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ATI Technologies Axia80 Manual

Ethercat f/t sensor
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Manual, Axia80 EtherCAT F/T Sensor
Document #: 9610-05-Axia80 EtherCAT
Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: [email protected]
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  • Page 1 Manual, Axia80 EtherCAT F/T Sensor Document #: 9610-05-Axia80 EtherCAT Engineered Products for Robotic Productivity Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: [email protected]...

  • Page 2: Foreword

    Please read the manual before calling customer service. Before calling, have the following information available: 1. Serial number (e.g., FT01234) 2. Transducer model (e.g., Axia80, etc.) 3. Calibration (e.g., US-120-95, etc.) 4. Accurate and complete description of the question or problem 5.

  • Page 3: Table Of Contents

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 Table of Contents Foreword ............................2 Glossary ............................5 Safety ............................7 1.1 Explanation of Notifications ......................7 General Safety Guidelines ......................7 Safety Precautions ........................8 Product Overview ........................9 LED Self-Test Sequence and Functions ..................10 2.1.1...
  • Page 4 Object 0x6020: Sample Counter ..................27 5.2.7 Object 0x6030: Gage Data ....................27 5.2.8 Object 0x7010: Control Codes ..................28 Establishing Communication with the Axia80 EtherCAT Sensor ........... 29 Maintenance ..........................29 Periodic Inspection ........................29 Periodic Calibrating ........................29 Troubleshooting ........................30 Errors with Force and Torque Readings ...................

  • Page 5: Glossary

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 Glossary Definition Term Accuracy See Measurement Uncertainty. Analog-to-digital converter. The act of measuring a transducer’s raw response to loads and Calibration creating data used in converting the response to forces and torques.
  • Page 6 Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 Definition Term Point of Origin The point from which the transducer measures all forces and torques. The way the continuously variable transducer signal is converted into Quantization discrete digital values. Usually used when describing the change from one digital value to the next.

  • Page 7: Safety

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 1. Safety The safety section describes general safety guidelines for the product(s), an explanation of the notifications found in this manual, and the safety precautions applicable to the product(s). More specific notifications are embedded within the sections of the manual where they apply.

  • Page 8: Safety Precautions

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 1.3 Safety Precautions WARNING: Performing maintenance or repair on the sensor, while circuits (e.g. power, water, and air) are energized could result in serious injury. Discharge and verify all energized circuits are de-energized in accordance with the customer’s safety practices and policies.

  • Page 9: Product Overview

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 2. Product Overview The Axia80 EtherCAT F/T sensor system measures (6) components of force and torque (Fx, Fy, Fz, Tx, Ty, Tz) and streams data to customer devices that use EtherCAT fieldbus. Refer to Section 5.1—PDO Interface.

  • Page 10: Led Self-Test Sequence And Functions

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 2.1 LED Self-Test Sequence and Functions The EtherCAT F/T provides (3) LEDs for EtherCAT Link, Run, and Sensor Status. When the user applies power, the sensor completes a self-test, during which the LEDs under firmware control individually turn on.

  • Page 11: Installation

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 3. Installation WARNING: Performing maintenance or repair on the sensor when circuits (e.g. power, water, and air) are energized could result in death or serious injury. Discharge and verify all energized circuits are de-energized in accordance with the customer’s safety practices and policies.
  • Page 12 Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 If the customer chooses to design and build an adapter plate(s), the following points should be considered: • The adapter plate(s) should include bolt holes for mounting fasteners as well as dowel pin(s) and a boss for accurate positioning to the robot or customer’s device.

  • Page 13: Routing The Cable

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 3.2 Routing the Cable The routing and bending radius of the cable depends upon the customer application. Unlike motionless applications, where the cable is in a static condition, dynamic applications subject the cable to a repetitive motion.

  • Page 14: Installing The Sensor To The Robot

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 Table 3.1—Sensor Cable Bending Radius and Dynamic Twist Angle Static Dynamic Bending Bending Radius Radius Dynamic Cable (at room (at room Spliced Cable Cable Twist Diameter temperature) temperature) Cable Part Number Branch...

  • Page 15: Removing The Sensor From The Robot

    Cable. 7. After installation is complete, the sensor is ready for an accuracy check as described in Section 3.6— Accuracy Check Procedure and then normal use. Figure 3.3—Installation of Axia80 to the Robot Robot Dowel Pin Mounting Fasteners Interface Plate...

  • Page 16: Pin Assignment For The Ethercat And Power Connection

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 3.5 Pin Assignment for the EtherCAT and Power Connection CAUTION: Ensure the cable shield is properly grounded. Improper shielding on the cables can cause communication errors and inoperative sensors. The following section provides the pin assignment for the power and EtherCAT connection on the sensor, the 8-pin male M12 connector on the power and EtherCAT cable (P/N 9105-C-ZC22-ZC26-X), and the unterminated end on cable (P/N 9105-C-ZC26-U-RJ45S-X) for power.

  • Page 17: Pin Assignment For Cable P/N 9105-C-Zc26-U-Rj45S-X, Branch 1, Unterminated End For Power Connection

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 3.5.3 Pin Assignment for Cable P/N 9105-C-ZC26-U-RJ45S-X, Branch 1, Unterminated End for Power Connection The following table details the signals and corresponding pin numbers for unterminated wires on cable P/N 9105-C-ZC26-U-RJ45S-X that connects to the customer’s device.

  • Page 18: Accuracy Check Procedure

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 3.6 Accuracy Check Procedure Complete the following procedures after the initial installation of the sensor to the robot and once annually for maintenance. 1. Attach a fixed mass to the tool side of the F/T sensor.

  • Page 19: Operation

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 4. Operation The following section provides information required when using software to operate the EtherCAT Sensor. Communicating with the EtherCAT sensor requires knowledge of EtherCAT standards and operation. 4.1 Sensor Environment CAUTION: Damage to the outer jacketing of the transducer cable could enable moisture or water to enter an otherwise sealed transducer.
  • Page 20 Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 Figure 4.1—Filter Attenuation at 0.5 kHz Sample Rate 0.0 dB 200 Hz 60 Hz -6.0 dB 22 Hz 10 Hz -12.0 dB 5 Hz Attenuation 2.5 Hz -18.0 dB 1.3 Hz 0.6 Hz 0.3 Hz...
  • Page 21 Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 Figure 4.3—Filter Attenuation at 2 kHz Sample Rate 0.0 dB 500 Hz 235 Hz 90 Hz -6.0 dB 43 Hz 20 Hz -12.0 dB 10 Hz Attenuation 5 Hz 2.4 Hz -18.0 dB 1.4 Hz...

  • Page 22: Ethercat Bus Interface

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 5. EtherCAT Bus Interface The EtherCAT bus interface enables users to perform the following actions: • Read the active calibration information matrix, serial number, etc. • Read the firmware revision Read force/torque data •...
  • Page 23 Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 Table 5.1—Calibration Subindex Name Type Description Value Unit lbf-in lbf-ft 0x30 Torque Units USINT Kgf-cm 0x31 Max Fx Counts 0x32 Max Fy Counts 0x33 Max Fz Counts The maximum rated value for DINT this axis, in counts.

  • Page 24: Object 0X2080: Diagnostic Readings

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 5.2.2 Object 0x2080: Diagnostic Readings This read-only object provides firmware version information. The following fields are available in the version object: Table 5.2—Diagnostic Readings Subindex Name Type Description The voltage of the external...

  • Page 25: Object 0X2090: Version

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 5.2.3 Object 0x2090: Version This read-only object provides firmware version information. The following fields are available in the version object: Table 5.4—Version Subindex Name Type Description 0x01 Major UINT Major Version 0x02...

  • Page 26: Object 0X6010: Status Code

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 5.2.5 Object 0x6010: Status Code This object contains a single DINT value (at subindex 0), with the following bitmap: Table 5.6—Status Code Indicates Description Number an Error? Internal Temperature Out of Range: This bit is active (high) if the temperature is outside the range -5 to 70°C.

  • Page 27: Object 0X6020: Sample Counter

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 5.2.6 Object 0x6020: Sample Counter This object contains a single 32-bit unsigned integer at subindex 0 that increases by one each time an F/T sample (one complete set of gage data) is read.

  • Page 28: Object 0X7010: Control Codes

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 5.2.8 Object 0x7010: Control Codes This object is mapped into the RxPDO for real-time control of the F/T system. It contains the following fields: Table 5.8—Control Codes Subindex Name Type Description Function...

  • Page 29: Establishing Communication With The Axia80 Ethercat Sensor

    With industrial-type applications that frequently move the system’s cabling, you should check the cable jacket for signs of wear. The Axia80 is IP60 rated and must be kept free of moisture. Debris and dust should be kept from accumulating on or in the sensor. The surface of the sensor can be cleaned with isopropyl alcohol, if contaminated by its environment.

  • Page 30: Troubleshooting

    Noise ground. Noise can also indicate component failure within the system. Make sure that the DC supply voltage for the Axia80 sensor has little to no noise superimposed. The sensor should be grounded through installation construction.

  • Page 31: Specifications

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 8. Specifications The requirements for the EtherCAT sensor interface are covered in the following sections. 8.1 Storage and Operating Conditions Table 8.1—Environmental Conditions Parameter Value Storage Temperature, °C -20 to +85 Operating Temperature, °C...

  • Page 32: Drawings

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 9. Drawings Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: [email protected]...

  • Page 33: Terms And Conditions Of Sale

    Manual, F/T Sensor, Axia80 EtherCAT Document #9610-05-Axia80 EtherCAT-09 10. Terms and Conditions of Sale The following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and Conditions, which are on file at ATI and available upon request.

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