Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com
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Figure 3.5—Installation of the Sensor to the Robot
Power and
EtherCAT
Power and EtherCAT Cable to the sensor
(ATI P/N 9105-C-ZC22-ZC28-X)
Tool Side
for Customer Tooling
EtherCAT Axia
Mounting to the Robot
or Interface Plate
Interface Plate
(9105-IP-2118 shown)
Mounting
Dowel Pin
Mounting Fasteners
Robot
(2) Dowel Pin
Power and EtherCAT cable to the customer application
(ATI P/N 9105-C-ZC28-U-RJ45S-X)
Unterminated End for Power
(Branch 1)
RJ45 Connector for EtherCAT
(Branch 2)
Note:
Cable lengths are shortened
in the figure for reference only.
Connection
Fasteners
Sensor
3.4 Removing the Sensor from the Robot
Tools required:
4 mm hex key
1.
Turn off all energized circuits, for example: electrical.
2. Remove the power and EtherCAT cable from the sensor’s connection.
3. Supporting the customer tooling and/or interface plate, remove the customer supplied screws that attach
to the customer tooling to the sensor.
4. Supporting the sensor, use a hex key to loosen the (6) M5 socket head cap screws that secure to the
sensor to the mounting interface plate or robot.
5. Remove the sensor.
