion Depending on the customer tool used with the product this may result in the center of gravity being displaced For this purpose the offset and rotation of each axis between the initial position and target position are measured DX DY DZ and RX RY RZ The measurement is made at the center of gravity see drawing The displacements measured are then entered via...

Page 40: ... 200 mm and RXYZ R90 180 0 Input Meaning of tool conversion set ttdu 2 Set unit for offset to millimeters set ttau 0 Set unit for rotation to degrees set ttdx 100 Set X offset to 100 mm set ttdy 40 Set Y offset to 40 mm set ttdz 100 Set Z offset to 200 mm set ttrx 90 Set X rotation to 90 set ttry 180 Set Y rotation to 180 set ttrz 0 Set Z rotation to 0 For further information on console commands C...

Page 41: ...s to display previously input texts and commands and to execute these again 5 Modify the size of the PuTTY console window if required as with Windows 6 If the connection is interrupted close the error message right click on the upper frame of the PuTTY console and select the Restart Session command to restore it 7 Always terminate sessions by entering exit or logout 8 No distinction is made betwee...

Page 42: ... define values PEAK C R List delete maximum measured values CAL Call up all fields CAL field name Call up the content of the field named CAL field name value Call up the specified value from the field named SET Output all fields SET field name Output the content of the field named SET field name value Set the field named to the specified value VIEW 0 1 A Calibrations show 0 1 or active DIAG Diagno...

Page 43: ... a certain gauge F Force T Torque XYZ Axis M Magnitude C Specification of force and torque values as a counter U Specification of force and torque values with the units defined by the user Illustration of output values formatted as an overview easily readable default setting Compressed illustration of output values without leading zeros and other spaces less readable suitable for further machine p...

Page 44: ...odCode Display item number of the hardware hwRev Display revision number of the hardware ttdu Define unit for offset with tool conversion 0 inch 1 feet 2 mm 3 cm 4 m ttau Define unit for rotation with tool conversion 0 degrees 1 angle of arc rad ttdx ttdy ttdz Offset for the tool conversion of the relevant axis default value 0 ttrx ttry ttrz Angle of rotation for the tool conversion of the relevan...

Page 45: ...tion error is displayed in the status code Saturation occurs when the product s load is above the permissible limits In this case the status code will display a saturation error bit Possible cause Corrective action Load of product above the permissible limits Reduce load perform a precision check and reset the error code Electrical malfunction Check the plug connection detach if required and recon...

Page 46: ...e Bias command check the values in Resolved Data Mode for displacement Mechanical coupling Check product and cable cables may not touch the product Hysteresis Hysteresis is when there is a delayed change in the measured values after the load has been attached or removed In such cases the values increase or fall further A certain amount of hysteresis is normal but this must not significantly impair...

Page 47: ...aring parts Check the wires plug connections and cables for damage abrasion and wear Tighten the connections and wires so that these do not touch the product thereby leading to falsified measuring results annual Perform a precision test Setting up the product 29 If required send the product back to Schunk for re calibration 47 01 00 FTR AXIA Assembly and Operating Manual en 1398962 ...

Page 48: ... work on the product Switch off the energy supply and secure 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 ...

Page 49: ...g The following figure is an example image It serves for illustration and assignment of the spare parts Variations are possible depending on size and variant Drawing 49 01 00 FTR AXIA Assembly and Operating Manual en 1398962 ...

Page 50: ...ve 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 desig...

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Page 52: ... Co KG Spann und Greiftechnik 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 05 2021 2021 SCHUNK GmbH Co KG 01 00 FTR AXIA Assembly and Operating Manual en 1398962 ...

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