SCHUNK FTR-AXIA Commissioning Instructions Download | Manualshive

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Summary of Contents for FTR-AXIA

Page 1: ...Translation of original commissioning instructions Commissioning instructions FTR AXIA Force torque sensor system ...

Page 2: ...sion 01 00 18 07 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: ...articular risks 8 3 Technical data 9 3 1 Ambient conditions and operating conditions 9 3 2 Force torque sensor 9 4 Design and description 10 4 1 Status LEDs 10 5 Assembly and settings 12 5 1 Installing and connecting 12 5 2 Electrical connection 12 6 Start up 16 6 1 Setting up the serial communication interface 16 6 2 RS422 serial commands 19 6 3 RS422 Robot Mode 26 6 3 1 More commands 27 6 4 Cloc...

Page 4: ...ensor does not transmit data 35 7 7 Data output rate lower than expected 35 7 8 Fluctuating force toque data 35 7 9 Sensor does not report accurate force torque data 36 7 10 Force torque values are not equal to zero 36 8 EU Declaration of Conformity 37 9 Appendix to the declaration of conformity 38 4 01 00 FTR AXIA Commissioning instructions en 1517835 ...

Page 5: ...ded for basic understanding and may differ from the actual product design In addition to these instructions the documents listed under 1 1 2 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 persons ...

Page 6: ...chunk com 1 2 Warranty If the product is used as intended the warranty is valid for 12 months from the ex works delivery date under the following conditions Observe the ambient conditions and operating conditions Parts touching the workpiece and wear parts are not included in the warranty 1 3 Scope of delivery The scope of delivery includes FTR AXIA force torque sensor in the ordered variant Senso...

Page 7: ... or safety of the product or damage it Structural changes should only be made with the written approval of SCHUNK 2 4 Spare parts Use of unauthorized spare parts Using unauthorized spare parts can endanger personnel and damage the product or cause it to malfunction Use only original spare parts or spares authorized by SCHUNK 2 5 Personnel qualification Inadequate qualifications of the personnel If...

Page 8: ... qualified electricians may perform electrical installations Check if de energized ground it and hot wire Cover live parts WARNING Risk of injury due to unexpected movements If the power supply is switched on or residual energy remains in the system components can move unexpectedly and cause serious injuries Before starting any work on the product Switch off the power supply and secure against res...

Page 9: ...ed range of measurement Exceeding the range of measurement will reduce the maximum number of load cycles and may lead to damage of the sensor Information on the range of measurement of each individual force torque sensor is provided in the catalog data sheet The latest version is always applicable Dimensions and max loads on the force torque sensor Detailed information on the mounting installation...

Page 10: ... Link Activity Red 5 Status Green 6 Diag Green 7 Link Activity Green 8 All Off 9 All Normal operation Sensor status LED An LED indicates the status of the sensor interface as follows LED color Status Description Off No power supply The sensor is not supplied with power Green Normal operation The electronics of the sensor are working and can communicate Yellow Detection range exceeded The forces an...

Page 11: ...r Indicates an error reported by the internal electronic components In addition the LED remains red for five seconds after a UART error EtherNET L A LED An LED indicates the communication status of the sensor interface as follows LED color Status Description Off No power or connection activity Connection activity is not detected Green Link Activity Remains green for five seconds after every connec...

Page 12: ...Cover live parts CAUTION Risk of damage to the electronics A faulty connection can cause damage to the internal electronics Observe the PIN allocation of the connecting terminals Make sure that all components are grounded correctly 1 Connect components of the force torque sensor system with each other 5 2 12 2 Check for functionality 3 Mount the force torque sensor on the robot see the installatio...

Page 13: ..._RX Housing Shielding Optional only when using the clock synchronization functionality 6 4 28 FT AXIA 130 M12 sensor connector 8 pin Pin Signal 1 Clock sync mass1 2 V 3 V ground 4 RS422_TX 5 RS422_RX 6 RS422_TX 7 Clock sync 8 RS422_RX Housing Shielding Optional only when using the clock synchronization functionality 6 4 28 13 01 00 FTR AXIA Commissioning instructions en 1517835 ...

Page 14: ...3 V ground 4 RS422_TX 5 RS422_RX 6 RS422_TX 7 Clock sync 8 RS422_RX Housing Shielding Optional only when using the clock synchronization functionality 6 4 28 M12 connector 8 pin Pin Signal 1 Clock sync mass1 2 V 3 V ground 4 RS422_TX 5 RS422_RX 6 RS422_TX 7 Clock sync 8 RS422_RX Housing Shielding Optional only when using the clock synchronization functionality 6 4 28 ...

Page 15: ...ousing Shielding Optional only when using the clock synchronization functionality 6 4 28 M12 connector 8 pin Pin Signal 1 Clock sync mass1 2 V 3 V ground 4 RS422_TX 5 RS422_RX 6 RS422_TX 7 Clock sync 8 RS422_RX Housing Shielding Optional only when using the clock synchronization functionality 6 4 28 15 01 00 FTR AXIA Commissioning instructions en 1517835 ...

Page 16: ...customer device does not have a serial port a third party serial device can be used to add the port Examples of a third party serial device include a high speed USB to RS422 adapter module or a PCI PCI E PCI X RS422 serial card 2 Connect the serial cable of the sensor to the serial port 3 Search COM port of the sensor Control Panel to Device Manager Ports USB Serial Port In the following illustrat...

Page 17: ...A window opens where the user can set the configuration for the session 5 Set configuration Connection type Select Serial Enter the com port from Step 3 in the Serial line field 17 01 00 FTR AXIA Commissioning instructions en 1517835 ...

Page 18: ...erial console configuration does not match the baud rate set on the sensor the console terminal window will open but no commands can be sent The factory set baud rate is 115200 6 2 26 Select open After a terminal window opens the user can start entering commands After a command has been entered press the Enter key to send the command 6 2 19 Note When entering commands no distinction is made ...

Page 19: ...ed character string SYSVER Print version WHOAMI Print console input source BIAS ON OFF Value User orientation control PEAK R C View reset runtime peaks display in counts SET Print all fields Field name Print appropriate field s Field name Value Write field with value VIEW 0 2 A Display calibrations 0 to 2 or active DIAG Diagnostic status report SIMERR ON OFF Control simulated error RESET Reset the...

Page 20: ...nd resets the MCU Interrogation commands S or C The interrogation command starts the high speed data transmission of force torque data The S command reports a single line of force torque data that is scaled by counts per force or counts per torque The C command reports continuous lines of force torque data that stop as soon as another button is pressed The C command reports data at the rate specif...

Page 21: ...values as well as just one test mean value can be specified 1 2 3 4 5 6 7 Axis X The user can choose to display force and torque data in the x y or z axis The output value can be displayed in force and torque numbers or technical units Y Z Force and or Torque F The XYZM force data is displayed T The XYZM torque data is displayed Magnitude M Force or torque data is displayed as the magnitude of the...

Page 22: ...remented each time a c or s line is printed This command sets an ADC read counter that is incremented each time the ADC is read Troubleshooti ng This command specifies the 32 bit status code 6 2 22 Interpretation of the output of the specifier The user converts hexadecimal output to a 32 bit binary number that correlates to a code in a dictionary object Example bit pattern Bit number Simple descri...

Page 23: ... reports the current bias status of the sensor Secondary bias commands on off values The secondary commands allow the user to turn the bias function on and off Switching the function on sets the force torque output to 0 Switching the function off clears the bias bit In addition the user can preload the sensor with user defined values Command peak The peak command reports the highest and lowest for...

Page 24: ...que numbers forceUnits Define unit for force measurement 0 Lbf 1 N 2 Klbf 3 kN 4 Kg torqueunits Define unit for torque measurement 0 Lbf in 1 Lbf ft 2 Nm 3 Nmm 4 Kg cm 5 kN m cpf Display counts per force cpt Display counts per torque peakPos0 5 peakNeg0 5 Display positive negative peak loads sensorHwVe r Display version of the sensor hardware adcRate ADC sampling rate in Hertz 488 976 1953 3906 or...

Page 25: ...s 1 Print unsolicited messages 0 Do not print unsolicited messages Calibration range command set calib The user can adjust the calibration range or the index number with the command set calib 0 Calibration range 0 1 Calibration range 1 Calibration command view The view command displays characteristics such as force torque part number units calibration date calibration family of a particular calibr...

Page 26: ...D lights up 4 1 10 Diagnostic status command diag This command provides a report for each of the measuring devices within the sensor The information can be compared with the calibration range values of the sensor Status command status If there is a problem with the sensor hardware the status command can be used to retrieve detailed information or the user can send the information to SCHUNK for tro...

Page 27: ...obot Mode Remove the sensor from the robot 1 Connect the sensor to a PC and open a serial console 2 Enter the M character to exit robot mode Printing a single measured value of the force torque values R command Enter the R command to get a single force torque display for each axis The output is in hexadecimal form There is no separator between the values Press any key to exit 6 3 1 More commands O...

Page 28: ...ibration value command C Enter C and a value of 0 or 1 to set the calibration value The value is stored in the NVM Display command R The R command displays the current output bit or calibration value in the NVM Enter W or C followed by R to see the current value stored in the NVM Bias command O The O command resets the force torque output to zero There is no reaction when the command is entered 6 ...

Page 29: ...are listed in the following table and diagrams Selected filter 3 dB cutoff frequency in Hz at 0 5 kHz sampling rate at 1 kHz sampling rate at 2 kHz sampling rate at 4 kHz sampling rate at 8 kHz sampling rate 0 200 350 500 1000 2000 1 58 115 235 460 935 2 22 45 90 180 364 3 10 21 43 84 170 4 5 10 20 40 81 5 2 5 5 10 20 40 6 1 3 3 5 10 20 7 0 6 1 2 2 4 4 7 9 8 0 3 0 7 1 4 2 7 5 Damping Frequency Fil...

Page 30: ...Start up 30 01 00 FTR AXIA Commissioning instructions en 1517835 Damping Frequency Filter damping at 1 kHz sampling rate Damping Frequency Filter damping at 2 kHz sampling rate ...

Page 31: ...Start up Damping Frequency Filter damping at 4 kHz sampling rate Damping Frequency Filter damping at 8 kHz sampling rate 31 01 00 FTR AXIA Commissioning instructions en 1517835 ...

Page 32: ...pen or interrupted The sensor reports loads that are significantly higher than its range of measurement It resets itself 32 sampling periods after the condition is cleared Yes 3 Busy bit The sensor performs one or more of the following activities which may temporarily affect the force torque data Transfer a change to the NVM Changes the filter time constant Changes the calibration used Changes the...

Page 33: ...xceeded Bit 30 is set if force torque is outside the range detection range is exceeded or one of the following conditions is TRUE The total percentage of the calibrated range used by the Fxy and Tz axes is greater than 105 The total percentage of the calibrated range used by the Fz and Txy axes is greater than 105 7 2 LED error Error Possible solution Sensor status LED remains red after the 20 sec...

Page 34: ...up for around 30 minutes and adjust to the ambient temperature before measuring again Use the bias command to set the measured values back to zero Use insulator between the force torque sensor and any tool or device that has a different temperature Shield the sensor from an excessive air flow 7 5 Status code Possible cause Corrective action Bit 1 active supply voltage is outside the range Restart ...

Page 35: ...ta Measurement data is not a 1 1 correlation to force torque axis data Show force torque data 6 2 20 The sensor is outputting data in count values Counts must be divided by counts per force CpF or counts per torque CpT to convert to calibration units such as N and Nm Verify that the user or user s software scales the force torque values for conversion to units Use CpF and CpT values to convert for...

Page 36: ...cessary If all fields are 0 the tool conversion is not applied 6 2 24 Mechanical coupling an external object is touching the surface of the sensor between the mounting side and the tool side Thoroughly clean the sensor body and adapter plate of dirt Use suitable cable routing for cables and hoses Anything that touches surfaces such as the through bore in the sensor or cover plates on both sides of...

Page 37: ... 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 assessment and risk reduction All related technical docum...

Page 38: ...N 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 40: ...H Co KG 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 07 2022 2022 SCHUNK GmbH Co KG 01 00 FTR AXIA Commissioning instructions en 1517835 ...

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