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Manual, F/T Sensor, Data Acquisition (DAQ) Systems

Document #9620-05-DAQ.indd-20

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 •

www.ati-ia.com

[email protected]

24

4. Installation

Before installing the transducer on the robot, install the DAQ system components and install the software on the
computer connected to the DAQ system. After testing the transducer and DAQ system to check its functionality,
the Transducer can be installed on the robot. The ATI DAQ Demo Software is used to monitor forces, torques and
strain gages on the Transducer during installation to the robot.

The following sections provide instruction for installing some typical DAQ Systems:

Section 4.1—Installing a DAQ System with a Transducer, IFPS or PS Box, and DAQ Device

Section 4.2—Installing a DAQ System with Multiple Transducers, IFPSMC Box, and DAQ Device

Section 4.3—Installing a DAQ System with Multiple Transducers, IFPSMC Box, Wired I/O Connections, and USB
DAQ Device

4.1 Installing a DAQ System with a Transducer, IFPS or PS Box, and DAQ

Device

Typically DAQ systems are limited to a single transducer, PS or IFPS box. DAQ devices with 64 pin screw

terminals can support two transducers and two PS or IFPS boxes. Refer to

for additional screw

terminal connections required.

1.

Install the data acquisition system hardware (DAQ card, DAQ Device, power supply, and/or cabling) and

its accompanying software following the instructions included with the hardware.

2.

Connect the 26-pin connector of the Power Supply cable to the DAQ Power Supply (PS) or Interface

Power Supply (IFPS) box. Tighten the jackscrews on the connector to insure a good electrical

connection.

Figure 4.1—Single TW Transducer, IFPS, and DAQ Card System Installation

Desktop running

[7] ATI DAQ Demo Software

(9030-05-1001 Software)

Software Accompanying

[1] DAQ Hardware

[1] DAQ Card
(9105-M1PCI)

[12] TW or TIF Transducer

(9105-TW-MINI58-E Shown)

[2,3] DAQ cable
(9105-C-PS-V68-XXX)

[4] 12 Volt Wall Mount Power
Supply, 2A, 24 W
(9105-PS-KTPS24-12020MP)

[6] Connect the Transducer

Cable to the IFPS or PS Box

[4] Connect Power Supply

to the IFPS or PS Box

[2] Connect DAQ cable 26-pin
Connector to the IFPS or
PS Box 26-pin Connector

[3a] Connect DAQ Cable 68-Pin

Connector to the DAQ Device or

DAQ Card 68-pin Connector

[2,4,6] DAQ PS or IFPS
Box(9105-IFPS-1 Shown)

Note: [#] indicates the step number

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Содержание 9105-IFPS-1

Страница 1: ...or Robotic Productivity Pinnacle Park 1031 Goodworth Drive Apex NC 27539 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com Email info ati ia com F T Sensor Data Acquisition DAQ Systems Manual Docum...

Страница 2: ...incorporates 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 ind...

Страница 3: ...d a DAQ Card 11 2 5 System with Multiple Transducers IFPSMC Box Wired I O Connections for User Devices and USB DAQ Device 12 2 6 Transducer 13 2 7 Transducer Cable 13 2 8 Interface Power Supply Box 14...

Страница 4: ...36 4 5 1 Signals and Power 36 4 5 2 Electrical Specifications 37 4 5 2 1 Transducer Output Signals 37 4 5 3 Transducer Signals 38 4 5 4 PS and IFPS Signals 39 4 5 4 1 PS 20 pin Circular Connector 39...

Страница 5: ...3 7 2 Detecting Failures Diagnostics 64 7 2 1 Detecting Connection Issues 64 7 2 2 Detecting Cable Problems 64 7 2 3 Detecting Sensitivity Changes 64 8 Regulatory Information 65 8 1 Electromagnetic Co...

Страница 6: ...W trademarks www ni com OEM Overload The condition where a load greater than the transducer can measure is applied resulting in saturation of the transducer and cause irreparable damage PC Card A smal...

Страница 7: ...on the consequences of not avoiding the hazard and the method for avoiding the situation NOTICE Notification of specific information or instructions about maintaining operating installing or setting u...

Страница 8: ...e Typically DAQ systems are limited to a single transducer PS or IFPS box DAQ devices with 64 pin screw terminals can be used to support two transducers and two PS or IFPS boxes Refer to Table 4 1 for...

Страница 9: ...uisition DAQ Device or Data Acquisition DAQ card DAQ Software running on a laptop or desktop Supporting power supplies for PS or DAQ device Transducer cable DAQ Cable from PS to DAQ Device or DAQ card...

Страница 10: ...tware running on a laptop or desktop Supporting power supplies for DAQ device or Multiple IFPS Power supply included with Multiple IFPS USB cable from USB DAQ device to PC DAQ Cables from Multi sensor...

Страница 11: ...S Data Acquisition DAQ Card DAQ Software running on a laptop or desktop Supporting power supplies for DAQ device or Multiple IFPS Power supply included with Multiple IFPS DAQ Cables from Multi sensor...

Страница 12: ...evice or Multiple IFPS Power supply included with Multiple IFPS USB cable from USB DAQ device to PC DAQ Cables from Multi sensor Interface box IFPSMC to I O connector Blocks and DAQ device Figure 2 5...

Страница 13: ...power supply box For further information refer to the 9620 05 Transducer Section Installation Operation Manual for mounting cable routing specifications i e resolution weight and mechanical drawings...

Страница 14: ...the transducer signals utilized by the data acquisition system Power to the IFPS box can be provided through either the 12 V wall mounted power supply included with the IFPS box or a 5 V source from t...

Страница 15: ...provided through either the 12 V wall mounted power supply included with the PS box or a 5 V source to the 26 Pin male connector located on the box The PS box only requires one source if both sources...

Страница 16: ...box Connections to the 9105 TW type transducers are located at the front of the box The box also features slotted mounting feet for ease in mounting it to a surface An external wall mounted power sup...

Страница 17: ...needed for the user computer to convert transducer readings into usable force and torque output Included on the CD are Microsoft Windows drivers sample programs C source code and detailed help files D...

Страница 18: ...lways equal and directed to contrary parts Figure 3 1 Applied Force and Torque Vector on Transducer The force applied to the transducer flexes three symmetrically placed beams using Hooke s law s E e...

Страница 19: ...ardware Data Acquisition Hardware Transducer Composite Loading Information High Level Voltages Composite Loading Information Low Level Voltages Interface Electronics Power Supply Electronics Precision...

Страница 20: ...T G2 bST G3 bST G4 bST G5 FxG0 FyG0 FzG0 TxG0 TyG0 TzG0 FxG1 FyG1 FzG1 TxG1 TzG1 TzG1 FxG2 FyG2 FzG2 TxG2 TyG2 TzG2 FxG3 FyG3 FzG3 TxG3 TyG3 TzG3 FxG4 FyG4 FzG4 TxG4 TyG4 TzG4 FxG5 FyG5 FzG5 TxG5 TyG5...

Страница 21: ...G0 bST G1 bST G2 bST G3 bST G4 bST G5 GCF0 GCF1 GCF2 GCF3 GCF4 GCF5 Runtime Matrix FxG0 FyG0 FzG0 TxG0 TyG0 TzG0 FxG1 FyG1 FzG1 TxG1 TzG1 TzG1 FxG2 FyG2 FzG2 TxG2 TyG2 TzG2 FxG3 FyG3 FzG3 TxG3 TyG3 Tz...

Страница 22: ...ion files configures the transducer system and converts raw voltages from any data acquisition system into forces and torques ATIDAQFT can be used in development platforms that support ActiveX or Auto...

Страница 23: ...facturer or a third party source 3 4 3 2 ATI DAQ F T Components or C Library This part of your application is used to load a calibration file apply settings such as tool transformations and convert ra...

Страница 24: ...systems are limited to a single transducer PS or IFPS box DAQ devices with 64 pin screw terminals can support two transducers and two PS or IFPS boxes Refer to Table 4 1 for additional screw terminal...

Страница 25: ...ed Cable Ends Into Appropriate Screw Terminal Location and Tighten Set Screw 3b Screw Terminals 1 USB Cable 1 USB DAQ Device 2 3 Unterminated DAQ Power Supply Cable 9105 C PS U X shown Note indicates...

Страница 26: ...o not Connect the Red Wire to DGND or the Red White Wire to 5V Protect Wire Ends and Tie Wires Back to Cable Jacket 1 USB Cable Note Indicates the Step Number NOTICE If you are not using a National In...

Страница 27: ...tion N A 15 AI 0 SG0 output Brown 47 AI 16 SG0 output2 Brown2 16 AI 8 SG0 reference Brown White 48 AI 24 SG0 reference2 Brown White2 17 AI 1 SG1 output Yellow 49 AI 17 SG1 output2 Yellow2 18 AI 9 SG1...

Страница 28: ...lightly forcing the connector into the port When the groove lines up the connector will noticeably go deeper into the port b Screw the connector shell into the transducer until it seats firmly CAUTION...

Страница 29: ...PSMC 6 Shown 2 3a DAQ Cables 2 9105 C SH6868EPM 1 5 Transducer Connectors 3a SCSI Connector 2 SCSI Connector Note indicates the step number 4 Power Supply Connector 4 9105 C PS IFPSMC IFPSMC Power Sup...

Страница 30: ...installed one of the following connection methods may be applied If DAQ cables are equipped with a 68 pin D Type connector attach the connectors to the DAQ device and tighten the jackscrews on the co...

Страница 31: ...pe Connector 2 3b VHDCI Connector Note indicates the step number 4 Plug 12 V wall mount Power Supply into outlet and connect the power supply cable to the power supply connector on the back of the IFP...

Страница 32: ...the back of the IFPSMC X box labeled Connector 0 to DAQ Card and Connector 1 to DAQ Card Tighten the jackscrews on the connector to insure a good electrical connection Figure 4 10 Multiple Transducer...

Страница 33: ...s on the back of the IFPSMC X box labeled Connector 0 from User and Connector 1 from User Tighten the jackscrews on the connectors to ensure a good electrical connection 7 Connect the other ends of th...

Страница 34: ...files 2 Unpack the FTxxxx zip file sent from ATI in an e mail Calibration files in the unpacked directory are labelled based on the transducer s serial number the files are in the format of FTxxxx CAL...

Страница 35: ...right in Figure 4 13 shows a Gauge Saturation error Figure 4 13 Set Gauge Voltages Data Type and Monitor for Gauge Saturation Errors Screen Showing No Errors Screen Showing Gauge Saturation Error NOTI...

Страница 36: ...ower supply used by transducer AGnd Power supply return used by transducer VANA Negative power supply used by transducer 5V 1 Positive power used by PS or IFPS box 0V 1 Power supply return used by PS...

Страница 37: ...nput Current 45 mA VANA Power Input Noise 75 mV p p VANA Power Input Regulation 0 5 4 5 2 1 Transducer Output Signals Transducer Output Signals are emitted by the transducer and passed through the PS...

Страница 38: ...9105 C x U cable assemblies NOTICE Multi colored wires are identified as follows The first color listed is the predominant color of the wire and the second color is the stripe on the wire Table 4 6 Tr...

Страница 39: ...o Table 4 7 for wire colors use with 9105 C PS U cable assemblies Table 4 7 PS box and IFPS box connector connections and 9105 C PS U cable wire colors Pin Number Description Wire Colors 1 Reserved Or...

Страница 40: ...rown White Al 8 Al 24 7 9 8 33 SG1 output Yellow Al 1 Al 17 12 10 17 66 SG1 reference Yellow White Al 9 Al 25 17 11 7 65 SG2 output Green Al 2 Al 18 20 12 16 31 SG2 reference Green White Al 10 Al 26 8...

Страница 41: ...guide when connecting the unterminated cable to other National Instruments data acquisition equipment Figure 4 14 and Figure 4 15 show example connection schemes for connecting an IFPS or PS box to a...

Страница 42: ...t if this current isn t returned via the AGnd AIGnd path For best noise performance the cabling from the PS IFPS connector should be shielded and each strain gage s signals in a twisted pair The shiel...

Страница 43: ...or Interface Box Transducer Connector 1 Transducer Connector 2 Transducer Connector 3 Transducer Connector 4 Transducer Connector 5 Transducer Connector 6 Transducer Connector 6 Transducer Connector 5...

Страница 44: ...28 1 30 1 64 SG3 AI 21 AI 21 AI 29 1 29 1 63 SG4 AI 22 AI 22 AI 30 1 62 1 28 SG5 AI 23 AI 23 AI 31 1 27 1 61 3 SG0 AI 32 AI 32 AI 40 1 26 1 60 SG1 AI 33 AI 33 AI 41 1 59 1 25 SG2 AI 34 AI 34 ai42 1 24...

Страница 45: ...MC box Also ensure the transducers and the connector on the front panel are clearly marked with the serial number label 1 Disconnect all cables transducers and the power supply from the IFPSMC box 2 R...

Страница 46: ...f an IFPS Card is not installed in Slot 2 TC2 Slot 2 has no associated Jumpers If an IFPS Card is not installed in Slot 3 TC3 Install Jumpers on JP912 and JP913 If an IFPS Card is not installed in Slo...

Страница 47: ...13 D GND Available Available Available Available Available Available 14 5V Available Available Available Available Available Available 15 D GND Available Available Available Available Available Avail...

Страница 48: ...47 P0 3 Available Available Available Available Available Available 48 P0 7 Available Available Available Available Available Available 49 P0 2 Available Available Available Available Available Avail...

Страница 49: ...C5 SG0 14 AI 51 Available Available TC4 SG5 TC4 SG5 TC4 SG5 TC4 SG5 15 AI 58 Available Available TC4 SG4 TC4 SG4 TC4 SG4 TC4 SG4 16 Al 49 Available Available TC4 SG3 TC4 SG3 TC4 SG3 TC4 SG3 17 Al 48 A...

Страница 50: ...vailable TC4 SG5 TC4 SG5 TC4 SG5 TC4 SG5 49 Al 50 Available Available TC4 SG4 TC4 SG4 TC4 SG4 TC4 SG4 50 AI 57 Available Available TC4 SG3 TC4 SG3 TC4 SG3 TC4 SG3 51 AI 56 Available Available TC4 SG2...

Страница 51: ...connected to the same connector on the front panel when re assembling the IFPSMC box Also ensure the transducers and the connector on the front panel are clearly marked with the serial number label 1...

Страница 52: ...d JP905 If installing an IFPS Card in Slot 5 TC5 Remove Jumpers on JP906 and JP907 If installing an IFPS Card in Slot 6 TC6 Remove Jumpers on JP908 and JP909 6 Disconnect all the IFPS cards from the b...

Страница 53: ...ial number of the transducer the card will be connected to Record this information in Table 4 13 for your records The serial number on the card should match the serial number on the transducer Table 4...

Страница 54: ...er label should match both the IFPS card and transducer serial numbers associated with the connector Refer to Figure 4 24 17 Connect the male connector on the transducer cable to the connector on the...

Страница 55: ...female may be used to mate with the power input connector Figure 4 26 Power Input Connector Table 4 14 IFPSMC Power Input Connector Pin Assignments Pin Description 1 V input 3 0V input 4 No connection...

Страница 56: ...ations Some transducers have multiple calibrations to allow the transducer to have greater range or finer resolution depending on the circumstance Changing to another calibration is done by loading th...

Страница 57: ...hose with an IP68 designation are able to withstand dusty environments and freshwater immersion to a specified depth See ATI Industrial Automation manual 9620 05 Transducer Section Installation Operat...

Страница 58: ...uld the internal structure of the transducers become clogged with particles the calibration may be affected or the transducer may be damaged 6 2 Periodic Calibration Periodic calibration of the transd...

Страница 59: ...on the front panel are clearly marked with the serial number label 1 Disconnect all cables transducers and the power supply from the IFPSMC box 2 Remove the 4 M4 pan head screws from the front panel u...

Страница 60: ...r on the IFPS card which slot number it will be installed in and the serial number of the transducer it will be connected too Record this information in Table 6 1 for you to records Table 6 1 IFPSMC I...

Страница 61: ...to Figure 6 3 13 Connect the male connector on the transducer cable to the appropriate connector on the front of the IFPSMC box Note The Serial number label on the Transducer must match the serial nu...

Страница 62: ...uals ATI Industrial Automation Attn F T Customer Service Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Phone 1 919 772 0115 Fax 1 919 772 8259 Email ft_support ati ia com NOTICE Please read the...

Страница 63: ...aused by mechanical vibrations and electrical disturbances possibly from a poor ground It can also indicate component failure within the system Make sure the unit is grounded properly and the area is...

Страница 64: ...d its IFPS or PS box voltages sent to the DAQ card from the box will be forced to a saturation level 2 The T out signal outputs a voltage that is either 1 54V if no temperature reader circuit is insta...

Страница 65: ...mpatibility The ATI products meet the requirements for the following EMC standards for electrical equipment for measurement control and laboratory use Emissions EN61326 1 2013 EN55011 2009 A1 2010 EN6...

Страница 66: ...g RKC 11 9 2011 03 ECO12894 RoHS update ELB 12 16 2014 B 1 1 5 1 1 REVISION NOTES UNLESS OTHERWISE SPECIFIED DO NOT SCALE DRAWING DRAWN IN SOLIDWORKS ALL DIMENSIONS ARE IN MILLIMETERS 3rd ANGLE PROJEC...

Страница 67: ...d added leader to connector view LJH 4 15 2014 B 1 1 5 1 1 REVISION NOTES UNLESS OTHERWISE SPECIFIED DO NOT SCALE DRAWING DRAWN IN SOLIDWORKS ALL DIMENSIONS ARE IN MILLIMETERS 3rd ANGLE PROJECTION DRA...

Страница 68: ...ever the number of interface boards 1 included is model dependent Versions for 1 6 boards are available This feature is reserved for factory use only 2 Minimum recommended front panel clearance is 80m...

Страница 69: ...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 authorized by ATI u...

Страница 70: ...the sensor was calibrated to use Newton meters as the torque unit the displacement is measured in meters Rotations RX RY and RZ The rotation about each axis in radians Add Adds the current tool transf...

Страница 71: ...about X in the direction shown see Figure A 2 RY value will rotate X and Z about Y in the direction shown RZ value will rotate X and Y about Z in the direction shown In a tool transformation the order...

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