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Manual, F/T Sensor, Ethernet Axia
Document #9620-05-C-Ethernet Axia-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •
www.ati-ia.com
C-87
13.5
Basic Guidance for Troubleshooting
Basic symptoms of inaccurate data and system errors are listed in the following section. For each symptom,
causes and appropriate solutions are suggested.
Symptom: Noise — jumps in
F/T readings greater
than 0.05% of
full-scale counts.
Cause: Noise can be caused by mechanical vibrations and electrical
disturbances that are possibly from a poor ground. Electrical
interference can also come from a high noise output device
such as a motor.
Solution:
Make sure that the DC supply voltage for the Axia sensor
has little to no noise superimposed. Ground the sensor by
connecting the cable’s shield to ground. In most setups,
0 V is also connected to the ground. Connect the robot or
other fixture to the same ground.
Verify that the sensor cables do not cross over other
cables. Verify the sensor cables are not within close
proximity to other equipment that could generate
electrical noise.
Avoid sources of mechanical noise. If not possible, apply
a filter to the data as described in
Section 5.4—Low-
Pass Filter
. For more information about Noise, refer to
Section 13.6—Reducing Noise .
Cause: Noise can also indicate component failure within the system.
Solution:
Check the status code of the sensor; refer to
Section 5.5—Status Code .
Perform an accuracy check as described in the
applicable ATI sensor manual in
Table 2.1 or in Section
4.5: How do I evaluate the accuracy of health of the
sensor?
in the Frequently Asked Questions (FAQ) ATI
document located at: https://www.ati-ia.com/library/
documents/FT_FAQ.pdf .
If the sensor fails the accuracy check, return the sensor
to ATI for inspection. Contact ATI at
rma-admin@ati-ia.
com
for a Returned Materials Authorization (RMA).
Symptom: Drift — when the
F/T data continues
to increase or
decrease after a
load is removed.
Cause:
Some drift from a change in temperature is normal. Drift is observed
more easily in the Z axis, compared to the X and Y axes.
Solution:
After powering on the sensor, allow the sensor to warm-
up for approximately 30 minutes or until the sensor is at a
steady state with the air and other objects that contact the
sensor. Use the bias command to shift the readings back
to zero. Bias regularly.
Use an insulator between the sensor and any tooling or
fixtures that are at a different temperature. Avoid creating
a temperature gradient across the sensor. Shield the sensor
from excessive air flow.
For more information about how to avoid drift from
temperature change, refer to the following ATI
document:
https://www.ati-ia.com/Library/Documents/
DriftExplanation.pdf
.