Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-09
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14.7 Detecting Sensitivity Changes
Sensitivity checking of the sensor can also be used to measure the Ethernet Axia sensor’s condition.
Apply known loads to the sensor and verify the system output matches the known loads. For example, a
sensor mounted to a robot arm may have an end-effector attached to it. Use the following process to set a
sensitivity value:
1.
If the end-effector has moving parts, they must be moved to a known position.
a.
Place the robot arm in an orientation that allows the gravity load from the end-effector to exert load
on many sensor output axes.
2. Record the output readings.
3.
Position the robot arm to apply another load, this time causing the outputs to move far from the
earlier readings.
4. Record the second set of output readings.
5. Find the differences from the first and second set of readings.
6.
Use the differences as a sensitivity value.
Even if the sensitivity values vary from sample set to sample set, these values can be used to detect gross
errors. Either the resolved outputs or the raw sensor voltages may be used (the same must be used for all
steps of this process).
14.8 Improving Ethernet Throughput
In an optimum network setup, the sensor’s RDT data arrives at the host computer with no loss of data. If
data samples are lost, consider the following:
14.8.1 Direct Connection between Axia Ethernet and Host
To achieve the best Ethernet performance (and avoid the loss of data packages), connect the sensor
directly to the host computer. If using a switch, then try to use only one switch between sensor
system and host. Avoid going through several switches or going through a hub.
14.8.2 Choice of Operating System
The Windows
®
operating system periodically performs housekeeping processes that can require a
significant amount of processing power over a short amount of time. During these intervals, a loss
of data can occur because Windows does not treat UDP data with a high enough priority. If a loss of
data is not acceptable for the application, then use a real-time operating system.
14.8.3 Increasing Operating System Performance
The following items may also help increase the performance of a computer system so that it can
best respond to the Ethernet Axia’s fast data rates:
•
Disable software firewall.
One way to improve the Ethernet performance is not to have any
software firewall activated. In some cases, this may require help from IT personnel.
•
Disable file and printer sharing
. File and printer sharing can slow down an operating system’s
response to Ethernet data and may lead to lost data.
•
Disable unnecessary network services.
Unnecessary network services and protocols can slow
down an operating system’s response to Ethernet data and may lead to lost data.
•
Use an Ethernet traffic snooper.
An Ethernet traffic snooper can detect that there are processes
using up Ethernet bandwidth and potentially slowing down the response of a computer’s
operating system. This is an advanced technique that your IT department may need to perform.
The free software program Wireshark (
) is commonly used for this type
of investigation.
•
Use a dedicated computer
. A dedicated measurement computer isolated from the company
network is not burdened by the company network processes.
