SCHUNK FMS, Сборка и руководство по эксплуатации, Страница: 16 / 20

Operation
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02.00 | FMS | Assembly and Operating Manual | en | 389074
6 Operation
6.1 Preparing for commissioning
■
All points from the Installation chapter must have been carried
out carefully.
Ø
Apply a power supply to the electronic processor.
Ø
Check if the display shows a value between -5V and +5 V.
Ø
Check the function by manually exerting a force on the gripper
finger with the force measuring adapter. If the measured value on
the display changes visibly, the measuring system is operational.
Ø
Subsequently, carry out a zero adjustment of the electronic
processor and verify that the displayed value jumps to "zero".
✔
The measuring system is now ready for operation.
6.2 Determining the conversion factor
The "voltage to power" conversion factor was determined by
SCHUNK and supplied with the measuring system on a data sheet.
During installation, this value may change again slightly (for
instance depending on the tightening torque with which the
screws of the intermediate jaws and fingers were tightened).
For very precise measuring values, the measuring system must be
recalibrated. For the calibration of the measuring system, two
measured values are needed. Since the ratio of the output voltage
to the gripping force is linear, a pitch can be determined on the
basis of these two measured values which very accurately
correspond to the specific system design.
Determining the measured values:
Ø
Open gripper (force-measuring jaws unloaded).
Ø
Carrying out a zero adjustment Functional description [
}
10].
Ø
Mount a load cell (e.g. Kistler) between the gripper fingers.
Ø
Close the gripper.
Ø
Read off the gripping force at the force/torque sensor system
controller of the load cell.
Ø
Read the output voltage on the display of the FMS measuring system.
Ø
Determine the pitch
Gripper open: 0 N = 0 V
Gripper closed: x N = y V
If no load cell is available, two different weights can also be used
to determine the conversion factor. These are attached to the
gripper finger with the measuring jaw hanging freely.
The conversion factor can be derived from the output voltage that
appears on the display.
However, the supplied conversion factor is sufficient for most
applications.