ATI Technologies Wireless F/T WNet-6 Скачать руководство пользователя страница 1

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Engineered Products for Robotic Productivity

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: [email protected]

Wireless Force/Torque Sensor System

Installation and Operation Manual

Document #: 9620-05-Wireless FT-03

May 2014

Содержание Wireless F/T WNet-6

Страница 1: ...ty Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com Email info ati ia com Wireless Force Torque Sensor System Installation and Operation Manual...

Страница 2: ...ithin 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 indirect threat of injury or dea...

Страница 3: ...y 11 2 10 Controls and Indicators 11 2 10 1 Power Button 11 2 10 2 Power Button Indicator 11 2 10 3 Transducer Status Indicators 12 2 10 4 Wireless Status Indicator 12 2 10 5 Battery Status Indicator...

Страница 4: ...acement 45 6 2 1 Charging Battery Internally 45 6 2 2 Charging Battery Externally 45 7 Troubleshooting 46 8 Serviceable Parts 46 9 Specifications 47 9 1 Wireless Characteristics 47 9 2 Power Requireme...

Страница 5: ...matically assigned by the DHCP protocol IPv4 Internet Protocol version 4 IPv4 is a standard used for specifying the electronic address of an Ethernet device The Wireless F T supports only IPv4 MAC Add...

Страница 6: ...and the method for avoiding the situation NOTICE Notification of specific information or instructions about maintaining operating installation or setup of the product that if not followed could resul...

Страница 7: ...up the Wireless F T system adhere to the minimum bend radius Bending the cables tighter than the minimum will cause damage to the cable Refer to the F T Transducer manual 9620 05 Transducer Section fo...

Страница 8: ...time motion control or user defined signal processing The device is equipped with a slot for a MicroSD card the card can be used to collect and store data Transducer calibration settings can be downlo...

Страница 9: ...ximately two hours at full measurement rate with all three transducers enabled The battery life can be extended at lower rates and or by disabling one or more transducers Figure 2 2 Wireless F T WNet...

Страница 10: ...battery life can be extended at lower rates and or by disabling one or more transducers Figure 2 3 Wireless F T WNet 6 External Power Adapter Removable Battery USB Cable TW Transducer Transducer Seria...

Страница 11: ...ors 2 8 Removable Belt Clip The Wireless F T unit has a removable belt clip for easily mounting and removal from human or humanoid robot applications 2 9 Removable Battery A rechargeable lithium polym...

Страница 12: ...o connect to an Access Point Steady Red Indicates the unit is connected to an Access Point and an error has been recently detected Flashing Red Indicates the wireless subsystem is recovering from a lo...

Страница 13: ...rnal power adapter refer to Section 3 3 External Power Adapter Installation 3 Attach the antenna to the Wireless F T Unit 4 Ensure each Transducer and the corresponding Wireless F T connector are labe...

Страница 14: ...Fixed Installation To install the Wireless F T in a fixed location refer to Section 11 Drawings for details on the threaded insert hole pattern dimensions The location of the Wireless F T is important...

Страница 15: ...priate device press the Connect button 4 If your device is not already connected to the appropriate network you can use the Network SSID tab to select from a list of networks the device found while po...

Страница 16: ...and close the window NOTICE The Changes will not take effect until AFTER the Wireless F T has been reset Do this by pressing the power button on the side of the device for two seconds to power off Pr...

Страница 17: ...odworth Drive Apex NC 27539 USA Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com Email info ati ia com 17 3 6 Starting the Wireless F T Java Demo Application Locate the WirelessFTJavaDemo jar file...

Страница 18: ...currently on the network Once you have selected your Wireless F T press the Connect button The application will immediately begin displaying streaming data from the Transducers connected to the Wirel...

Страница 19: ...3 8 2 Collecting and Storing Data on a PC or Network File To collect data to a file enter the path and file name or click the button to the left of the field and select an existing file or enter the n...

Страница 20: ...T and Monitoring Data to monitor the transducer during installation CAUTION Do not exceed the single axis overload value of the transducer Smaller transducers can easily be irreparably damaged by appl...

Страница 21: ...ver uses binary format for commands and responses All multi byte values use big endian which is the same as network order 5 3 UDP Command Format All UDP commands to the WNET unit have the following fo...

Страница 22: ...rters from the Analog Board one time and prints the results For example Tr Ch ADC Raw 1 0 12976 1 1 25950 1 2 31035 1 3 0 1 4 0 1 5 0 2 0 12971 2 1 25940 2 2 31024 2 3 0 2 4 0 2 5 0 3 0 12961 3 1 2592...

Страница 23: ...referenced to VREF 2 0 1 V 1 2 Bipolar INx referenced to COM VREF 2 0 1 V 3 Temperature sensor 4 Unipolar differential pairs INx referenced to GND 0 1 V 5 6 Unipolar INx referenced to COM GND 0 1 V 7...

Страница 24: ...y Charger Detect yes or no g generated battery level 0 to 10 h Basis of the battery charge estimate method voltage or current i Battery Charger status message j USB current limit USBILIM mA k battery...

Страница 25: ...LT No Fault BAD_CELL No Fault BC 5 ff NTCVAL Temperature 127 19 C NTC_WARNING Too Warm or Too Cold to Charge BC 6 00 ENABLE_CHARGER_INT Disabled ENABLE_FAULT_INT Disabled ENABLE_EXTPWR_INT Disabled EN...

Страница 26: ...the Active Transducer and Active Calibration CAL OFFSET Row 0 7 0 65535 Change Active offset This command allows you to set the offset for any or all of the 6 strain gages and also the two unused cha...

Страница 27: ...e Active Calibration for each Transducer and which Transducer is currently active Tr Active Calibrations 1 0 Active Transducer 2 0 3 0 G channel 0 5 gain 0 1023 Change Active Gain This command allows...

Страница 28: ...Ad Tr Temperature Voltage Current Processor Good 49 5 C SDCARD Good SSI0 Serial Flash Good SSI0 Battery NTC 19 0 C Battery Charger Good I2C0 64 Gas Gage Good I2C0 09 39 8 C 3540 mV WLAN Module Good SS...

Страница 29: ...1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 0 0000 0005 0200 0200 0007 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 810b 1 1 0003 0004 0200 0200 0000 0000 0000 0000 0000 0000 0000 0000 0000...

Страница 30: ...s you to enter data into a file as hex characters Hex characters should be entered as whole bytes only i e only enter pairs of hex characters New data is appended onto the end of existing files To wri...

Страница 31: ...age 34752 45 C GG O 98 Temperature threshold high 152 83 C GG P 63 Temperature threshold low 99 41 C GG reg A P hex byte write a Gas Gage register This command allows you to modify any writable Gas Ga...

Страница 32: ...atic control For example LED1 0 0x51 Board Port Value Mode 0 LED1 51 TEST output 0 LED2 22 AUTO output 0 PWR 3f AUTO output LED2 board 0 1 byte AUTO Write byte to LED2 on the selected Analog Board Thi...

Страница 33: ...ilter Taps TC 1 MEAN 32 2 MEDIAN 31 3 MEDIAN 15 4 IIR 32 5 IIR 64 6 IIR 128 FILTER S This command displays statistics on how long it is taking to generate packets This includes the time that filtering...

Страница 34: ...a packet s IP address with the subnet mask and the result is the same as the original IP address the IP address is in the local subnet If the result is different from the original IP address the IP a...

Страница 35: ...up PB4 1 MODE_SEL0 GPIO Out 2 mA Push pull PB5 0 GPIO In 2 mA Analog comparator PB6 0 BUTTON GPIO In 2 mA Push pull weak pull down PB7 0 GPIO In 2 mA Analog comparator RATEADC rate 5 4000 Hz Set ADC r...

Страница 36: ...le through Telnet RESTIP Restore all IP settings to factory defaults This command restores all IP settings to the factory defaults Any changes take effect with the next Join to an Access Point RSSI di...

Страница 37: ...ECC 0 R2W_FACTOR 4 WRITE_BL_LEN bytes 512 WRITE_BL_PARTIAL 0 CONTENT_PROT_APP 0 FILE_FORMAT_GRP 0 COPY 1 PERM_WRITE_PROTECT 0 TMP_WRITE_PROTECT 0 FILE_FORMAT 0 ECC 0 C_SIZE 60 872 Sectors 62 333 952 C...

Страница 38: ...i c 0000d0 ffff ffff ffff ffff ffff 0000 ffff ffff 0000e0 4d55 5349 4330 7e31 2020 2010 000f 238b MUSIC0 1 0000f0 0a37 0a37 0000 238b 0a37 0500 0000 0000 7 7 7 000100 4176 0069 0064 0065 006f 000f 000...

Страница 39: ...rrent path on the MicroSD For example Directory of 0 ATI 2010 01 01 00 06 DIR 2010 01 01 00 06 DIR 2010 01 01 00 56 4 ATI ini 2010 01 01 00 49 66 446 898 F2 dat 2010 01 01 01 21 20 995 230 F3 dat 2010...

Страница 40: ...the storage capacity of the card As the WNET unit does not contain a file system repair utility lost clusters may be repaired either by formatting the card using the SD FORMAT command which will cause...

Страница 41: ...0 000 000 Hz 5 8 000 000 Hz SSID case sensitive string Set SSID This command allows you to view and set the SSID The new SSID will be effective after the next Join to an Access Point An SSID is the na...

Страница 42: ...tting ADC Input for this Transducer connected to OFF Normal sensor input ZERO Zero signal 2 5V 0x8000 DAC DAC Channel 6 for this Transducer Set DAC channel 6 output procedure for one Transducer a Set...

Страница 43: ...Mode WLAN ON OFF Turns WLAN Module power WIFI_PWREN on or off This command controls the WIFI_PWREN bit to the WLAN Module on the Digital Board The WLAN OFF command also turns off transmission of the r...

Страница 44: ...FE is on and the external Transducer is off The WNET reduces power surges by turning power on gradually When you issue this command for a Transducer 1 If Transducer ON or BRIDGE only was selected and...

Страница 45: ...ule More than 1 per minute Weekly Less than 1 per minute Monthly Cabling Visually inspect the power supply and transducer cabling for wear or damage If wear or damage is visible replace cabling and ad...

Страница 46: ...nctioning Replace external power adapter Obstruction between Wireless F T and wireless access point Remove obstruction or reposition Wireless F T or the wireless access point to obtain an unobstructed...

Страница 47: ...z 5 0 GHz Typical Range Antenna attached Office Type Environment 30 m 98 ft unobstructed environment 100 m 328 ft Note Only certified with the antenna attached 9 2 Power Requirements Battery Power Int...

Страница 48: ...nt is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmfu...

Страница 49: ...nce de l antenne requise est de 50 ohms Antenne externe bi bande sans fil de la compagnie Pulse Electronics num ro de pi ce W1043 IMPORTANT NOTICE IC Radiation Exposure Statement The SAR limit for Nor...

Страница 50: ...irose HR25 7TR 8SA 73 Rev Description Initiator Date 03 Changed antenna Updated dimensions Changed to MicroUSB port from MiniUSB port Updated description LCS 3 13 2014 B 1 2 1 1 REVISION NOTES UNLESS...

Страница 51: ...r Button 6X Transducer Connector Hirose HR25 7TR 8SA 73 Rev Description Initiator Date 02 Updated Description RKC 7 14 2014 B 1 2 1 1 REVISION NOTES UNLESS OTHERWISE SPECIFIED DO NOT SCALE DRAWING ALL...

Страница 52: ...rued 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...

Страница 53: ...0xc5ac 0xd58d 0x3653 0x2672 0x1611 0x0630 0x76d7 0x66f6 0x5695 0x46b4 0xb75b 0xa77a 0x9719 0x8738 0xf7df 0xe7fe 0xd79d 0xc7bc 0x48c4 0x58e5 0x6886 0x78a7 0x0840 0x1861 0x2802 0x3823 0xc9cc 0xd9ed 0xe9...

Страница 54: ...har ch direct calculation version smaller slower unsigned short crc_new unsigned char crc 8 crc 8 crc_new ch crc_new unsigned char crc_new 0xff 4 crc_new crc_new 12 crc_new crc_new 0xff 5 return crc_n...

Страница 55: ...used to configure the wireless F T system Follow the instructions to load the device driver on the computer 2 Find the serial port number used by the Wireless unit by opening Device Manager you can g...

Страница 56: ...ds Serial line to connect to COM5 Enter the Com port the Wireless unit is using Speed baud 115200 Data bits 8 Stop bits 1 Parity None Flow control None Figure 11 2 PuTTy Terminal Program 6 In the Cate...

Страница 57: ...Enter key 9 In the COMx PuTTY Window type t and press Enter key Turns off the wireless connection on the unit 10 Test that the unit is working by entering IP followed by the Enter key This is the IP...

Страница 58: ...GATEIP defaultgateway f SSID ssid Network ssid Is case sensitive g BAND x where x is 2 4 for 2 4 gigahertz or 5 for 5 gigahertz h DESTIP yourcomputersip Figure 11 5 Test the Connection 13 Enter the S...

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