ATI Technologies 9105-ECAT-Axia80-M20, Руководство пользователя

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Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
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5.2.1.8 Status Code: Force/Torque Out of Range
Bit 30 in
Table 5.8
is set when a F/T load is outside the sensor’s detection capability. Bit 30 is set
when either of the following conditions are TRUE:
• The total percentage of the calibrated range used by F
xy
and T
z
axes is greater than 105%. Refer
to the following F
xy
T
z
equation.
• The total percentage of the calibrated range used by F
z
and T
xy
axes is greater than 105%. Refer
to the following F
z
T
xy
equation.
For the calibrated ranges that are used in the preceding equations, refer to
Section 8.3—Calibration
Ranges
. For Example:
An Axia80-M20 sensor that uses calibration range 0 is subjected to the following loads and has the
following calibration ranges:
Table 5.9—Example of Force/Torque Out of Range
Axis Applied Load
Calibration Range 0
Table 8.3 Value
F
x
87.5 N 500 N
F
y
-151.6 N 500 N
F
z
-500.0 N 900 N
T
x
1.0 Nm 20 Nm
T
y
2.0 Nm 20 Nm
T
z
-17.5 Nm 20 Nm
The F
xy
T
z
equation simplifies as follows: