ROBOTIQ FT 150, Инструкция по эксплуатации

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Robotiq FT-150/300 Sensor Instruction Manual
Robotiq inc. © 2016 60
messages in the buffer at the same time).
In the Windows Device Manager, right click on the virtual COM port for the Sensor and select "Properties". In
the "Port settings" tab, click on "Advanced". Adjust the latency timer to "9 ms" (it is not recommended to lower
it too much in Windows since other connectivity issues may arise), then click "ok".
In Linux, the Serial Port cannot be Opened
By default, a user does not have access to the serial ports.
It is possible to provide this access by adding the user to the dialout group with the following command:
rd@debian:~/$ sudo usermod -a -G dialout username
An Offset has Appeared in the Sensor Data
A small offset can be caused by the attachment efforts of the Sensor (if the 4 hole pattern on the robot side is
not precise enough). These imprecisions can distort the readings taken from the casing of the Sensor.
An offset can also be caused if the sealing o-rings are displaced during an overload.
These offsets do not account for a decalibration of the Sensor as they are in fact recognized as effort applied
to the Sensor. Any additional force applied on the tool side of the Sensor will be read normally.
In all cases, it is recommended to have a software offset which compensates for these variations in addition
to the effort caused by the tool weight for a given orientation. It is preferable to set the software offset before
starting to use the sensor data such that the robot software uses a proper and consistent reference.
9. Warranty
Robotiq warrants the Force Torque Sensor FT 150 / FT 300 against defects in material and workmanship for a
period of one year from the date of reception when utilized as intended with the specified maintenance. Robotiq also
warrants that this equipment will meet applicable specifications under normal use.
Warranty applies under the following conditions:
Usage respects the operating, transporting and storage conditions specified in Section 3.2
Usage under normal one-shift operation (40h a week)
Usage respects maintenance specified in
Section 6
During the warranty period, Robotiq will repair or replace any defective product, as well as verify and adjust the
product free of charge if the equipment should need to be repaired or if the original adjustment is erroneous. If the
equipment is sent back for verification during the warranty period and found to meet all published specifications,
Robotiq will charge standard verification fees.
The unit is considered defective when at least one of the following conditions occurs:
The Sensor feedback is not accessible.
Sensor signal noise is over twice the specified limit.