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ATI Technologies Axia Series Manual

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

  • Page 2: Foreword

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Foreword Information contained in this document is the property of ATI Industrial Automation, Inc. and shall not be reproduced in whole or in part without prior written approval of ATI Industrial Automation, Inc. The information herein is subject to change without notice and should not be construed as a commitment on the part of ATI Industrial Automation, Inc.

  • Page 3: Table Of Contents

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Table of Contents Foreword ............................2 Glossary ............................6 Safety ............................8 1.1 Explanation of Notifications ......................8 General Safety Guidelines ......................8 Safety Precautions ........................9 Product Overview ........................10 Installation of the Sensor and Cable to the Robot ...............11 Interface Plates ..........................
  • Page 4 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Java Demo Application ......................31 Starting the Demo ........................31 Data Display with the Demo ....................... 33 Collecting Data with the Demo ....................34 The Errors Display of the Demo ....................37 Developing Your Own Java Application ..................
  • Page 5 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 11. Maintenance ..........................57 11.1 Periodic Inspection ........................57 11.2 Periodic Calibrating ........................57 12. Troubleshooting ........................57 12.1 Errors Powering Up ........................58 12.2 Errors with Communications ..................... 58 12.3 Errors with the Java Demo ......................59 12.4 Errors with Ethernet Axia Webpages ..................

  • Page 6: Glossary

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Glossary Definitions Term See Measurement Uncertainty. Accuracy Active Configuration The configuration that the system is currently using. Analog-to-digital converter. The factory-supplied data used by Ethernet Axia sensor so it can report accurate Calibration sensor readings.
  • Page 7 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Definitions Term The hardware that implements the physical layer of the OSI model. It stands between the analog domain of the Ethernet line modulation and the digital domain of the link- layer packet signaling. The location on the sensor from which all forces and torques are measured.

  • Page 8: Safety

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 1. Safety The safety section describes general safety guidelines to be followed with this product, explanations of the notifications found in this manual, and safety precautions that apply to the product. More specific notifications are imbedded within the sections of the manual where they apply.

  • Page 9: Safety Precautions

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 1.3 Safety Precautions WARNING: Performing maintenance or repair on the sensor when circuits (for example: 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 10: Product Overview

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 2. Product Overview The Ethernet Axia Force/Torque (F/T) sensor measures (6) components of force and torque (Fx, Fy, Fz, Tx, Ty, Tz) and communicates this data to customer devices via Ethernet. The mounting side attaches to a mounting interface plate, which mounts to the customer robot. The tool side attaches to the customer tooling.

  • Page 11: Installation Of The Sensor And Cable To The Robot

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 3. Installation of the Sensor and Cable to the Robot 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, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 If the customer chooses to design and build an interface plate(s), the following points should be considered: • The interface 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, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 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 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 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 Angle per Description mm (in)

  • Page 15: Installing The Sensor To The Robot

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 3.3 Installing the Sensor to the Robot Parts required: Refer to Figure 3.3 Section 14—Drawings. Tools required: 4 mm hex wrench ® Supplies required: Clean rag, Loctite 242 (if applicable, refer to step and 4) 1.

  • Page 16: Removing The Sensor From The Robot

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Figure 3.3—Installation of the Sensor to the Robot Robot Dowel Pin (6) M5 Mounting Fastener Mounting Fasteners Power and Ethernet Connection Interface Plate (2) Dowel Pin Mounting Side to Power and Ethernet Cable the Interface Plate (ATI P/N 9105-C-ZC22-ZC26-4) Ethernet Axia Sensor...

  • Page 17: Pin Assignment For The Ethernet And Power Connection

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 3.5 Pin Assignment for the Ethernet and Power Connection CAUTION: Ensure the cable shield is properly grounded. Improper shielding on the cables can cause communication errors and inoperative Axia80-ZC22 sensor. The following section provides the pin assignment for the power and Ethernet connection on the Axia80- ZC22 sensor, the 8-pin male M12 connector on the power and Ethernet 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 18: Pin Assignment For Cable P/N 9105-C-Zc26-U-Rj45S-X, Branch 1, Unterminated End For Power Connection

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 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. Table 3.5—Cable 9105-C-ZC26-U-RJ45S-X, Branch 1, Unterminated Pin Number, Wire Jacket Color, and Signal Pin Number...

  • Page 19: Accuracy Check Procedure

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 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 20: Connecting Through Ethernet

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 4. Connecting Through Ethernet Section 4.1—IP Address Configuration  This section describes how to physically connect through the Ethernet. See for information on configuring a system’s Ethernet settings and for Ethernet Section 4.2—Connecting Through for information on configuring a computer with Windows 7/8/10 and Ethernet using a Windows Computer Windows Vista operating system.

  • Page 21: Connecting Through Ethernet Using A Windows Computer

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 4.2 Connecting Through Ethernet using a Windows Computer Most of the Ethernet configuration is performed via the Ethernet Axia F/T’s web pages. To initially access the web pages, configure the sensor to work on the network by assigning an IP address and provide basic information about the network.
  • Page 22 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 7. Click on the “OK” button. 8. Click on the Local Area Connection Properties window’s “Close” button. 9. Connect the Ethernet Axia sensor to the computer’s LAN connection using an Ethernet cable. Wait a moment to ensure the computer has time to recognize the connection.
  • Page 23 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 13. Determine the IP address assigned to the sensor. Refer to the “location”field in Section 10.6—System and Calibration. NOTICE: IP addresses assigned by a DHCP server are not permanent and may change if the Ethernet Axia Sensor is disconnected from the network for a period of time.

  • Page 24: Configuring The Sensor With The Ethernet Axia Web

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 5. Configuring the Sensor with the Ethernet Axia Web Pages The Ethernet Axia F/T sensor web pages provide full configuration options for the sensor. There are several pages that can be selected by the menu bar toward the top of the webpage. The web pages use simple HTML and browser scripting, and the pages do not require any plug-ins.

  • Page 25: Snapshot Page (Rundata.htm)

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 5.2 Snapshot Page (rundata.htm) This page displays the current sensor loading conditions. The information on this page is static and does not update after the page is loaded. To see current information the page must be reloaded. Figure 5.3—Snapshot Page Transducer Loading Snapshot (User Units): Force/Torque Data: Displays the force and torque data scaled in the user units selected in the...

  • Page 26: Demo Page (Demo.htm)

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 5.3 Demo Page (demo.htm) From the demo page, the user may download the Java Demo Application. Refer to Section 6—Java Demo Application. Figure 5.4—Demo Page 5.4 ADC Settings Page (setting.htm) The Settings page allows the user to choose the active calibration, ADC sampling frequency, low-pass filter cutoff frequency, and software bias values.

  • Page 27: Ft Configurations Page (Config.htm)

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Refer to Figure 5.5 for the screenshot that displays the following terms. Active Calibration: Selects one of two calibrations to be applied to the force and torque readings. ADC Sampling Selects the sampling frequency for low-pass filtering. Frequency: Refer to Section 10.3—Sample...

  • Page 28: Communication Page (Comm.htm)

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 5.6 Communication Page (comm.htm) The Communication Page displays and allows the user to set system networking options. Usually these settings are set once when the system is first installed and do not need to be changed later. For information on setting the system to work with your network refer to Section 4—Connecting Through Ethernet.
  • Page 29 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Refer to Figure 5.7 for the screenshot that displays the following terms. Ethernet Network Settings: IP Address Mode: Controls how the sensor determines its IP Address. If DHCP is selected, it will obtain an IP address from the Ethernet network’s DHCP server.

  • Page 30: System Information Page (Manuf.htm)

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 5.7 System Information Page (manuf.htm) The System Information page shows a summary of the Ethernet Axia sensor’s current state. This page is used during troubleshooting by ATI Industrial Automation. For status codes, refer to Section 10.7—Status Code.

  • Page 31: Java Demo Application

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 6. Java Demo Application The Java demo application provides a simple interface to view and collect F/T data from a connected computer. The computer will need to have Java version 6.0 (runtime 1.6.0) or later installed. (Java can be downloaded from www.
  • Page 32 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 The first time the demo is used it may trigger a firewall alert. This is a normal response for any program that uses the network. In this case it will be necessary to tell the firewall to allow the program to use network connections.

  • Page 33: Data Display With The Demo

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 6.2 Data Display with the Demo The main screen features a live display of the current F/T data, sequence numbers, and status code. During normal operation the application requests single records, so the RDT sequence remains constant. Pinnacle Park •...

  • Page 34: Collecting Data With The Demo

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 6.3 Collecting Data with the Demo To collect data, follow these steps: 1. Select a file to save the data in, either by pressing the “…” button to the right of the file selection field, or by directly typing the file path into the field.
  • Page 35 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Information stored in the CSV file is organized as follows: Figure 6.6—Sample Data Opened in Spreadsheet Line 1: Start Time. The date and time when the measurement was started. Line 2: RDT Sample Rate. The speed (in samples per second) at which the measurement data were sent from the Net F/T to the host computer.
  • Page 36 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Table 6.1—CSV File Column Headings Column: Status Name: Time (hex) Sequence Sequence Status (hex) is the 32-bit system status code for this row. Each bit signals a certain Column A: diagnostic condition. Normally this code is zero. A non-zero status code normally means that the Ethernet F/T system needs attention.

  • Page 37: The Errors Display Of The Demo

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 6.4 The Errors Display of the Demo The error list at the bottom of the screen keeps track of errors that have occurred and the times they occurred (see Figure 6.7 for an example). Refer to Table 12.3 if you need help with error messages.

  • Page 38: Common Gateway Interface (Cgi)

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 7. Common Gateway Interface (CGI) The Ethernet Axia sensor can be configured over Ethernet using the standard HTTP get method, which sends configuration variables and their values in the requested URL. Each variable is only settable from the CGI page which is responsible for that variable. The following tables list each CGI page and the settable variables associated with it.

  • Page 39: Settings Cgi (Setting.cgi)

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 7.1 Settings CGI (setting.cgi) This CGI allows you to specify certain global settings such as low-pass filter selection, peak monitoring enable, software bias vector, and active configuration selection. See Section 5.4—ADC Settings Page (setting.htm) for related information.

  • Page 40: Communications Cgi (Comm.cgi)

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 7.3 Communications CGI (comm.cgi) This CGI sets the networking options of the sensor. Refer to Section 5.6—Communication Page (comm.htm) for more information on the parameters. Table 7.3—comm.cgi Variables Variable Name Allowed Values Description Sets DHCP behavior.

  • Page 41: System Settings Xml

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 8. System Settings XML Pages The sensor’s current settings can be retrieved in XML format using standard Ethernet HTTP requests. This enables programs to read system settings such as the Counts per Force value. The Java demo application uses data provided in these XML pages to correctly scale displayed data.

  • Page 42: System And Configuration Information (Netftapi2.Xml)

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 8.1 System and Configuration Information (netftapi2.xml) The XML page netftapi2.xml retrieves the system setup and active configuration. The reference column in Table 8.2 indicates which .htm page and .cgi function access this element. Refer Section 5—Configuring the Sensor with the Ethernet Axia Web Pages to the corresponding entry in Section 7—Common Gateway Interface (CGI) for related information.

  • Page 43: Calibration Information (Netftcalapi.xml)

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 8.2 Calibration Information (netftcalapi.xml) The XML page netftcalapi.xml retrieves information about a specific calibration. Retrieved calibration information has not been modified by any of the Ethernet Axia configuration settings. A calibration index can be specified when requesting this calibration information. This is done by appending ?index=n to the request, where n is the index of the desired calibration.

  • Page 44: Udp Interface Using Rdt

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 9. UDP Interface Using RDT The Ethernet Axia can output data at up to 7912 Hz over Ethernet using UDP. This method of fast data collection is called Raw Data Transfer (RDT). RDT provides an easy method to get the forces, torques, and status codes of the Ethernet Axia.
  • Page 45 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 All RDT requests use the following RDT request structure: Uint16 command_header = 0x1234; // Required Uint16 command; // Command to execute Uint32 sample_count; // Samples to output (0 = infinite) Set the command field of the RDT request to the command from Table 9.1.

  • Page 46: Calculating F/T Values For Rdt

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 9.2 Calculating F/T Values for RDT To obtain the real force and torque values, each force output value has to be divided by the Counts per Force and each torque output value has to be divided by the Counts per Torque factor. The Counts per Force and Counts per Torque factors can be obtained from netftapi2.xml page.

  • Page 47: Operation

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 10. Operation The following section provides information required when using the software to operate the Axia Ethernet sensor. Communicating with the sensor, requires knowledge of Ethernet standards and operation. 10.1 Sensor Environment CAUTION: Damage to the outer jacketing of the sensor cable could enable moisture or water to enter an otherwise sealed sensor.

  • Page 48: Sensor Status Led

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 10.2.4 Sensor Status LED One LED signals the health status of the sensor as follows: LED State Description The sensor is powering up and checking STATUS. Indicates an error in the STATUS word. Normal operation.

  • Page 49: Low-Pass Filter

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 10.4 Low-Pass Filter The power-on default selection is no filtering. The “filTC” field in Section 10.6—System and Calibration controls the current filter selection. The cutoff frequency (i.e. -3 dB frequency) is dependent on the sample rate selection, which is defined in Section 10.3—Sample Rate.
  • Page 50 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Figure 10.2—Filter Attenuation at 1 kHz Sample Rate 0.0 dB 350Hz 115 Hz -6.0 dB 45 Hz 21 Hz -12.0 dB 10 Hz Attenuation 5 Hz -18.0 dB 3 Hz 1.2 Hz -24.0 dB 0.7 Hz -30.0 dB...
  • Page 51 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Figure 10.4—Filter Attenuation at 4 kHz Sample Rate 0.0 dB 1000 Hz 460 Hz 180 Hz 84 Hz -6.0 dB 40 Hz 20 Hz -12.0 dB 10 Hz Attenuation 4.7 Hz 2.7 Hz -18.0 dB -24.0 dB -30.0 dB...

  • Page 52: Console Commands

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 10.5 Console Commands The sensor has a console interface that is available to the user through telnet. The username is “ati”; the password is “ati7720115”. Applicable console commands are listed in the following table. Table 10.3—Commands Command Operand(s)
  • Page 53 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Table 10.4—Calibration Field Name Type Description gca0 to gcc7 Reserved. Gage strain levels equal to this gageMaxRange GageMaxRange Numeric. value and greater are out of range. Gage strain levels equal to this gageMinRange GageMaxRange Numeric.

  • Page 54: Status Code

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Table 10.4—Calibration Field Name Type Description IP Address, for sipadr Static Address Static IP address. example: “192.168.1.1” IP Address, Static subnet sipmsk for example: Static IP subnet mask. mask. 255.255.252.0 IP Address, for sipgtw Static Gateway Static IP Gateway.

  • Page 55: Status Code: Sensing Range Exceeded

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Table 10.5—Status Code Indicates Description Number an Error? Force/Torque Out of Range: This bit is active whenever the force/torque sample is out of range or saturated. This bit stays high for 32 samples after the last such sample so that time abates for the sample’s effect on the data.

  • Page 56: Diagnostic Monitoring

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 The F equation simplifies as follows: Because the F equation simplified to TRUE, bit 30 in Table 10.5 is set. 10.8 Diagnostic Monitoring During operation, the Ethernet Axia firmware monitors the hardware. When power is applied to the sensor, the firmware waits (5) seconds before evaluating the supply voltage for errors.

  • Page 57: Maintenance

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 11. Maintenance 11.1 Periodic Inspection With industrial-type applications that frequently move the system’s cabling, check the cable jacket for signs of wear. The Axia sensor is IP64 rated. Debris and dust should be kept from accumulating on or in the sensor.

  • Page 58: Errors Powering Up

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 12.1 Errors Powering Up Table 12.1—Powering Up Question/Problem Answer/Solution Check the sensor cable connections. Status LED stays red after the (20) second Verify the sensor cable is not damaged. power up phase. There may be an internal error in the sensor Status LED is red for the first (20) seconds, Normal operation.

  • Page 59: Errors With The Java Demo

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 12.3 Errors with the Java Demo Table 12.3—Java Demo Question/Problem Answer/Solution Demo displays zeros for force and torque values and question marks for configuration Check IP address and restart demo. data. Excessive IO exception: Receive timed out The Ethernet connection was interrupted.

  • Page 60: Errors With Force And Torque Readings

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 12.5 Errors with Force and Torque Readings Incorrect data from the sensor’s strain gages can cause errors in force/torque readings. Listed in the following table are the basic conditions of incorrect data. Use this table to troubleshoot a problem. In most cases, problems can be better observed while looking at the raw strain gage data, displayed on the Snapshot page.

  • Page 61: Reducing Noise

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 12.6 Reducing Noise 12.6.1 Mechanical Vibration In many cases, perceived noise is actually a real fluctuation of force and/or torque, caused by vibrations in the tooling or the robot arm. The Ethernet Axia sensor offers digital low-pass filters that can dampen frequencies above a certain threshold.

  • Page 62: Improving Ethernet Throughput

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 12.8 Improving Ethernet Throughput In an optimum network setup, the sensor’s RDT data arrives at the host computer with no loss of data. If data samples are lost, consider the following: 12.8.1 Direct Connection between Axia Ethernet and Host To achieve the best Ethernet performance (and avoiding the loss of data packages), connect the sensor directly to the host computer.

  • Page 63: Specifications

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 13. Specifications The requirements for the Ethernet Axia sensor interface are covered in the following sections. 13.1 Environmental Conditions Table 13.1—Environmental Conditions Parameter Value Storage Temperature, °C -20 to +85 Operating Temperature, °C 0 to +65 Relative Humidity <95%, non-condensing...

  • Page 64: Drawings

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 14. Drawings 14.1 Axia80 Force/Torque Sensor 9230-05-1507 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • • Email: www.ati-ia.com [email protected]...

  • Page 65: Cable, Axia Sensor To 8-Pin M12, 3M, 9105-C-Zc22-Zc26-3

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 14.2 Cable, Axia Sensor to 8-pin M12, 3m, 9105-C-ZC22-ZC26-3 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • • Email: www.ati-ia.com [email protected]...
  • Page 66 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • • Email: www.ati-ia.com [email protected]...

  • Page 67: Cable, 8-Pin M12 Split To Shielded Rj45 And Unterminated Power, Ground, Shield, 4 M

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 14.3 Cable, 8-pin M12 Split to Shielded RJ45 and Unterminated power, ground, shield, 4 m, 9105-C-ZC26-U-RJ45S-4 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • •...
  • Page 68 Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • • Email: www.ati-ia.com [email protected]...

  • Page 69: Terms And Conditions Of Sale

    Manual, FT Sensor, Ethernet Axia Document #9610-05-Ethernet Axia-05 15. 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. ATI warrants to Purchaser that force torque sensor products purchased hereunder will be free from defects in material and workmanship under normal use for a period of one (1) year from the date of shipment.

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