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FT 300 Force Torque Sensor - Instruction Manual

4.2. Development Package

The Robotiq Force Torque Sensor development package can be downloaded at

support.robotiq.com

4.2.1. Distribution License

The development package is distributed under the New BSD license, which is a permissive free software license. In short, the

provided code can be used in any project without any restriction regarding its use (commercial or not). If it is included in a software,

this software does not need to be open-source. However, the code is provided "as is" without any liability from Robotiq and some

restrictions apply regarding the distribution of the code and the use of the Robotiq name.

The terms of the license (included in each source file) are described here:

Software License Agreement (BSD License)

Redistribution and use in source and binary forms, with or

without

modification, are permitted 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

disclaimer in the documentation and/or other materials provided

with the distribution.

- Neither the name of Robotiq, Inc. nor the names of its

contributors may be used to endorse or promote products derived

from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND

CONTRIBUTORS

"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

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Содержание FT 300

Страница 1: ...Robotiq FT 300 Force Torque Sensor Instruction Manual robotiq com leanrobotics org Original Notice 2018 Robotic Inc ...

Страница 2: ......

Страница 3: ...rter 21 3 6 Calibration Procedure 22 3 6 1 Calibration Procedure with Universal Robots 23 Payload CoG 26 3 6 2 Calibration Procedure for the Visual Demo Software PC 27 3 7 Status LED 28 3 8 Installation for Universal Robots 29 3 8 1 URCap Package 30 Installation 30 Firmware upgrade 32 Uninstalling the URCaps Package 33 License Agreement 34 3 8 2 UR Package without URCaps 37 Driver Package Installa...

Страница 4: ...e Torque Sensor s Data in Force Nodes 56 4 2 Development Package 57 4 2 1 Distribution License 57 4 2 2 Linux 59 Package Files Description 59 Procedure to Compile and Test the Provided Source Code 59 Adapt to a User Application 60 4 2 3 Windows 61 Package Files Description 61 Procedure to Compile and Test the Provided Source Code 61 Adapt to a User Application 62 4 3 Visual Demo Software 63 4 3 1 ...

Страница 5: ...n offset has appeared in the Sensor data 80 8 1 2 Procedure to determine if the Sensor is functional 80 8 2 Troubleshooting on Universal Robots 81 8 2 1 ActiveDrive Toolbar troubleshooting Error messages overview 81 8 3 Troubleshooting on other platforms 83 8 3 1 USB converter detected as a mouse by Windows 83 8 3 2 Data frequency under 100 Hz in Windows 83 8 3 3 In Linux the serial port cannot be...

Страница 6: ...evision 2018 02 13 Removed reference to ROS package section 4 3 Revision 2017 12 11 Updated control with Universal Robots section 4 1 and subsections Revision 2017 10 30 Updated mechanical specifications section 5 2 Updated signal specifications section 5 3 Revision 2016 11 18 Updated FT 150 signal specifications section 5 3 Updated installation for Universal Robots section 3 8 and sub sections Up...

Страница 7: ...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 8: ......

Страница 9: ...torque applied on the tool The Sensor is compatible with various tools and provides feedback that can be used for hand guiding a robot force control processes assembly tasks product testing etc Info The following manual uses the metric system unless specified all dimensions are in millimeters Info The following section presents the key features of the Sensor and must not be considered as being rel...

Страница 10: ...te that the inside ring must not touch the robot 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 The screw positioning for the coupling and the robot mountings are shown in orange See the Spare Parts section for a list of available Couplings l M12 connector pigtail or mounted allows for both power and data transfer...

Страница 11: ...available models l Sensor Cable is used for power and communications with the FT 300 Force Torque Sensor and is available in different lengths l Mechanical Protector is meant to protect the cable connector from collisions that can occur when operating the robot especially useful when in teach mode l Tool Plate is not shown but might be required when certain end of arm tools are mounted on the FT 3...

Страница 12: ...tallation l Controle l Maintenance l Inspection l Calibration l Programming 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 b...

Страница 13: ...ion Warning 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 ...

Страница 14: ... on a robot or other automated machinery or equipment 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 liable for any damages resulting from any improper or unin...

Страница 15: ...RS485 3 1 1 Options l Couplings Info Coupling is mandatory for the FT 300 l Adapter plates l Tool plates l Different cable lengths Info The following are not included in delivery unless specified in the purchase l Options such as couplings and adapters for mounting on divers industrial robots l Hardware required for options accessories or fixtures for the FT Sensor unless specified l Power supply ...

Страница 16: ...ironmental conditions CONDITION VALUE Minimum storage transit temperature 25 C Maximum storage transit temperature 70 C Minimum operating temperature 15 C Maximum operating temperature 35 C Humidity non condensing 20 80 RH Vibration storage transit 5G Vibration operating 2G Other l Free from dust soot or water l Free from corrosive liquids or gases l Free from explosive liquids or gases l Free fro...

Страница 17: ...e Parts Kits and Accessories section Info The FT 300 coupling is mandatory you can customize yours from a blank provided by Robotiq Here are the steps to follow for the installation of the Sensor see figure below Note that all screws must be locked in place using medium strength threadlocker such as Loctite 248 or a similar product 1 Align the indexing dowel pin between the coupling and the robot ...

Страница 18: ...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 19: ...ccordance with IEC 61076 2 101 Warning Use proper cabling 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 5 Pinout of the Robotiq Force Torque Sensor FT 300 and color code for the respective cable type Info...

Страница 20: ...ts and Accessories section the wiring must respect the figure 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 6 Wiring diagram for the RS485 to USB converter Warning Power is not delivered via the USB do not plug 24V into the USB ...

Страница 21: ...arts Kits and Accessories section the wiring must respect the figure below Warning Do not 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 7 Wiring diagram for RS232 to RS485 converter ...

Страница 22: ...e re calibrated after each uninstall install on the robot Mounting screws will induce internal stress that needs to be compensated for Not doing so will significantly affect the sensor signal The procedure requires moving the robot in three configurations for which each orientation of the tool is different Using an internal accelerometer the Sensor is then able to associate the measurements corres...

Страница 23: ...l Robots software package installed first Please refer to the Installation for Universal Robots section for the package download and installation 1 From the PolyScope home page tap Program Robot 2 Go to the Installation tab and tap FT Sensor in the left pane The FT Sensor s Dashboard will be displayed Tap the Cal ibration tab ...

Страница 24: ... wizard button to perform the calibration of the FT Sensor Make sure there are no external forces applied to the Sensor while performing the calibration 4 Step 1 consists in moving the robot arm so that the FT Sensor s X axis points downward Tap Continue when the action is done ...

Страница 25: ... downward Tap Continue when the action is done 6 Step 3 consists in moving the robot arm so that the FT Sensor s Z axis points downward Tap Continue when the action is done Info Recalibration is recommended in the event of an error message displaying the incorrect orientation of the FT Sensor during at least one calibration step ...

Страница 26: ...ation is completed They include the mass and center of gravity of the Sensor Caution The mass payload or center of gravity of anything found under the Sensor i e tool changer will not be taken into account in the calculation of the payload Warning Make sure to save the installation file after performing the calibration Saving will record the calibration date and estimate tool parameters ...

Страница 27: ...isual 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 Sensor 1 Go to the Tool Calibration tab and follow the instructions 2 Once completed go to the Sensor Data tab ...

Страница 28: ...tation of both Sensor status LEDs is shown in the figure below On the FT 300 Sensor the cable sleeve is the LED conductor COLOR LED STATE INFORMATION off No power Blue red on FT 300 Sensor is booting Red on FT 300 Sensor is functional no communication detected Red blinking FT 300 Sensor fault detected Blue on FT 300 Sensor is functional communication established Fig 3 8 FT Sensor status LED ...

Страница 29: ... Incompatible Compatible Compatible FT 300 Force Torque Sensor URCaps Package 1 2 includes ActiveDrive toolbar Incompatible Incompatible Incompatible Compatible Refer to the appropriate section depending on your controller version l The URCap Package section covers the installation of the Force Torque Sensor URCaps Package l The UR Package without URCaps section goes through the software installat...

Страница 30: ...ure that your PolyScope version is up to date and that your Universal Robots controller is compatible with the Force Torque Sensor URCap package Refer to the Control with Universal Robots section for the UR controller compatibility l Go to support robotiq com and click on the product page of the FT 300 Sensor l Download the Robotiq_Force_Torque_Sensor X X X urcap file on a blank USB stick l Insert...

Страница 31: ...for the License Agreement l When PolyScope reopens the ActiveDrive toolbar will appear on the screen If the Force Torque Sensor is mounted on the robot for the first time the calibration must be performed Refer to the Calibration Procedure with Universal Robots section for the calibration procedure Warning The sensor must be recalibrated after each uninstall install on the robot Mounting screws wi...

Страница 32: ...page go to Program Robot and tap the Installation tab Select FT Sensor in the left pane and tap the Dashboard button If an upgrade is needed the Upgrade firmware button will display Tap the button and wait for the upgrade to be completed Warning Do not disconnect the Sensor during firmware upgrade l Tap Upgrade firmware Wait while the software is upgraded ...

Страница 33: ...ll the Force Torque Sensor URCap follow this procedure l Go to Setup Robot l Tap URCaps Setup l In the Active URCaps text box tap the Force Torque Sensor URCap l The Sensor URCap should be highlighted l Tap the minus button to uninstall the URCap l Restart PolyScope to complete the uninstallation process ...

Страница 34: ...veloped by the Licensor in the course of the Licensor s Business 6 UR s Products means those products developed by UR in the course of the UR s Business 7 Licensor s Authorized Representatives means and includes the Licensor and Licensor s authorized vendors resellers distributors and licensors 8 Purchase Agreement means an agreement between the End User and the Licensor pursuant to which the End ...

Страница 35: ...LEDGE THAT THE EXISTENCE OF ANY SUCH ERRORS DOES NOT CONSTITUTE A BREACH OF THIS AGREEMENT TO THE EXTENT PERMITTED BY LAW LICENSOR AND LICENSOR S AUTHORIZED REPRESEN TATIVES EXPRESSLY DISCLAIM ALL WARRANTIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTA BILITY AND FITNESS FOR A PARTICULAR PURPOSE UNLESS OTHERWISE STATED HEREIN LICENSOR AND LICENSOR S AUTHORIZE...

Страница 36: ...ught exclusively in a court of competent jurisdiction sitting in the judicial district of Trois Rivières Quebec 3 The Licensor s failure to insist upon or enforce strict performance of any provision of this Agreement shall not be construed as a waiver of any provision or right Neither the course of conduct between the parties nor trade practice shall act to modify any provision of this Agreement 4...

Страница 37: ...nstall the URCap package refer to the URCap Package section Caution Make sure your PolyScope version is up to date and that your controller is compatible with the driver package for UR refer to the Installation for Universal Robots section for controller compatibility To view your PolyScope version go to the home page of the teach pendant and tap the About button A window containing the Universal ...

Страница 38: ... force and torque readings for Fx Fy Fz Mx My and Mz are displayed in the Variables tab Info To get detailed information on how to program in PolyScope using the Force Torque Sensor signals refer to the Using the force and torque values section Removing the Package 1 Locate the uninstall sh file provided in the driver package 2 Copy the file on a blank USB stick 3 Rename the file to urmagic_uninst...

Страница 39: ...t and tap the About button A window containing the Universal Robots software version will pop up Warning Verify that the Force Torque Sensor is aligned with the robot arm using the dowel pin or at least make sure the holes are aligned This ensures that the Sensor s axes are aligned with the robot s and that the ActiveDrive will work correctly To install the ActiveDrive toolbar 1 Visit support robo...

Страница 40: ...ontrol and programmation for Universal Robots l 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 l Section 4 3 links to ROS l Section 4 4 explains the Demo Software l Section 4 5 will detail the use of serial communication in generic applications FT 300 Force Tor...

Страница 41: ...l 41 4 1 Control with Universal Robots The URCap Package contains many features to program and control the robot s arm using the Sensor s force and torque readings The package provides l ActiveDrive toolbar l Path recording node l Driver package ...

Страница 42: ...alled with the URCap Package The ActiveDrive Toolbar can be installed and used without the URCap Package refer to the UR Package without URCaps section for information on how to install the toolbar without the URCap Warning Verify that the Force Torque Sensor is aligned with the robot arm using the dowel pin This ensures that the Sensor s axes are aligned with the robot and that the ActiveDrive fe...

Страница 43: ...e feature on the robot where you can move the robot arm Modes Shows the current ActiveDrive mode When tapping the icon the available modes will appear and you can change to a different mode ActiveDrive modes allow you to restrain the robot to specific movements Free Free motion all translations and rotations are allowed Scara SCARA style motion all translations and horizontal rotation twist are al...

Страница 44: ... slow motion The Force Torque Sensor will switch to slow speed automatically whenever high forces are detected for example during an impact with an object Square robot Aligns the tool center point TCP orientation with the robot base Tap and hold this button to automatically move the end effector to the closest orthogonal orientation of the base axis system just try it you will see ...

Страница 45: ...lied to the end effector If it is the case tap OK and move the robot away from the obstacle with Free Drive or Move tab or remove any external forces and start ActiveDrive again l If no external forces are applied tap Zero Sensor l Message l Solution l Force Torque Sensor is detected Check the Force Torque Sensor s connection Make sure the USB adapter and all the wires are connected Also verify th...

Страница 46: ...l Message l Solution l The speed setting of the robot is lower than 50 The robot s speed setting should be greater than 50 Modify the speed setting in the robot program using the slider l Message l Solution l If the Freedrive button is pressed The ActiveDrive mode cannot be used when the Free Drive mode is ON Make sure you are not pressing on the teach pendant s Teach button when trying to use the...

Страница 47: ...sor functions are made available in the Universal Robots functions drop down menu l The rq_zero_sensor function can be called at any point in a robot program to zero the force and torque values of the Force Torque Sensor l The get_sensor_ functions allow the user to assign the sensor values to any variable ...

Страница 48: ...e and torque values can be seen in the FT Sensor Dashboard After the calibration has been completed go to the FT 300 Dashboard to monitor the force and torque values in real time Prior to using the FT Sensor s data in the framework of a robot program it is recommended to zero the sensor using the Zero sensor button ...

Страница 49: ...ot s end effector Path recording can be used for specific processes requiring complex paths polishing gluing etc or more generally for any useful case that would require programming a high number of waypoints The Path node offers options to modify the recorded path to change its speed and play the path backwards or relative to a variable start position How to add and record a path l Tap Program Ro...

Страница 50: ... l In some instances the parent node requires a processing time before starting l To prevent delays operations found under the BeforeStart node will be executed as soon as the parent node is ready to start l A placeholder Comment node can be found within the BeforeStart node You can either rename it or replace it with another program node Deleting it will prevent you from using the parent node ...

Страница 51: ...ion Warning message is displayed whenever a setting results in a duration different than the original path duration Path recording and visualization Path speed slider Path options Warning section Displayed whenever a setting results in a duration different than the original path duration ...

Страница 52: ...utton While recording a path the only available button is the stop button When the speed of the original recording is modified using the speed slider a warning message appears and the path time and speed information is updated When a path option is selected a warning messages appears and the path time and speed information is updated ...

Страница 53: ... speed linear speed at the tool center point defined by the Path speed slider s position With this option all pauses and hesitations dead times in the path will be removed Enable reverse path If selected the recorded path will be played backwards in the program It can be useful if a path is copied and played backwards resulting in a path played back and forth Enable relative path If selected the p...

Страница 54: ...gh forces are detected for example during an impact with an object Path speed warning Warning Selected options change the speed of the original path recording Displayed whenever a setting results in a duration different than the original path duration When an icon is greyed it means it is unavailable If you tap the record button when a path is already recorded in a node a warning pop up window wil...

Страница 55: ...d of force l The program instructions robot motion logic etc can be added after the accessor_capt script line and you can start build ing the program as it is normally done with PolyScope Info The Sensor s data returns 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 float...

Страница 56: ...Sensor s Data in Force Nodes In order to use the FT Sensor s data in Force control mode for all Force nodes go to the Configuration tab and check the corresponding box This will feed the Sensor s force values to the UR Force mode as an alternative to UR s embedded force feedback ...

Страница 57: ...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 58: ...300 Force Torque Sensor Instruction Manual 58 STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE ...

Страница 59: ...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 necessary to avoid the scanning of ports for example if another device would become confused when receiving a message that it cannot understand Procedure to Compile and Test the Provided Source Code This p...

Страница 60: ...erSensor 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 10 Sensor Data Acquisition Adapt to a User Application In practice the provided source code will be adapted to either be incorporated with a custom application or to communicate with one At this point the main c file should be adapted accordin...

Страница 61: ... 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 a...

Страница 62: ...pplication or to communicate with one At this point the main c file should be adapted according to the suggested comments inserted in the code Caution Please note that Robotiq can only support our customers in making sure they can compile and test the provided code as is No support can be provided for the integration of the provided source code into a custom application ...

Страница 63: ...ftware PC section for the calibration procedure 4 3 1 Software Package Installation 1 Make sure that you have the latest version of the Visual Demo Software which can be found at support robotiq com 2 Copy all the files of this folder onto a PC 3 Connect the USB connector to the converter attached to the PC Important The Sensor must NOT be powered at this time 4 Wait while the driver s install Aft...

Страница 64: ...uction Manual 64 8 You should see a COM port in green with a serial number showing the Sensor connected to the PC Click on it By going into the Sensor Data tab you can now see in real time the force and moment applied on the FT Sensor ...

Страница 65: ...o 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 data acquisition frequency Info In both modes force and torque data from the Sensor will be in 16 bits signed integer format 4 4 1 Modbus RTU The Modbus RTU serial communication configuration parameters are...

Страница 66: ...rmation 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 Acceleration X g value 1000 190 Acceleration Y g value 1000 191 Acceleration Z g value 1000 192 ...

Страница 67: ...tion available at UR Remote Control Via TCP IP 16496 To stop the data stream communication must be interrupted by sending a series of 0xff characters to the Sensor Sending for about 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_cr...

Страница 68: ... 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 12 Robotiq FT 300 Sensor general technical dimensions Info Reminder Measures are in millimeters FT 300 Force Torque Sensor Instruction Manual 68 ...

Страница 69: ... fixation on the FT 300 Sensor l Bolt pattern diameter is 50 mm l Mounting holes are M6 thread 6 mm deep l Indexing hole for M6 dowel pin has a tight fit H7 and 6 mm deep l Outside diameter of the flange is 64 mm and inside is 45 mm Info FT 300 tool side bolt pattern matches ISO 9409 1 50 4M6 Fig 5 13 FT 300 Sensor tool side bolt pattern ...

Страница 70: ...acity 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 75 mm Through hole diameter N A Thickness 37 5 mm IP rating 431 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 1Expected rating certification is planned and will be forthcoming see manual revision d...

Страница 71: ...ording to various options present on the Sensor Here is the approximate position of the center of mass for the FT Sensor Sensor Combination x mm y mm z mm Mass g FT 300 0 0 17 300 2 Finger 85 0 0 76 1205 2 Finger 140 0 0 83 1275 Wrist Camera 0 2 30 530 Wrist Camera and 2 Finger 85 0 1 77 1275 Wrist Camera and 2 Finger 140 0 1 85 1340 Here is the approximate moment of inertia matrix for the FT Sens...

Страница 72: ...or 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 300 300 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 approximatio...

Страница 73: ... Nm 0 003 Nm Recommended threshold Fx Fy 5 N 1 N Fz 2 N 1 N Mx My 0 08 Nm 0 02 Nm Mz 0 12 Nm 0 01 Nm External noise sensitivity Immune Data output rate 100 Hz Temperature compensation 15 to 35 C Signal noise is the standard deviation of the signal measured over a period of one 1 second Under normal operating conditions Within this range the temperature fluctuation is compensated for signal quality...

Страница 74: ...oise defined in the signal specifications is the standard deviation of each data Fx Fy Fz Mx My Mz over 1 second In order to use that signal noise information three times the standard deviation given must be used According to the normal distribution three times the standard deviation will cover almost all values possible 99 7 Info Noise is an unwanted and unpredictable alteration to a signal It ma...

Страница 75: ...ngs 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 24 ...

Страница 76: ...its and Accessories section The following subsections contain data required for custom couplings or creating couplings from blanks Info All Robotiq couplings and adapter plates are provided with necessary hardware for fixation on the Robotiq device side Caution Unless identified for specific packages only robot side screws and indexing pins are not provided ...

Страница 77: ...circle are meant to affix the FT 300 l The circular section of 75 mm diameter blue section in the figure below represents the customization area and has a depth of 5 mm Warning Make sure your custom design does not interfere with the M4 threads or the 63 mm H8 centering circle l Spare part list number is FTS 300 CPL BLANK l Fig 5 15 Technical dimensions of the blank coupling for the FT 300 ...

Страница 78: ...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 79: ... sensor alone FTS 300 SEN 001 Blank coupling Blank coupling with FT bolt pattern on one side and the other side clear FTS 300 CPL BLANK Coupling 50 4M6 1D6 Coupling for 50 mm PCD1 4 M6 thread and 1 6 mm M6 indexing pin To be used on UR robots FTS 300 CPL 062 Coupling 39 8M3 1D3 Coupling for 39 mm PCD1 8 M3 thread and 1 3 mm indexing pin FTS 300 CPL 069 Coupling 40 4M6 1D6 Coupling for 40 mm PCD1 4...

Страница 80: ...nce 8 1 2 Procedure to determine if the Sensor is functional l Verify that the Sensor is connected according to the Installation section of this manual l When powered verify that the LED on the Sensor is blue not red blue FT 300 LED is red if powered without communication blue if powered with communication For detailed information on the LED status refer to the Status LED section l Power off the S...

Страница 81: ...l Determine if an external force is applied to the end effector If it is the case tap OK and move the robot away from the obstacle with Free Drive or Move tab or remove any external forces and start ActiveDrive again l If no external forces are applied tap Zero Sensor l Message l Solution l Force Torque Sensor is detected Check the Force Torque Sensor s connection Make sure the USB adapter and all...

Страница 82: ... Message l Solution l The speed setting of the robot is lower than 50 The robot s speed setting should be greater than 50 Modify the speed setting in the robot s program with the slider l Message l Solution l If the Freedrive button is pressed The ActiveDrive mode cannot be used when the Free Drive mode is on Make sure you are not pressing on the teach pendant s Teach button when trying to use the...

Страница 83: ...er 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 settings tab click on Advanced Adjust the latency timer to 9 ms it is n...

Страница 84: ...In order to view the Sensor status and verify the force and torque values l Go to Program Robot l Go to the Installation tab l Tap FT Sensor in the left pane l Tap the Dashboard button Info If needed the user can tap the About button to get further information regarding the FT Sensor ...

Страница 85: ...will charge standard verification fees The unit is considered defective when at least one of the following 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 ...

Страница 86: ...ts products at any time without incurring an obligation to make any changes whatsoever on units already purchased This warranty excludes failure resulting 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 ...

Страница 87: ...ide US and Canada Fax 1 418 800 0046 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 Force Torque Sensor Instruction Manual 87 ...

Страница 88: ......

Страница 89: ...Appendices Appendix A Translation of Original EC Declaration of Incorporation FT 300 Force Torque Sensor Instruction Manual 89 ...

Страница 90: ...by any laws it is self applied 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 NF EN ISO 12100 2010 Safety of machinery General principles fo...

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