Robotiq FT-150/300 Sensor
Instruction Manual
Robotiq inc. © 2016
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1.
2.
1.
Tip
It is recommended to load the program "sensor_template" in the "sensor" folder and modify it
there to simplify the sensor integration. The program initializes the sensor variables (required to
be used globally), runs a script, which starts a thread for reading the sensor data and updating
the variables. The script also contains some subprograms to interact with the sensor data.
Info
The sensor data is available for the following variables: Fx, Fy, Fz, Mx, My, Mz. When a variable
list is shown (for example when programming an "IF" statement), they will be available in the
scroll box. The variables are floats with force being in Newtons (N) and moment being in
Newtons-meters (Nm). The variables are updated automatically by the sensor thread.
Tip
Calibrating the zero of the sensor is essential to compensate for tool weight and other factors
that could affect the readings. It is recommended to use the "rq_set_zero" subprogram in the
program to set the readings to zero before applying/measuring force or torque. Use the
"rq_set_zero" subprogram when no force is applied on the sensor and with the same orientation
you want to use for further readings.
4.4 ActiveDrive toolbar for Universal Robots
Robotiq ActiveDrive toolbar is an add-on software package to enhance guiding mode on Universal Robots. It allows
the robot to be moved smoothly and easily to a waypoint. ActiveDrive works on UR robots with CB3 and CB3.1
controllers using Polyscope version 3.2 or later, with Robotiq’s FT 150 and FT 300 Force Torque Sensors.
guides you through the installation of the ActiveDrive
gives you an overview of possible troubleshooting messages
4.4.1 ActiveDrive installation
Tip
Make sure your
of Polyscope is up-to-date and your controller is compatible with the
version
for the compatibility matrix).
Prior to installing the ActiveDrive toolbar :
Install the Sensor driver package for Universal Robots (see
)
Follow the calibration procedure for Universal Robots (see
To install the ActiveDrive toolbar :
The Robotiq ActiveDrive toolbar can be downloaded at :
