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Manual, F/T Sensor, Serial Axia
Document #9610-05-Serial Axia-05

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •

CAUTION:

Do not cable ties or zip ties to bundle cables or restrain the cable to the

robot arm. Directly affixing cable ties or zip ties to the cable jacket will prevent power

and signal communication between the F/T sensor and robot controller. Use hook
and loop or Velcro straps on the cable jacket surfaces. Examples of the incorrect and
correct methods to restrain or bundle cables are in the following pictures:

USE

Velcro

straps to restrain

the cable around the robot arm.

DO NOT

USE

zip ties to restrain

the cable around 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:

When routing the cables, do not bend less than the minimum bending

radius specified in

Table 3.1

. A bend radius too small causes the cable to fail from

fatigue of the robot’s repetitive motion.

Table 3.1—Sensor Cable Bending Radius and Dynamic Twist Angle

Cable Part Number

Cable

Diameter

mm (in)

Static

Bending

Radius

(at room

temperature)

Dynamic

Bending

Radius

(at room

temperature)

Dynamic Cable Twist

Angle per Unit Length

9105-C-ZC33-ZC34-XXX

6.2 (.24)

1.3

2.5

180°/m or 55°/ft

Notes:

Temperature affects cable flexibility. ATI recommends increasing the minimum dynamic bending radius for

lower temperatures.

Содержание 9105-NET-axia80

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

Страница 2: ...nc Apex North Carolina USA All Rights Reserved Published in the USA In consideration that ATI Industrial Automation Inc ATI products are intended for use with robotic and or automated machines ATI doe...

Страница 3: ...o Section 4 8 Status Code For the system s response to the status command refer to Section 5 13 Status Command status 5 Computer and software information operating system PC type drivers application s...

Страница 4: ...Manual F T Sensor Serial Axia Document 9610 05 Serial Axia 05 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com 4 Statement of Compliance...

Страница 5: ...oving the Sensor from the Robot 24 3 5 Pin and Wire Assignments for Serial and Power Connection 25 3 5 1 Pin Assignment for the 6 pin M8 Male Connector on the Sensor 25 3 5 2 Pin Assignment for Cable...

Страница 6: ...ias Commands on off values 48 5 5 Peak Command peak 48 5 6 Peak Reset Command peak reset 49 5 7 Save All Command saveall 49 5 8 Set Command set 49 5 9 Write set Commands 53 5 9 1 Message Command set m...

Страница 7: ...Axis w command 62 6 6 2 Set the ADC Sample Rate a command 63 6 6 3 Set the IIR Filter Shift Value f command 63 6 6 4 Set the Calibration Value c command 63 6 6 5 View the Current Output Bit or Calibra...

Страница 8: ...mass x acceleration FS Full Scale FT or F T Force and Torque Fxy The resultant force vector comprised of components Fx and Fy Hysteresis A source of measurement error that is caused by the residual ef...

Страница 9: ...component that converts a detected load into electrical signals Status Bit A unit of computer data sent from the ATI F T sensor Status Word The status code Tool Adapter Plate TAP The surface of the se...

Страница 10: ...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 11: ...r more information refer to the customer drawings on the ATI website CAUTION Probing openings in the sensor causes damage to the instrumentation Avoid prying into the openings of the sensor CAUTION Do...

Страница 12: ...ation The sensor is IP64 rated A M8 6 pin male connector is for power and signals For the pin assignments refer to Section 3 5 Pin and Wire Assignments for Serial and Power Connection For available ca...

Страница 13: ...d of interfacing with the sensor for transmitting and receiving data on demand refer to Section 2 2 Sync Functionality Overview for more information 2 The X in the part number represents cable length...

Страница 14: ...ivation of the sync function the sensor outputs the most recently collected data point which is equivalent to the output from the s command Section 5 3 Query Commands s or c sent over a RS 485 cable i...

Страница 15: ...Failure to follow proper grounding procedures could damage the sensor CAUTION Do not apply excessive force to the sensor and cable connector during installation or damage will occur to the connectors...

Страница 16: ...wel 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 interf...

Страница 17: ...lications 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 dama...

Страница 18: ...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 especiall...

Страница 19: ...zip ties to restrain the cable around 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 tightenin...

Страница 20: ...ts Screws must have a minimum thread engagement length of 4 5 mm and a maximum thread engagement less than the threaded depth that is listed in the customer drawing Unless otherwise specified apply Lo...

Страница 21: ...for monitoring the status of the sensor For the Serial Axia Sensor LED outputs refer to Section 4 2 LED Outputs on the Serial Axia Sensor For the USB cable LED outputs refer to Section 4 3 LED Output...

Страница 22: ...ereo Audio Jack Plug Sensor cable to the customer application USB cable to the Axia Serial sensor 6 After connecting the USB plug to the customer application or computer the operating system obtains t...

Страница 23: ...Ports COM LPT the Serial Axia sensor is assigned a COM port Figure 3 9 Device Manager 8 To send commands through the USB cable set up a serial console refer to Section 3 6 Setting Up Communications w...

Страница 24: ...mer tooling and or interface plate remove the customer supplied screws that attach to the customer tooling to the sensor 4 Supporting the sensor use a 4 mm hex key to remove the 6 M5 socket head cap s...

Страница 25: ...4 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 inputs are plugged in reverse then the reverse polarity protection stops the inc...

Страница 26: ...line Serial commands are covered in Section 5 Serial Commands and Section 6 Serial Axia Sensor Robot Mode For additional instructions on setting up a serial console like PuTTY refer to the following p...

Страница 27: ...et the Connection Type to Serial b In the Serial Line field enter the assigned COM port from step 2 c In the Speed field enter the default baud rate of 115200 or the baud rate to which the user has se...

Страница 28: ...19 772 8259 www ati ia com 28 e After a terminal window opens the user can then start entering commands f After a command is entered from Section 5 Serial Commands or Section 6 Serial Axia Sensor Robo...

Страница 29: ...d 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 sources...

Страница 30: ...or 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 lar...

Страница 31: ...r in the environment does not exceed the IP64 rating of the sensor 4 2 LED Outputs on the Serial Axia Sensor The sensor provides 3 LED units for Link Activity L A Diagnostic DIAG and Status Each of th...

Страница 32: ...ls the health status of the sensor as follows Table 4 4 Sensor Status LED LED State Description Off The sensor is powering up and checking STATUS Red Indicates an error in the STATUS word refer to Tab...

Страница 33: ...ta at 7 000 Hz the customer may want the Axia to be outputting data to the network at 7 000 Hz as well even though the sensor is not sampling that quickly internally If the sample rate is faster than...

Страница 34: ...ation 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 Fil...

Страница 35: ...tion 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 Filter...

Страница 36: ...000 Hz 373 Hz 958 Hz 2000 Hz 935 10 Hz 364 04 Hz 169 52 Hz 81 24 Hz 39 84 Hz 20 31 Hz 9 37 Hz 5 47 Hz Frequency Attenuation 4 6 Bias Biasing is useful for eliminating the effects of gravity tool weigh...

Страница 37: ...es 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 Ry 180 rotation Rz...

Страница 38: ...ation 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 rotate...

Страница 39: ...t 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...

Страница 40: ...Changing the ADC sampling rate Any ADC ISR overrun No 4 Reserved Yes 5 Other error bit This bit is set whenever an error other than those specified in this table exists Yes 6 to 15 Reserved Yes 16 to...

Страница 41: ...ted ranges that are used in the preceding equations For Example An Axia80 M20 sensor that uses calibration range 0 is subjected to the following loads and has the following calibration ranges Table 4...

Страница 42: ...17 Feb 21 2018 14 03 20 BL 3 Enter most commands without operands to display current status BIAS ON OFF values Control user bias PEAK View set clear peak values SET Print all fields SET field name Pr...

Страница 43: ...ost commands without operands to display current status BIAS ON OFF values Control user bias PEAK View set clear peak values SET Print all fields SET field name Print matching field s SET field name v...

Страница 44: ...5 Nm 0 0783 Nm 0 9159 Nm user holds another key such as Enter and waits for the data transmission to stop No return data 5 3 1 Converting Counts Per Force Torque to FT Values To obtain the real force...

Страница 45: ...ling or dividing the count value by the cpf or cpt Refer to Section 5 3 1 Converting Counts Per Force Torque to FT Values Counts or Units c The XYZM data is displayed in counts u The XYZM data is disp...

Страница 46: ...cifies printing torques whenever an x y z or m is seen from now on on this line c The X specifies printing Tx d The Y specifies printing Ty 3 S D0123 is interpreted as user s d01234567 response 246123...

Страница 47: ...out of range 0x88000000 28 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 differen...

Страница 48: ...ears the bias bit Also the user can bias the sensor with user determined values bias command format for turning the feature on or off user bias on response BIAS ON bias command format for turning the...

Страница 49: ...2147 484 1350 000 1350 000 Tx Nm 2147 484 2147 484 30 000 30 000 Ty Nm 2147 484 2147 484 30 000 30 000 Tz Nm 2147 484 2147 484 30 000 30 000 5 7 Save All Command saveall The saveall command records a...

Страница 50: ...ax Fx Counts Read The maximum rated value for this axis in F T counts 214748647 32 bit unsigned integer max1 Max Fy Counts max2 Max Fz Counts max3 Max Tx Counts max4 Max Ty Counts max5 Max Tz Counts f...

Страница 51: ...51 peakNeg4 PeakLoadsNegTy 12854 peakNeg5 PeakLoadsNegTz 0 sensorHwVer N A Read The version of the sensor hardware 0 16 bit integer adcRate N A Read and Write The ADC update rate in Hz The ADC rate mu...

Страница 52: ...oduct code HW Product Code String 20 hwRev The hardware revision number 0 16 bit integer ttdu N A Read and Write Tool transformation distance units 0 in 1 ft 2 mm 3 cm 4 m 0 8 bit integer ttau Tool tr...

Страница 53: ...s 0 does not print unprompted messages set msg read and write command format for example user set msg response Field Value msg 1 user set msg 0 response msg was 1 now 0 5 9 2 RDT Sample Rate Command s...

Страница 54: ...nd set calib The user can set the calibration range where 0 Calibration Range 0 1 Calibration Range 1 The values within the ranges are listed in Table 8 3 set calib read and write command format for e...

Страница 55: ...e ttdu 1 user set ttdu 0 response ttdu was 1 now 0 5 9 8 Tool Transform Angle Units Command set ttau The user can set the units for the tool transformation angle where 0 degrees 1 radians set ttau rea...

Страница 56: ...trx 30 response ttrx was 0 now 30 5 9 11 Baud Rate Command set baud The user can set the baud rate of the sensor The baud rate must be a value from 300 to 3000000 set baud read and write command forma...

Страница 57: ...ction 4 2 4 Sensor Status LED simerr read command format for example user simerr response SIMERR ON simerr write command format for example user simerr off response SIMERR OFF 5 11 View Calibration Co...

Страница 58: ...the values in Section 9 3 Calibration Ranges Use Section 5 13 Status Command status for troubleshooting diag command format user diag response Gage Counts Axis Units F T AllPeak AllPeak ToolTransform...

Страница 59: ...bytes UART 115 4 KHz RX faults 1 SPI ADC 14 0 MHz SPI EEPROM 14 0 MHz MCU Clock Good 168 0 MHz MCU Part Good PIC32MZ2048EFH064 A1 S N 7fedd880 39c4fb9a MCU FPU ID a7 REV 32 UFRP 1 FC 1 HAS08 1 F64 1 L...

Страница 60: ...user types the character for example r the software recognizes the input command and outputs data The console does not echo or show the command the user has entered 6 1 Enter and Exit Robot Mode m co...

Страница 61: ...ters s response 0FFFF000000000000FFFFFFFF 1FFFF000000000000FFFFFFFF 2FFFF000000000000FFFFFFFF 3FFFF000000000000FFFFFFFF 4FFFF000000000000FFFFFFFF 5FFFF000000000000FFFFFFFF 6FFFF000000000000FFFFFFFF 7F...

Страница 62: ...example Fx FFFF 15 2588 1 15 2588 0 06554 N Fy 0000 15 2588 0 15 2588 0 N Fz 0023 15 2588 35 15 2588 2 2938 N Tx 0000 15 2588 0 15 2588 0 N Ty 0000 15 2588 0 15 2588 0 N Tz 0000 15 2588 0 15 2588 0 N...

Страница 63: ...the character f and an index value from 0 to 8 The value is saved to NVM Refer to Section 4 5 Low Pass Filter for more information about filtering For example the user enters f0 response Parameters s...

Страница 64: ...wers to some issues that might arise when setting up and using the Serial Axia The question or problem is listed followed by its probable answer or solution They are categorized for easy reference The...

Страница 65: ...he sensor is correctly installed Ensure the robot mounting and tool adapter plates are installed on the proper side of the sensor Refer to Section 3 Installation for more information Either the Force...

Страница 66: ...not return quickly and completely to their original readings Hysteresis is caused by mechanical coupling explained in cause for drift or internal failure Use the bias command to shift the readings ba...

Страница 67: ...end effector has moving parts they must be moved in 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...

Страница 68: ...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 inputs are plu...

Страница 69: ...emale A Coded M8 Connector and USB Type A Plug Parameter Value Voltage Rating 12 30 V IP Rating IP67 When the M8 connector is attached IP50 USB connector Operating Temperature Range Min Max 5 C to 70...

Страница 70: ...ction 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 autho...

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