Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
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A user can issue tool transformation commands through EtherCAT dictionary Object 0x2020 (refer to
Section 5.2.1.2—Object 0x2020: Tool Transformation
).
4.5.1 Avoid Overloading the Sensor During Tool Transformation
It is possible for the user to set a reference point of origin that does not detect that a torque is
applied to the customer tooling, 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 force is applied, the distance from that force to the customer reference
point of origin is zero. Any force that is multiplied by a distance of zero yields zero torque. The
software tool transformation reports that no torque is applied to the sensor. However, the sensor’s
point of origin has not changed, and the force is still applied at a distance from the sensor’s point of
origin. Therefore, if the customer is evaluating overloading conditions, the customer should use the
sensor’s point of origin as the reference point.
