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Translation of original commissioning instructions

Commissioning instructions
FTN-AXIA

Force/torque sensor system

Содержание FTN-AXIA

Страница 1: ...Translation of original commissioning instructions Commissioning instructions FTN AXIA Force torque sensor system ...

Страница 2: ...sion 04 00 30 05 2022 en Dear Customer thank you for trusting our products and our family owned company the leading technology supplier of robots and production machines Our team is always available to answer any questions on this product and other solutions Ask us questions and challenge us We will find a solution Best regards Your SCHUNK team Customer Management Tel 49 7133 103 2503 Fax 49 7133 ...

Страница 3: ...0 4 1 Structure 10 4 2 Description 10 4 3 Status LEDs 11 5 Assembly and settings 13 5 1 Installing and connecting 13 5 2 Electrical connection 14 5 2 1 Pin allocation 14 5 2 2 Connecting the force torque sensor 20 6 Start up 21 6 1 Establishing an Ethernet IP connection 21 6 1 1 Configuration of the IP address for Ethernet 21 6 1 2 Connect to a Windows computer 22 6 1 3 Find sensor in the network ...

Страница 4: ...ange exceeded 68 7 2 Communication error 69 7 3 Web browser interface 69 7 4 Demo program Java 69 7 5 LED error 70 7 6 Force torque sensor 70 8 EU Declaration of Conformity 72 9 Appendix to the declaration of conformity 73 4 04 00 FTN AXIA Commissioning instructions en 1366833 ...

Страница 5: ...ded for basic understanding and may differ from the actual product design In addition to these instructions the documents listed under 1 1 2 6 are applicable 1 1 1 Presentation of Warning Labels To make risks clear the following signal words and symbols are used for safety notes DANGER Danger for persons Non observance will inevitably cause irreversible injury or death WARNING Dangers for persons ...

Страница 6: ...age schunk com 1 2 Warranty If the product is used as intended the warranty is valid for 12 months from the ex works delivery date under the following conditions Observe the ambient conditions and operating conditions Parts touching the workpiece and wear parts are not included in the warranty 1 3 Scope of delivery The scope of delivery includes FTN AXIA force torque sensor in the ordered variant ...

Страница 7: ...g or safety of the product or damage it Structural changes should only be made with the written approval of SCHUNK 2 4 Spare parts Use of unauthorized spare parts Using unauthorized spare parts can endanger personnel and damage the product or cause it to malfunction Use only original spare parts or spares authorized by SCHUNK 2 5 Personnel qualification Inadequate qualifications of the personnel I...

Страница 8: ... qualified electricians may perform electrical installations Check if de energized ground it and hot wire Cover live parts WARNING Risk of injury due to unexpected movements If the power supply is switched on or residual energy remains in the system components can move unexpectedly and cause serious injuries Before starting any work on the product Switch off the power supply and secure against res...

Страница 9: ...ed range of measurement Exceeding the range of measurement will reduce the maximum number of load cycles and may lead to damage of the sensor Information on the range of measurement of each individual force torque sensor is provided in the catalog data sheet The latest version is always applicable Dimensions and max loads on the force torque sensor Detailed information on the mounting installation...

Страница 10: ...nected to the system via EtherNET IP Application Forces and torques are measured via three measuring bridges each with four silicone strain gauges in six directions FX FY FZ MX MY MZ Acting forces and torques are measured and transferred to a PC as calibrated data Interfering contours are avoided due to the compact housing A very high rigidity ensures the accuracy of measured values and prevents u...

Страница 11: ...ration Sensor status LED An LED indicates the status of the sensor interface as follows LED color Status Description Off No power supply The sensor is not supplied with power Green Normal operation The electronics of the sensor are working and can communicate Yellow Detection range exceeded The forces and torques applied to the sensor exceed the permitted ranges Reduce load or use larger calibrati...

Страница 12: ... Green Ready for operation No errors were found Red Error Indicates an error reported by the internal electronic components In addition the LED remains red for five seconds after a UART error EtherNET L A LED An LED indicates the communication status of the sensor interface as follows LED color Status Description Off No power or connection activity Connection activity is not detected Green Link Ac...

Страница 13: ...eck if de energized ground it and hot wire Cover live parts CAUTION Risk of damage to the electronics A faulty connection can cause damage to the internal electronics Observe the PIN allocation of the connecting terminals Make sure that all components are grounded correctly 1 Connect components of the force torque sensor system with each other 5 2 14 2 Check for functionality 3 Mount the force tor...

Страница 14: ... supply requirements Designation Sensor Supply voltage VDC 12 30 Max Power consumption W 1 5 Designation Sensor cable Nominal voltage V 30 Nominal power current A 0 25 5 2 1 Pin allocation Sensor connections FT AXIA 80 M8 sensor connector 6 pin Pin Signal 1 TX 2 TX 3 RX 4 RX 5 V 6 V 0V Ground Housing Shielding ...

Страница 15: ...ignal 1 Reserved 2 V 3 V 0V Ground 4 TX 5 RX 6 TX 7 Reserved 8 RX Housing Shielding FT AXIA 130 M12 sensor connector 8 pin Pin Signal 1 Reserved 2 V 3 V 0V Ground 4 TX 5 RX 6 X 7 Reserved 8 RX Housing Shielding 15 04 00 FTN AXIA Commissioning instructions en 1366833 ...

Страница 16: ...g instructions en 1366833 Sensor cable connections FT AXIA 80 M8 socket 6 pin Pin Signal 1 TX 2 TX 3 RX 4 RX 5 V 6 V 0V Ground Housing Shielding M12 connector 8 pin Pin Signal 1 Reserved 2 V 3 V 0V Ground 4 TX 5 RX 6 TX 7 Reserved 8 RX Housing Shielding ...

Страница 17: ...Pin Signal 1 Reserved 2 V 3 V 0V Ground 4 TX 5 RX 6 TX 7 Reserved 8 RX Housing Shielding M12 connector 8 pin Pin Signal 1 Reserved 2 V 3 V 0V Ground 4 TX 5 RX 6 TX 7 Reserved 8 RX Housing Shielding 17 04 00 FTN AXIA Commissioning instructions en 1366833 ...

Страница 18: ...ng instructions en 1366833 FT AXIA 130 M12 socket 8 pin Pin Signal 1 Reserved 2 V 3 V 0V Ground 4 TX 5 RX 6 TX 7 Reserved 8 RX Housing Shielding M12 connector 8 pin Pin Signal 1 Reserved 2 V 3 V 0V Ground 4 TX 5 RX 6 TX 7 Reserved 8 RX Housing Shielding ...

Страница 19: ...etal shielding Shielding connect to ground Brown V Brown White V 0V Ground Blue White TP1 Reserved Blue TP1 Reserved EtherNET connector RJ45 8 pin socket Pin Color Signal 1 White Orange TX 2 Orange TX 3 White Green RX 4 5 6 Green RX 7 8 19 04 00 FTN AXIA Commissioning instructions en 1366833 ...

Страница 20: ...necting the force torque sensor Connecting the force torque sensor shown on FT AXIA130 as an example 1 Connect the supplied sensor cable 2 to the force torque sensor 1 2 Connect the supplied control line 3 to the sensor cable 2 3 Connect the control line 3 to the customer s control system ...

Страница 21: ...e sensor system FTN AXIA is shipped with DHCP enabled and the static IP address set to 192 168 1 1 The static IP address is automatically used if the customer network does not support DHCP Switch sensor off and on again to apply new IP address settings New IP address settings are only loaded when switching on Variant 1 Set a static IP address in the FTN AXIAsettings via the web browser interface V...

Страница 22: ...168 1 100 works when the sensor uses the default IP address 192 168 1 1 For the initial connection connect the computer directly to the sensor and disconnect it from the LAN 1 Disconnect the EtherNet cable from the LAN port on the computer 2 In the computer settings under Network Internet open the Local Area Connection Properties 3 Click Internet Protocol Version 4 TCP IPv4 and click Properties 4 ...

Страница 23: ...er the address 192 168 1 1 in the browser The welcome page is displayed Welcome page of the web browser interface 9 Click on Communications Communications Page 23 04 00 FTN AXIA Commissioning instructions en 1366833 ...

Страница 24: ...pen the TCP IP properties of the computer s local connection If the sensor was set to DHCP restore settings as before the reconfiguration If the sensor was set to a static IP address change settings to an IP address in the same local subnet as the sensor 12 Enter the IP address of the sensor in the address bar of the browser The welcome page is displayed again 13 Communication with the sensor via ...

Страница 25: ... that the MAC address on the label of the sensor matches the MAC address displayed 3 This IP address which is assigned to the sensor s MAC address by the DHCP server is used for communication between the sensor and the network 4 Select this IP address and click on Connect Discovery Tool 25 04 00 FTN AXIA Commissioning instructions en 1366833 ...

Страница 26: ... The limit frequencies for the different sampling rates are listed in the following table and diagrams Selected filter 3 dB cutoff frequency in Hz at 0 5 kHz sampling rate at 1 kHz sampling rate at 2 kHz sampling rate at 4 kHz sampling rate at 8 kHz sampling rate 0 200 350 500 1000 2000 1 58 115 235 460 935 2 22 45 90 180 364 3 10 21 43 84 170 4 5 10 20 40 81 5 2 5 5 10 20 40 6 1 3 3 5 10 20 7 0 6...

Страница 27: ...Start up Damping Frequency Filter damping at 1 kHz sampling rate Damping Frequency Filter damping at 2 kHz sampling rate 27 04 00 FTN AXIA Commissioning instructions en 1366833 ...

Страница 28: ...Start up 28 04 00 FTN AXIA Commissioning instructions en 1366833 Damping Frequency Filter damping at 4 kHz sampling rate Damping Frequency Filter damping at 8 kHz sampling rate ...

Страница 29: ...Welcome Page of the web browser interface 1 Open various subtopics via the navigation bar on the left 1 The status 2 of the FTN AXIA force torque sensor system is shown at the top of the page It always shows the status at the time the page was opened 2 Refresh the page to display the current status The current configuration and the calibration 3 used are displayed at the bottom of the page 29 04 0...

Страница 30: ...crossed out 2 Force Torque Counts Displays the force and torque data scaled with the count values per force and count values per torque displayed on the Configurations page 3 Unbiased Gage Data Displays strain gage raw data for easy troubleshooting Saturated values are displayed in red IMPORTANT The measured values of the FT AXIA sensor on this page are recorded when the page requests them It is p...

Страница 31: ...values are invalid Individual strain gage values do not correspond to the individual force and torque axes Demo Page From this website the user can download the Java demo application and additional demo software Demo Page 31 04 00 FTN AXIA Commissioning instructions en 1366833 ...

Страница 32: ...pass filtering 3 Low Pass Filter Cutoff Frequency The user can select a value for the limit frequency for low pass filtering The No Filter value The filter value disables the low pass filter function 4 Software Bias Values The user can enter values for the bias offset applied to the sensor expansion measured values To remove the bias offset set the fields to all zeros IMPORTANT Strain gage measure...

Страница 33: ...utput of the threshold monitoring is updated Bit 16 of the status code becomes true Threshold conditions Table column Description Comment N Statement number On Off Selects which statements are included when processing threshold conditions Axis Selects the axis to be used in the comparison statement empty statement disabled Fx Fx axis Fy Fy axis Fz Fz axis Tx Tx axis Ty Ty axis Tz Tz axis Compariso...

Страница 34: ...ew count values Changing the configuration or the force units or the torque units does not change or adjust the count values Example Desired load 6 25 N Unit N from Configuration page Counts per force value 1000000 from Configuration page Counts Desired load Counts per force 6 25 N 1000000 counts N 6250000 counts Units Displays the count value in the units of the active configuration This value is...

Страница 35: ...tatements were true the threshold output is zero The value is displayed in hexadecimal in the format 0x00 Output codes can be in hexadecimal or decimal format Get Statuses Clicking the Get Statuses button updates the static display of the threshold status If a threshold is not met the threshold numbers are crossed out Configurations Page On the Configuration page the active calibration and tool tr...

Страница 36: ... Many networks use the default 255 255 255 0 IP Default Gateway This field is for the default gateway EtherNet MAC Address A unique address assigned to the sensor at the time of manufacture This address uniquely identifies this sensor from other sensors and other Ethernet devices Password Protection Settings Users can change the username or password Only the username is readable and the old passwo...

Страница 37: ... device is using this UDP port The user can set a value from 0 to 65535 TCP Interface Settings TCP Command port The default setting is 49151 It is recommended to leave this value as the default unless another device is using this TCP port The user can set a value from 0 to 65535 Telnet port The default setting is 23 this is the default port setting for all industry standard Telnet communication It...

Страница 38: ...04 00 FTN AXIA Commissioning instructions en 1366833 System Information Page The System Information page provides the user with a summary of the current condition of the Ethernet AXIA sensor System Information Page ...

Страница 39: ...Start up Status Log Page The Status Log page displays the last 50 changes to the status code System Information Page 39 04 00 FTN AXIA Commissioning instructions en 1366833 ...

Страница 40: ...mmissioning instructions en 1366833 Interface Example Page The Interface Example page allows the user to view TCP and RDT UDP commands command descriptions the command response if applicable and a user interpretation of the command ...

Страница 41: ...led on the connected computer 1 Click on the Download Demo Application button to download the Java demo application IMPORTANT For the Java demo the RDT interface of the Ethernet F T must be activated RDT is activated by default in Ethernet F T A window opens 2 Enter the IP address of the sensor IMPORTANT On the demo page the IP address of the sensor is located in the paragraph above the Download d...

Страница 42: ...not make contact with the Ethernet AXIA sensor the force and torque values display zero and the force units and other configuration related items each display a question mark NOTE When the demo is used for the first time the program may trigger a firewall warning Check the box to give the network permission to communicate with the sensor and allow access ...

Страница 43: ...ction with the Demo Application Perform the following steps to collect F T data The currently collected data are displayed in the upper area 1 1 Click the 2 button and select the path for saving the CSV evaluation file 2 Click the Start Collecting 3 button The application sends a request for high speed data to the Ethernet AXIA sensor The user can see the RDT sequence increase in real time as the ...

Страница 44: ...stop the data transfer 4 Open CSV file 6 5 Console interface via Telnet The Ethernet AXIA sensor has a console interface available to the user via Telnet Setting up a Console Interface via Telnet 1 Open serial console for example PuTTY A window opens where the user can set the configuration for the session ...

Страница 45: ...ill be prompted to enter a login and password The login is ati the password is ati7720115 IMPORTANT Users can also log in to the console with a user defined username and password which can be set with a CAL SET command or through the communications web page 4 Enter console command and press Enter to send the command IMPORTANT The commands are not case sensitive 45 04 00 FTN AXIA Commissioning inst...

Страница 46: ...s bit values Preload sensor with user defined values PEAK no operand Reports the highest and lowest F T values that have occurred since the last peak reset command for a run time and for the entire time no operand reports the peak values in units C PEAK C reports the peak values in counts R PEAK R resets the run time peaks S DH 01234567SFTXYZ MCU in any order Reports a single line of F T data scal...

Страница 47: ...ror occurs the red status LED lights up 4 3 11 ON Switch on bit 28 OFF Switch off bit 28 RESET ON Reset MCU OFF Turns off the Reset command SAVEALL Not Applicable Stores all values that are retained after a power failure in the NVM STATUS Not Applicable Output the status report VIEW no operand Display properties and calibrations 0 Calibration 0 1 Calibration 1 A Active calibration DIAG Not Applica...

Страница 48: ... maximum nominal value of axes in F T numbers forceUnits Define unit for force measurement 0 Lbf 1 N 2 Klbf 3 kN 4 Kg torqueunits Define unit for torque measurement 0 Lbf in 1 Lbf ft 2 Nm 3 Nmm 4 Kg cm 5 kN m cpf Display counts per force cpt Display counts per torque peakPos0 5 peakNeg0 5 Display positive negative peak loads sensorHwVer Display version of the sensor hardware adcRate ADC sampling r...

Страница 49: ... angle of the tool transformation ttry ttrz baud UART baud rate Must be in the range of 9 000 baud to 3M baud Any change in baud rate is temporary until a SAVEALL command is issued msg Unsolicited error messages 1 Print unsolicited messages 0 Do not print unsolicited messages username User name Default values User name admin Password password password Password 49 04 00 FTN AXIA Commissioning instr...

Страница 50: ...ondary commands for the C or S commands The data type reported by the query commands C or S can be adjusted using secondary commands or specifiers This feature is useful for users who want to develop their own program to save the data in an external file or display the data in figures such as charts If an S or C command is issued without specification s the specification s of the previous S or C c...

Страница 51: ...atted human readable output for example lined up columns is the default setting The data is displayed in a compressed output without leading zeros trailing zeros or unnecessary spaces This output is intended for high speed applications used in an automated environment Addition al inputs to aid in the develop ment of a software program S This command specifies a CRC This command specifies a sample ...

Страница 52: ...000 29 Calibration checksum error 0xA0000000 30 Force torque outside the range 0xC0000000 31 Any error 0x80000000 Healthy 0x00000000 The bit pattern may be different if there is more than one error For example if the status code is 80000005 the user must convert the hexadecimal number to a binary number Hex 8 0 0 0 0 0 0 5 Binary 1000 0000 0000 0000 0000 0000 0000 0101 The binary number has a tota...

Страница 53: ...herNet IP address of the force torque sensor system a separator CGIPage cgi name of the CGI page that contains the variables to be accessed a separator that marks the beginning of variable assignments firstVariableAssignment a variable assignment using the format described below nextVariableAssignment a variable assignment with the format described below but the variable name is proceeded with an ...

Страница 54: ... setcfgsel to 2 setuserfilter to 0 and setpke to 1 using the IP address 192 168 1 1 CGI settings ADC rate low pass filter and bias can be set Variable name Value range integer Description setadcrate 488 976 1953 3906 7812 Sets the ADC sampling rate setuserfilter 0 to 8 Sets the cutoff frequency of the low pass filtering as follows Value Limit frequency Value Limit frequency 0 no filter 5 0 51 1 11...

Страница 55: ... of the relay or a delay in tenths of a second 0 seconds 0 to 25 2 seconds 255 term mcen 0 or 1 integer Threshold statement n Enables value 1 or disables value 0 mcxn 1 to 5 integer Selects the axis evaluated by threshold statement n Value Description Menu value 1 disabled blank 0 Fx axis Fx 1 Fy axis Fy 2 Fz axis Fz 3 Mx axis Mx 4 My axis MY 5 Mz axis Mz mcvn 2147483 648 to 2147483 647 integer Se...

Страница 56: ...scription Menu value 1 Degrees Degrees 2 Radius Radian cfgtfx0 Floating point number Sets the tool transformation distance Dx Distance must be in cfgtdu distance units cfgtfx1 Floating point number Sets the tool transformation distance Dy Distance must be in cfgtdu distance units cfgtfx2 Floating point number Sets the tool transformation distance Dz Distance must be in cfgtdu distance units cfgtfx...

Страница 57: ...dress comnetip Each IPV4 address in dot decimal notation Sets the static IP address when DHCP is disabled comnetmsk Any IPV4 subnet mask in dot decimal notation Sets the static subnet mask when DHCP is disabled comnetgw Each IPV4 address in dot decimal notation Sets the gateway to be used when DHCP is disabled comrdtbsiz 1 to 40 integer RDT buffer mode buffer size 57 04 00 FTN AXIA Commissioning i...

Страница 58: ...d If the bit is a 0 this monitoring condition is disabled Bit 0 of sysCommands controls the action BIAS zeroing If bit 0 is a 1 the system is pre loaded If bit 0 is a 0 no action is performed Bit 1 of sysCommands controls the latching of the monitoring condition If bit 1 is a 1 the monitoring state memory is cleared and the evaluation of the monitoring condition starts again If bit 1 is a 0 no act...

Страница 59: ... unit Pound 1 Pound inch Newton 2 Pound foot Kilo pound 3 Newton meter Kilonewton 4 Newton millimeter Kilogram 5 Kilogram force centimeter Gram 6 Kilonewton meter Convert units command uint8 command Must always be WRITETRANSFORM 2 uint8 transformDistUnits Units for dx dy dz uint8 transformAngleUnits Units for rx ry rz int16 transform 6 dx dy dz rx ry rz uint8 reserved 5 Should always be 0 The tran...

Страница 60: ... EtherNet HTTP requests and allow programs to read out values e g the Counts per force value The Java demo application uses data provided in these XML pages to correctly scale the displayed data Data type Description DINT Signed double integer 32 bit ENABL Boolean using Enabled to represent 1 and Disabled to represent 0 HEXn Hexadecimal number of n bits prefixed with 0x INT Signed integer 16 bit R...

Страница 61: ...nts rundata runpkmx DINT 6 Maximum peak values in counts rundata runpkmn DINT 6 Minimum peak values in counts rundata runsg INT 6 Strain gage values rundata runmcb HEX32 Thresholds breached rundata runmco HEX8 Thresholds output rundata runmcl USINT Threshold latched rundata unbiasedsg INT Unbiased strain gage values rundata setbias DINT 6 Software bias vector setting setrate USINT Set the ADC rate...

Страница 62: ...tau STRING8 Name of tool transformation rotation units used by active configuration config cfgtfx REAL 6 Tool transformation distances and rotations applied by active configuration config comnetdhcp ENABL DHCP behavior setting comm comnetip STRING15 Static IP address comm comnetmsk STRING15 Static IP subnet mask comm comnetgw STRING15 Static IP gateway comm nethwaddr STRING17 EtherNet MAC address ...

Страница 63: ...ve calibration information for the third calibration the requested page would be netftcalapi xml index 2 XML element Data type Calibration information calsn STRING8 Serial number calpn STRING32 Calibration type caldt STRING20 Calibration date calfu USINT Force units refer to config cgi variable cfgfu for values scalfu STRING8 Name of force units caltu USINT Torque units used refer to config cgi va...

Страница 64: ...e Java demo works this way The force torque sensor system can output data at up to 7912 Hz over EtherNet IP using UDP This method of fast data collection is called Raw Data Transfer RDT It is useful when the computational complexity of EtherNet IP is too great for an application or when additional speed is required for data collection NOTE Multi byte values must be transferred to the network high ...

Страница 65: ...n the RDT buffer size setting Use the Count field to send a specific number of packets 0 unlimited RDT record s Bias 0x0042 Set software bias RDT datasets sent in response to an RDT request have the following structure Uint32 rdt_sequence RDT sequence number of the packet Uint32 ft_sequence Internal sequence number of the dataset Uint32 status System status code Force and torque measurement values...

Страница 66: ...eases with the internal sample rate 7000 per second The value for ft_sequence is not set to 0 when the RDT request is completed This counter switches to 0 at the increment following 4294967295 232 1 status Contains the system status code at the time of the dataset Fx Fy Fz Tx Ty Tz F T data as count values NOTE In buffered mode the number of RDT datasets received in a UDP packet is equal to the RD...

Страница 67: ... to a measuring device is open or interrupted The sensor reports loads that are significantly higher than its range of measurement It resets itself 32 sampling periods after the condition is cleared Yes 3 Busy bit The sensor performs one or more of the following activities which may temporarily affect the force torque data Transfer a change to the NVM Changes the filter time constant Changes the c...

Страница 68: ... invalid checksum Yes 30 Force torque outside the range or detection range exceeded This bit is active whenever the force torque sample is outside the range or saturated It automatically resets 32 sampling periods after the condition is cleared Yes 31 Error This bit is set when a status code bit indicating an error is set Yes 7 1 1 Detection range exceeded Bit 30 is set if force torque is outside ...

Страница 69: ...ges 7 3 Web browser interface Error Possible solution The Invalid Request page is displayed One or more entries on the page are invalid Find errors and correct information The page HTTP 1 0 401 Error Unauthorized page is displayed ATI is performing server maintenance Try accessing again later 7 4 Demo program Java Error Possible solution The demo program displays 0 for the forces and torques and f...

Страница 70: ... values are not completely reset after loading and unloading or there is an internal error in the overall system Drift is caused for example by rapid temperature changes Allow the force torque sensor to warm up for around 30 minutes and adjust to the ambient temperature before measuring again Use the bias command to set the measured values back to zero Use insulator between the force torque sensor...

Страница 71: ...ues are not equal to zero and no load is applied Preload sensor to bring all force torque values back to zero Values do not match expected values Display force torque data 6 5 44 Use the bias command to set the measured values back to zero Check Status Code 67 Verify that the sensor is properly installed 71 04 00 FTN AXIA Commissioning instructions en 1366833 ...

Страница 72: ... 30 EU Applied harmonized standards especially EN 61326 2 3 2013 Electrical equipment for measurement control and laboratory use EMC requirements Part 2 3 Particular requirements Test configuration operational conditions and performance criteria for transducers with integrated or remote signal conditioning IEC 61326 2 3 2012 EN ISO 12100 2010 Safety of machinery General principles for design Risk ...

Страница 73: ... FTN AXIA130 SI 2000 125 FTN AXIA130 SI 4000 300 FTE interface FTE AXIA80 DUAL SI 75 4 SI 150 8 FTE AXIA80 DUAL SI 200 8 SI 500 20 FTE AXIA80 DUAL SI 480 20 SI 1200 50 FTE AXIA90 SI 1000 50 FTE AXIA130 SI 2000 125 FTE AXIA130 SI 4000 300 FTRS interface FTR AXIA80 DUAL SI 75 4 SI 150 8 FTR AXIA80 DUAL SI 200 8 SI 500 20 FTR AXIA80 DUAL SI 480 20 SI 1200 50 FTRS422 AXIA90 SI 1000 50 FTRS485 AXIA90 S...

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Страница 76: ...H Co KG Clamping and gripping technology Bahnhofstr 106 134 D 74348 Lauffen Neckar Tel 49 7133 103 0 Fax 49 7133 103 2399 info de schunk com schunk com Folgen Sie uns I Follow us 05 2022 2022 SCHUNK GmbH Co KG 04 00 FTN AXIA Commissioning instructions en 1366833 ...

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