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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

Figure 4.1—Filter Attenuation at 0.5 kHz Sample Rate

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Figure 4.2—Filter Attenuation at 1 kHz Sample Rate

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Содержание 9105-ECAT-Axia80-M20

Страница 1: ...red Products for Robotic Productivity Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com Manual EtherCAT Axia F T Sensor Document 9610 05 EtherCA...

Страница 2: ...orporates ATI components within any potentially life threatening system must obtain ATI s prior consent based upon assurance to ATI that a malfunction of ATI s component does not pose direct or indire...

Страница 3: ...ete description of the question or concern For the status code refer to Section 5 2 1 7 Object 0x6010 Status Code 5 Computer and software information operating system PC type drivers and application s...

Страница 4: ...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 4 Statement of Compliance...

Страница 5: ...bot 19 3 5 Pin Assignment for the EtherCAT and Power Connection 20 3 5 1 Pin Assignment 6 pin Male M8 ZC22 Connector 20 3 5 2 Pin Assignment 8 Pin Male M12 ZC28 Connector 20 3 5 3 Pin Assignment for C...

Страница 6: ...Status Code 38 5 2 1 8 Status Code Force Torque Out of Range 39 5 2 1 9 Object 0x6020 Sample Counter 40 5 2 1 10 Object 0x6030 Gage Data 40 5 2 1 11 Object 0x7010 Control Codes 41 5 2 2 EtherCAT Commu...

Страница 7: ...Force Torque Fxy The resultant force vector comprised of components Fx and Fy Hysteresis A source of measurement error caused by the residual effects of previously applied loads INT Signed integer 16...

Страница 8: ...A unit of computer data sent from the ATI F T sensor STRINGn Sting of n characters STRING 8 A data type representing 8 characters using 8 bytes STRING 30 A data type representing 30 characters using 3...

Страница 9: ...tuation WARNING Notification of information or instructions that if not followed could result in death or serious injury The notification provides information about the nature of the hazardous situati...

Страница 10: ...r causes damage to the instrumentation Avoid prying into openings of the sensor CAUTION Do not overload the sensor Exceeding the single axis overload values of the sensor causes irreparable damage CAU...

Страница 11: ...ting and tool sides have a 71 12 mm bolt circle pattern with 6 M5 tapped holes and 2 slip fit dowel holes refer to the customer drawing on the ATI website The sensor is IP64 rated An M8 6 pin male con...

Страница 12: ...Part Number Number of Identifying Grooves1 Material Axia80 M8 9105 ECAT Axia80 M8 3 Aluminum Axia80 M20 9105 ECAT Axia80 M202 0 Axia80 M50 9105 ECAT Axia80 M50 2 Stainless Steel Notes 1 Identifying gr...

Страница 13: ...sure proper grounding procedures are followed when handling the sensor or cables connected to the sensor Failure to follow proper grounding procedures could damage the sensor CAUTION Do not apply exce...

Страница 14: ...use dowel pins that exceed length requirements and prevent the interface plate from mating flush with the robot and customer tooling Fasteners that exceed length requirements create a gap between the...

Страница 15: ...applications where the cable is in a static condition dynamic applications subject the cable to a repetitive motion For dynamic applications restrain the cable at a distance that does not expose and...

Страница 16: ...The zip tie does not contact the cable CAUTION Improper cable routing may cause injury to personnel poor functionality of critical electrical lines or damage to the equipment The electrical line espec...

Страница 17: ...d the robot arm INCORRECT CORRECT USE Velcro straps to bundle cables DO NOT USE zip ties to bundle cables CAUTION Do not damage or crush the cable by over tightening the straps on the cable CAUTION Wh...

Страница 18: ...key secure the sensor to the mounting adapter plate with the 6 M5 socket head cap screws class 12 9 Tighten the fasteners per the specifications in the following table Table 3 2 Torque Values for Axia...

Страница 19: ...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 Connectio...

Страница 20: ...is reverse polarity protected If the power and ground to the power supply inputs are plugged in reverse then the reverse polarity protection stops the incorrectly wired supply input from damaging or...

Страница 21: ...or for the unterminated wires which connect to the customer s device are in the following table Table 3 6 Branch 1 Unterminated End Wire Jacket Color and Signal Wire Jacket Color Signal Shield Brown V...

Страница 22: ...a fixed mass to the tool side of the F T sensor a Remove cables that form bridges between the sensor s mounting and tool sides 2 Power on the sensor Allow a 30 minute warm up time Minimize external so...

Страница 23: ...sensor s rated accuracy is 2 the range on all axes For a 500 N Fxy range and a 900 N Fz range the allowable errors of any single data point would be 10 N Fx y and 18 N Fz respectively Since Fz has the...

Страница 24: ...hen the user applies power the sensor completes a self test during which the LEDs under firmware control individually turn on 4 2 1 LED Self Test Sequence When the user applies power to the sensor the...

Страница 25: ...Hz Exact Sample Rate 487 Hz 975 Hz 1990 Hz 3900 Hz 4 3 1 Sample Rate Versus Data Rate The data rate is how fast data can be output over the EtherCAT network If the data rate is faster than the sample...

Страница 26: ...selection The cutoff frequency for example 3 dB frequency is dependent on the sample rate selection which is defined in Section 4 3 Sample Rate The cutoff frequencies for the different sampling rates...

Страница 27: ...tenuation at 0 5 kHz Sample Rate 30 0 dB 24 0 dB 18 0 dB 12 0 dB 6 0 dB 0 0 dB 0 Hz 1 Hz 10 Hz 100 Hz 1000 Hz 0 3 Hz 0 6 Hz 1 3 Hz 2 5 Hz 5 Hz 10 Hz 22 Hz 60 Hz 200 Hz Frequency Attenuation Figure 4 2...

Страница 28: ...enuation at 2 kHz Sample Rate 30 0 dB 24 0 dB 18 0 dB 12 0 dB 6 0 dB 0 0 dB 0 Hz 1 Hz 10 Hz 100 Hz 1000 Hz 500 Hz 235 Hz 90 Hz 43 Hz 20 Hz 10 Hz 2 4 Hz 5 Hz 1 4 Hz Frequency Attenuation Figure 4 4 Fil...

Страница 29: ...nt The user defines a reference point by inputting a parameter set that is a series of 3 displacements Dx Dy Dz and 3 rotations Rx Ry Rz for example Dx 97 3 mm Dy 46 1 mm Dz 201 82 mm Rx 90 rotation R...

Страница 30: ...rotation Y Axis after X rotation Z Z Axis after X rotation 2 The second rotation is about the Y axis of the new user output reference frame In this example Ry 180 rotation The user point of origin ro...

Страница 31: ...g and by extension the sensor Torque is the force multiplied by the distance of that force from a reference point of origin If the customer reference point of origin is at the same point at which a fo...

Страница 32: ...xPDO combines Object 0x6000 Reading Data Object 0x6010 Status Code and Status Code Force Torque Out of Range b RxPDO Map Input Data The RxPDO map consists of Object 0x7010 Control Codes 5 2 EtherCAT D...

Страница 33: ...ct Index hex 0x2019 Product Description Subindex Hex Name Description Type Default Value Hexadecimal Format Decimal Format String 0x01 Vendor ID The value written to this field will be read into Objec...

Страница 34: ...otation about the Z axis in units of ttAngUnits 0x07 ttDistUnits UINT8 Distance units 0 inches 1 feet 2 mm 3 cm 4 m 0x08 ttAngUnits UINT8 Rotation units 0 degrees 1 radians 0x09 Commit UINT8 Write 123...

Страница 35: ...33 Max Fz Counts 0x34 Max Tx Counts 0x35 Max Ty Counts 0x36 Max Tz Counts 0x37 Counts Per Force DINT The calibration counts per force unit 0x38 Counts Per Torque DINT The calibration counts per torque...

Страница 36: ...ame Type Description 0x01 Supply Voltage UINT16 The voltage of the external power supply x 10 0x02 Gage Temperature INT16 The sensor temperature in C x 10 0x03 Status Message STRING 40 A priority stat...

Страница 37: ...or UINT Major Version 0x02 Minor UINT Minor Version 0x03 Revision UINT Revision 0x04 Boatloader Version UDINT Bootloader Version 0x05 SensorHwVer UINT Sensor Hardware Version 0x06 SensorInstrument UIN...

Страница 38: ...rily affect the F T data Committing a change to Object 0x2021 Changing the filter time constant Changing the calibration in use Changing the ADC sampling rate Writing to flash memory Any ADC ISR overr...

Страница 39: ...05 Refer to the following Fxy Tz equation The total percentage of the calibrated range used by Fz and Txy axes is greater than 105 Refer to the following Fz Txy equation For the calibrated ranges that...

Страница 40: ...it unsigned integer at subindex 0 that increases by one each time a F T sample one complete set of gage data is read This number rolls over from 4 294 967 295 232 1 to 0 without signalling an error Th...

Страница 41: ...rrent load 0 Use last set bias1 1 Reserved 2 1 clear bias 0 leave bias unchanged 3 Reserved 4 7 The low pass filter selection 0 No filtering 1 8 Refer to Section 4 4 Low pass Filter for details 8 11 A...

Страница 42: ...0000192 402 5 2 2 2 Object 0x1008 Device Name This read only Object describes the name of the device The EtherCAT Technology Group defines the structure of this Object but leaves it as optional ATI pr...

Страница 43: ...endor ID number is assigned by EtherCAT Technology Group uniquely to ATI 1 UDINT 0x00000732 1842 0x02 Product Code This Product Code is assigned by ATI uniquely to the EtherCAT Axia sensors ATI part n...

Страница 44: ...c Area Objects To know what ATI Objects should be reference refer to the following table Table 5 15 Unused EtherCAT Objects Object Index Hex Object Name Type Cross Reference to the ATI Specific Area O...

Страница 45: ...Simulated error 0x10000000 29 Calibration checksum error 0xA0000000 30 F T out of range 0xC0000000 31 Any error 0x80000000 Healthy 0x00000000 The bit pattern can be different if more than one error is...

Страница 46: ...time PDO sample divide the force and torque counts values by the counts per force and counts per torque values from the Calibration Object to calculate the F T units values F T units are in the units...

Страница 47: ...concerns addressed in the manuals Note Please read the manual before calling customer service Before calling have the following information available 1 Serial number e g FT01234 2 Sensor model e g Axi...

Страница 48: ...or should be grounded through installation construction Drift After a load is removed or applied the raw gage reading does not stabilize but continues to increase or decrease A shift in the raw gage r...

Страница 49: ...rce Voltage Power Consumption Minimum Nominal Maximum Maximum DC Power 12 V 24 V 30 V 1 5 W Notes 1 The power supply input is reverse polarity protected If the power and ground to the power supply inp...

Страница 50: ...f action accrued No representation or agreement varying or extending the warranty and limitation of remedy provisions contained herein is authorized by ATI and may not be relied upon as having been au...

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