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4. Software

The following subsections provide instructions for the installation of the Force Copilot software package. This lets you receive
input from a Force Torque Sensor.

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Section 4.1 explains the use of he FT300-SForce Torque Sensor with TMFlow Software

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Section 4.2 and subsections detail the installation of an open source development package, which can be adapted according to
the users' needs. It currently functions with Windows and Linux.

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Section 4.3 explains the Demo Software

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Section 4.4 will detail the use of serial communication in generic applications

4.1. Use in TMFlow Software

TMFlow offers a few features which can use the FT300 Force Torque Sensor. These features are:

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Touch Stop

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Force Control

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Smart Insert

How to use these various features is explained in the TMFlow user manual.

4.1.1. Adding a FT300 device in a node

In order to use the FT300 in these nodes, you simply need to add the device and select it. This can be done by:

1

Clicking on Choose Device

FT 300-SForce Torque Sensor - Instruction Manual

21

Содержание FT 300-S

Страница 1: ...robotiq com leanrobotics org Original Notice 2021 Robotiq Inc Robotiq FT 300 S Force Torque Sensor for OMRON TM Series Robots ...

Страница 2: ...brationProcedure forVisual Demo Software PC 20 4 Software 21 4 1 Use inTMFlowSoftware 21 4 2 Development Package 25 4 3 Visual Demo Software 29 4 4 Serial Communication 30 5 Specifications 36 5 1 TechnicalDimensions 36 5 2 MechanicalSpecifications 38 5 3 Signal Specifications 41 5 4 ElectricalRatings 42 5 5 Couplings 42 6 Maintenance 44 6 1 Maintenance Intervals 44 6 2 Cable replacement procedure ...

Страница 3: ...ubleshooting 47 8 2 Troubleshooting onotherplatforms 48 9 Harmonized Standards Declarationsand Certificates 49 9 1 OriginalEU Declarationof Conformity 49 9 2 Applied standards 50 9 3 IngressProtectionCertification 51 10 Warranty 53 10 1 Exclusions 53 11 Contact 55 ...

Страница 4: ...atest version of this manual online at support robotiq com 2021 03 01 l Update of the FT 300 Torque Sensor which is now the FT 300 STorque Sensorwith a new design Various sections of this instruc tion manual have been updated relatively to this mechanical change For all information about the FT 300 Torque Sensor please consult the Archives section at support robotiq com Revision2020 04 06 Section ...

Страница 5: ...whether for sale or not without prior written consent from Robotiq Under copyright law copying includes translation into another language or format Information provided by Robotiq in this document is believed to be accurate and reliable However no responsibility is assumed by Robotiq for its use There may be some differences between the manual and the product if the product has been modified after...

Страница 6: ...orque Sensor Info The following section presents key features of the Sensor and must not be considered as being related to Sensor operation Every feature is detailed in the applicable section of the manual Safety guidelines must be read and understood before any operation is attempted with the Sensor The Force Torque Sensor is a robotic peripheral designed for force and torque data acquisition on ...

Страница 7: ...ct point allowed between the Sensor and the robot for fastening the sensor to the robot Note that the inside ring must not touch the robot l Tool Plate is not shown but might be required when certain end of arm tools are mounted on the FT 300 Force Torque Sensor Info Details on the bolt pattern and indexing pin for the tool side and the robot side can be found in the Specifications section l M12 c...

Страница 8: ...ol direction l The X axis traces a symmetric line centered on the connector the positive direction points the opposite way away from the con nector l The Y axis uses the right hand thumb rule according to X Z Tip It is important to understand that the FT 300 SForce Torque Sensor can be used either as a Modbus RTU slave or as a streaming device When use as a slave unit you will send status requests...

Страница 9: ...t or tools l Installation l Control l Maintenance l Inspection l Decommissioning This documentation explains the various components of the Force Torque Sensor as well as general operations regarding the whole life cycle of the product from installation to operation and decommissioning The drawings and photos in this documentation are representative examples and differences may exist between them a...

Страница 10: ...arning l The Sensor needs to be properly secured before operating the robot l Do not install or operate a Sensor that is damaged or lacking parts l Never supply the Sensor with an alternative current source l Make sure all cord sets are always secured at both ends at the Sensor and at the robot l Always meet the recommended keying for electrical connections l Make sure no one is in the robot and o...

Страница 11: ...e software is used for the implementation of a force torque sensor s operational commands in a user interface Info Always comply with local and or national laws regulations and directives on automation safety and general machine safety The unit may be used only within the range of its technical specifications Any other use of the product is deemed improper and unintended use Robotiq will not be li...

Страница 12: ...andard delivery for an FT Sensor kit FTS 300 S OMRON KIT FT 300 SBasic Sensor Unit FTS 300 S SEN 001 1 x Mechanical coupling FTS 300 S CPL 014 1 x 10m High Flex Cable straight connector CBL COM 2073 10 HF 1 x USB to RS485 Adapter ACC ADT USB RS485 1X RS232 to RS485 adapter ACC ADT RS232 RS485 1 x USB Stick ACC USB 16G FT 300 SForce Torque Sensor Instruction Manual 12 ...

Страница 13: ...um operating temperature1 5 C Maximum operating temperature1 40 C Humidity non condensing 20 80 RH Maximum vibration storage transit 5G Maximum vibration operating 2G IP rating IP 652 3 Other l Free from corrosive liquids or gases l Free from explosive liquids or gases l Free from powerful electromagnetic interference 1Refer to the Signal Specifications section for details on temperature compensat...

Страница 14: ...r see figures below 1 Place the provided dowel pin in the robot tool flange hole that is near the camera 2 Mount the mechanical coupling on your robot arm Align marked hole 2 with the dowel pin 3 Secure by inserting the M6 screws and tooth lock washers 4 Mount the Force Torque Sensor on the mechanical coupling 5 Secure by inserting the M4 screws and the Belleville washers with the convex side upwa...

Страница 15: ...FT 300 SForce Torque Sensor Instruction Manual 15 Fig 3 1 Attaching the FT 300 Ssensor to a robot arm using the mandatory coupling ...

Страница 16: ...UPPLY SPECIFICATIONS VALUE Output voltage 5 to 24 V DC Max power consumption 2 W Overcurrent 1 A Fuse Phoenix 0916604 UT6 TMC M 1A Overvoltage protection Warning Maximum output voltage tolerance is 10 exceeding this limit 26 4 V DC could damage the Sensor Info Robotiq recommends the use of the following power supply TDK Lambda DPP Series 15W Single Output DIN Rail Mount Power Supply DPP15 24 ...

Страница 17: ...used in accordance with IEC 61076 2 101 Warning Use propercabling management Be sure to have enough forgiveness in the cabling to allow movement of the Gripper along all axes without pulling out the connectors Always protect the controller side of the cable connection with a strain relief cable clamp Fig 3 2 Pinout of the Robotiq FT 300 SForce Torque Sensor and color code per cable type Info Power...

Страница 18: ...ure below and subsequent directions GND 0V is wired to Sensor pin 1 as stated in the Wiring section The converter will provide you with a standard USB 2 0 male A connector Fig 3 4 Wiring diagram for the RS485 to USB converter Warning Power is not delivered via the USB do not plug 24V into the USB 3 5 2 Wiring with RS232 to RS485 Converter When using a RS232 to RS485 converter refer to the Spare Pa...

Страница 19: ...ot wire converter pin 3 5V on the RS485 The 24V power supply is NOT supplied via the converter The converted side will provide you with a standard DB 9 female connector with signaling as shown in the figure below Fig 3 5 Wiring diagram for RS232 to RS485 converter ...

Страница 20: ... Demo Software PC Info You need the Visual Demo Software installed first Please refer to the Visual Demo Software section for download and installation To calibrate your FT 300 SSensor 1 Go to the Tool Calibration tab and follow the instructions 2 Once completed go to the Sensor Data tab ...

Страница 21: ...unctions with Windows and Linux l Section 4 3 explains the Demo Software l Section 4 4 will detail the use of serial communication in generic applications 4 1 Use in TMFlow Software TMFlow offers a few features which can use the FT300 Force Torque Sensor These features are l Touch Stop l Force Control l Smart Insert How to use these various features is explained in the TMFlow user manual 4 1 1 Add...

Страница 22: ...FT 300 SForce Torque Sensor Instruction Manual 22 ...

Страница 23: ...00 SForce Torque Sensor Instruction Manual 23 2 If no device already exist press the sign on the top right 3 Enter a name for the device and select the model from the list 4 Select the appropriate COM port ...

Страница 24: ...FT 300 SForce Torque Sensor Instruction Manual 24 5 For the FT300 sensor a rotation of 180 must be done around the Zaxis so that the orientation matches the one of the robot ...

Страница 25: ... provided that the following con ditions are met Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution Neither the name of Robotiq...

Страница 26: ...er l obj contains all the object files after they are compiled l Makefile file containing the rules to compile the sensor driver using Make Caution When started the provided software will scan all ports in the system ttySx and ttyUSBx to find a compatible Robotiq device It uses the Linux utility fuser to determine if the port is already opened This section of code can be modified by the user if ne...

Страница 27: ... to the driver Linux bin folder and execute the demo application using the following command rd debian driver Linux bin driverSensor 8 After 1 2 seconds the sensor data should start showing up in the terminal as a vector of 6 floats with data in the Fx Fy Fz Mx My Mz format Fig 4 1 Sensor Data Acquisition Adapt to a User Application In practice the provided source code will be adapted to either be...

Страница 28: ...r using Make Procedure to Compile and Test the Provided Source Code This procedure explains how to install MinGW compile the provided source code and verify that the sensor data is properly read 1 Unzip the package in the desired directory 2 If it is not already installed download MinGW at http www mingw org Download the installer mingw get setup exe 3 Install MinGW by running mingw get setup exe ...

Страница 29: ...re The Visual Demo Software is used to demonstrate the ability of the FT Sensor to read force and moment It is not intended to be used for programming or to save or use data It can also be used to calibrate the Sensor Please refer to the Installationsection for the calibration procedure 4 3 1 Software Package Installation 1 Make sure that you have the latest version of the Visual Demo Software whi...

Страница 30: ... The FT Sensor uses two communication modes Modbus RTU and data stream The Modbus RTU communication mode is used to obtain information on the Sensor like its firmware version The data stream mode is used to obtain data from the Sensor Info It is recommended to use the FT Sensor data stream to obtain faster data acquisition Caution Modbus RTU can be used to obtain data but will result in a slower d...

Страница 31: ...ocs Modbus_over_serial_line_V1_ 02 pdf For debugging purposes the reader is also invited to download one of many free Modbus scanners such as the CASModbus Scanner from Chipkin Automation Systems available at http www store chipkin com products tools cas modbus scanner Info Modbus RTU is a communication protocol based on Big Endian byte order Therefore the 16 bit register addresses are transmitted...

Страница 32: ...s 8 Stop bit 1 Parity None Supported Functions Read Holding Register FC03 Preset Multiple Register FC16 Slave ID 0x0009 9 In Modbus RTU you can obtain the following information Information Register Production year 514 Serial number 510 to 513 Force X N value 100 180 Force Y N value 100 181 Force Z N value 100 182 Moment X Nm value 1000 183 Moment Y Nm value 1000 184 Moment Z Nm value 1000 185 Acce...

Страница 33: ...D 9 09 Request is 09 03 00 B4 00 01 C5 64 Hex format 0x09 0x03 0x00 0xB4 0x00 0x01 0xC5 0x64 Bits Description 09 SlaveID 03 Function Code 03 Read Holding Register 00B4 Address of the first requested register 0001 Number of registers requested 1 C564 Cycle Redundancy Check CRC To get all 6 force torque values at once you need to read 03 six registers 0006 starting with register 180 00B4 in device I...

Страница 34: ...t 0 5s 50 times will ensure that the Sensor stops the stream When the stream is started 16 bytes messages are sent by the sensor at 100Hz using this format 0x20 0x4e LSB_data1 MSB_data1 LSB_data6 MSB_data6 LSB_crc MSB_crc With dataX being a 16 bits signed integer defined as Data Value meaning data1 Fx 100 N data2 Fy 100 N data3 Fz 100 N data4 Mx 1000 Nm data5 My 1000 Nm data6 Mz 1000 Nm The CRC is...

Страница 35: ...00 01 02 02 00 CD CA Hex format 0x09 0x10 0x01 0x9A 0x00 0x01 0x02 0x02 0x00 0xCD 0xCA Bits Description 09 SlaveID 10 Function Code 16 Preset Multiple Registers 019A Address of the first register 0001 Number of registers requested 1 02 Number of data bytes to follow 1 registers x 2 bytes register 2 bytes 0200 Value written to register 0x019A CDCA Cycle Redundancy Check CRC ...

Страница 36: ... details the mechanical specifications l Section 5 3 covers signal specifications data acquisition l Section 5 4 specifies electrical rating l Section 5 5 covers the technical dimensions of the sensor coupling options 5 1 Technical Dimensions Fig 5 1 Robotiq FT 300 SSensor general technical dimensions Info Reminder Measures are in millimeters FT 300 SForce Torque Sensor Instruction Manual 36 ...

Страница 37: ... l Bolt pattern diameter is 50 mm l Mounting holes are M6 thread 6 mm deep l Dowel pin holes for M6 dowel pin has a tight fit H7 and 6 mm deep Info FT 300 Stool side bolt pattern matches ISO 9409 1 50 4M6 A second dowel pin hole is present to allow sensor axes to reflect those of the robot depending on the robot brand used Fig 5 2 FT 300 SSensor tool side bolt pattern ...

Страница 38: ...oximate weight 442 g Overload capacity A combined load exceeding 500 of the measuring range will permanently damage the Force Torque Sensor Fx 300 Fy 300 Fz 300 Mx 30 My 30 Mz 30 500 Outside diameter Ø 89 mm Robot side Ø 75 mm Tool side Thickness 41 5 mm Overall 37 5 mm from robot flange Stiffness Fx Fy 35 X 106 N m Fz 30 X 106 N m Mx My 10 000 Nm rad Mz 20 000 Nm rad ...

Страница 39: ...s the approximate moment of inertia matrix for the FT Sensor taken at the coordinate system origin Fig 5 3 Moment of inertia of the FT 300 SSensor l Here is the approximate position of the center of mass for the FT Sensor Sensor x mm y mm z mm Mass g FT 300 S 6 00 0 13 5 410 Cable mass is not completely considered l Here is the Tool Center Point TCP table for the FT 300 SSensor Sensor x mm y mm z ...

Страница 40: ...r will not undergo permanent damage if the overload capacity is not reached Warning Exceeding the overload capacity will permanently damage the sensor Sensor Measuring range Overload capacity1 FT 300 S 300 N 1500 N 500 2 1Overload capacity with all axes combined 2Maximum load expressed in of measuring range The overload capacity given includes forces and torques in all 3 axes To get an approximati...

Страница 41: ...ise is the standard deviation of the signal measured over a period of one 1 second 2 Specifications included in the Signal Specifications section may vary outside of the temperature compensation range Table 5 1 Signal Specifications Warning Sensor data may be slightly affected by strong electromagnetic fields Caution For more details on minimum maximum operating temperatures please refer to the En...

Страница 42: ...a signal It may come from electrical or electromagnetic sources and degrades the quality of the Sensor s signal 5 4 Electrical Ratings SPECIFICATION VALUE Input voltage 5 to 24 V DC 10 Max power consumption 2 W Communication electrical interface RS 485 Recommended fuse Phoenix 0916604 UT6 TMC M 1 A Recommended power supply TDK Lambda DPP Series 15W Single Output DIN Rail Mount Power Supply DPP15 2...

Страница 43: ...Bolt pattern for coupling FTS 300 S CPL 014 please refer to the Spare Parts Kits and Accessories section is compatible with l 50 mm pitch circle diameter o 4 M6 1 0 button head socket cap screw clearance o 1 M6 dowel pin o ISO 9409 1 standard 50 4 M6 Fig 5 4 Coupling for ISO 9409 1 50 4 M6 ...

Страница 44: ...on Daily Weekly Semiannually Zero calibration X1 Sensor cleaning Dirty conditions Normal conditions Periodic inspection X2 1Zero calibration should be integrated into the program routine This will compensate for the tool weight for its current orientation the effect of the attachment mechanisms on the Sensor and any other factors which could affect the readings It is recommended to add this instru...

Страница 45: ...pigtail cable and the 10m cable 2 Unscrew the sensor cable with a T20 screwdriver not provided 3 Clean the contact surface with a dry cloth 4 Spread the paste supplied on the gasket of the new connector and on the contact surface of the sensor 5 Insert the cable connector into the sensor Tip You may need to apply light pressure for the connector to seat fully 6 Secure the connector with the provid...

Страница 46: ...RON TM Standard Sensor with Coupling for OMRON TM FTS 300 S OMRON KIT Sensor Replacement sensor sensor alone FTS 300 S SEN 001 Coupling for ISO 9409 1 50 4 M6 Coupling for 50 mm PCD1 4 M6 thread and 1 6 mm M6 dowel pin To be used on UR TM and Omron robots FTS 300 S CPL 014 Coupling for ISO 9409 1 31 5 4 M5 Coupling for 31 5 mm PCD1 4 M5 thread and 1 5 mm M5 dowel pin FTS 300 S CPL 029 Coupling for...

Страница 47: ...ware offset before starting to use the sensor data such that the robot software uses a proper and consistent reference 8 1 2 Procedure to determine if the Sensor isfunctional l Verify that the Sensor is connected according to the Installation section of this manual l Power off the Sensor and then connect the provided USB RS485 converter to a USB port of a Windows PC l In the Windows PC open the De...

Страница 48: ...ter has a latency setting of 16 ms in Windows 1 ms in Linux which will prevent the applic ation software from receiving new messages at 100 Hz it will often read two sensor messages in the buffer at the same time l In the Windows Device Manager right click on the virtual COM port for the Sensor and select Properties In the Port settingstab click on Advanced Adjust the latency timer to 9 ms it is n...

Страница 49: ...FT 300 SForce Torque Sensor Instruction Manual 49 9 Harmonized Standards Declarationsand Certificates 9 1 Original EU Declaration of Conformity ...

Страница 50: ...pplied and the aim is to define normal safety and performance requirements for similar products Info Conformity of the product is only met if all instructions of the following manual are followed Among others installation safety measure and normal usage must be respected The following standards have been applied EN 61000 6 2 2016 Generic standards Immunity standard for industrial environments EN 6...

Страница 51: ...FT 300 SForce Torque Sensor Instruction Manual 51 9 3 IngressProtection Certification ...

Страница 52: ...FT 300 SForce Torque Sensor Instruction Manual 52 ...

Страница 53: ...conditions occurs l The Sensor feedback is not accessible l Sensor signal noise is over twice the specified limit Caution The warranty will become null and void if the l Unit has been tampered with repaired or worked on by unauthorized individuals l Warranty sticker has been removed l Screws other than as explained in this guide have been removed l Unit has been opened l Unit serial number has bee...

Страница 54: ...sulting from improper use or installation normal wear and tear accident abuse neglect fire water lightning or other acts of nature causes external to the product or other factors beyond Robotiq s control It also excludes all consumable parts such as suction cups and their normal wear ...

Страница 55: ... 2788 Outside USand Canada Technical Support Option 3 Sales Option 2 Head Office Robotiq 966 chemin Olivier Suite 500 Lévis Québec G7A 2N1 Canada Where automation Pros come to share their know how and get answers dof robotiq com FT 300 SForce Torque Sensor Instruction Manual 55 ...

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