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Summary of Contents for SCHUNK FT-AXIA 80 EtherCat
- Page 1 Original manual Assembly and operating manual FT-AXIA 80 EtherCat FT-Sensor...
- Page 2 Imprint Copyright: This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights re- served. Any reproduction, processing, distribution (making available to third parties), translation or other usage - even excerpts - of the manual is especially prohibited and re- quires our written approval.
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Page 3: Table Of Contents
6.2.7 Object 0x7010: Control Codes .............. 26 Maintenance ...................... 27 Periodic Inspection ..................... 27 Periodic Calibrating .................... 27 Troubleshooting ..................... 28 Errors with Force and Torque Readings ............. 28 Drawings......................... 29 Glossar........................ 30 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 4: Safety
02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 5: Safety Precautions
Avoid prying into openings of the transducer. • NOTICE Exceeding the single-axis overload values of the transducer, causes irreparable damage. Do not overload the transducer. • 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 6: Technical Data
The power supply input is protected from a reversed polarity circuit. Measurement Ranges Parameter Fxy [N] Fz [N] Txyz [Nm] Measurement Range 0 Measurement Range 1 Each sensor is calibrated with these values. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 7: Product Overview
• Resolved force and torque data • Set bias and clear bias • Programmable low-pass filtering • LED indicator for Run, EtherCAT Link, and Transducer Status Self-Test Sequence and Functions 8]. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 8: Led Self-Test Sequence And Functions
LED State Description EtherCAT interface is in the state “INIT”. Flashing green EtherCAT interface is in the state “Preoperational”. Green EtherCAT interface is in the state “Operational”. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 9: Sensor Status Led
Power-up self testing. At power-up, the sensor com- Flashing pletes diagnostic testing to verify internal electronics green are functioning. Amber Sensing range exceeded. System error. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 10: Installation
Always apply new thread locker when reusing fasteners. • NOTE Depending on the maintenance or repair being performed, utilit- ies to the sensor may not need to be disconnected. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 11: Adapter Plates
Because the mounting and tool sides of the sensor have identical bolt patterns, the robot mounting and tool adapter plates could be incorrectly installed, and as a result, the Axia80 sensor will not function properly. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 12: Routing The Cable
NOTE The maximum supported cable length is 25 m. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... - Page 13 When routing cables do not bend less than the minimum • bending radius specified by the cable’s manufacturer. NOTICE Do not damage or crush the cable by over tightening tie wraps on the cable. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369...
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Page 14: Installing The Sensor To The Robot
Properly restrain and route the power and EtherCAT cable Rout- Ø ing the Cable 12]. After installation is complete, the sensor is ready for normal op- Ø eration. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 15: Removing The Sensor From The Robot
Pin Number Signal TX0+ TX0- RX0+ RX0- +24 V Ground The figure and table details show the sensor’s power and EtherCAT connector’s signals and corresponding pin numbers. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 16: Operation
The following table lists the rounded and exact sample rates. Rounded Sample Rate 0.5 kHz 1 kHz 2 kHz 4 kHz Exact Sample Rate 487 Hz 975 Hz 1990 Hz 3900 Hz 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 17: Low-Pass Filter
1 kHz at 2 kHz at 4 kHz Sample Rate Sample Sample Rate Sample Rate Rate 1000 Frequency Filter Attenuation at 0.5 kHz Sample Rate 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... - Page 18 Operation Frequency Filter Attenuation at 1 kHz Sample Rate Frequency Filter Attenuation at 2 kHz Sample Rate Frequency Filter Attenuation at 4 kHz Sample Rate 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369...
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Page 19: Ethercat Bus Interface
This section lists dictionary objects specific to the EtherCAT F/T sensor application; it does not list objects that are a required part of the EtherCAT standard. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 20: Object 0X2021: Calibration
Counts Per Force DINT The calibration counts per force unit. 0x38 Counts Per DINT The calibration counts per Torque torque unit. 0x39 Reserved UINT Reserved. through 0x56 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... - Page 21 PeakLoadsNegFx DINT Peak Loads Negative. All- time peak negative force/ 0x5e PeakLoadsNegFy torque loads. 0x5f PeakLoadsNegFz 0x60 PeakLoadsNegTx 0x61 PeakLoadsNegTy 0x62 PeakLoadsNegTz 0x63 Reserved through 0x7c 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369...
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Page 22: Object 0X2080: Diagnostic Readings
• MCU program counter error. • ADC no interrupt seen lately. • MCU Stuck GPIO output bits Simulated error. Monitor condition 0. Error (unspecified). No status code errors. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 23: Object 0X2090: Version
Subindex Name Type Description 0x01 DINT These fields contain the 32-bit F/ T result data, in counts per unit. 0x02 0x03 0x04 0x05 0x06 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 24: Object 0X6010: Status Code
• MCU Watchdog reset. • MCU registers error. • MCU Program Counter error. • ADC No interrupt observed. • MCU Stuck GPIO output bits. 6-15 Reserved. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 25: Object 0X6020: Sample Counter
This number rolls over from 4 294 967 295 (2 -1) to 0 without sig- nalling an error. The sample counter is reset to zero during power up. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 26: Object 0X7010: Control Codes
2 = 1990 Hz 3 = 3900 Hz 16-31 Reserved 0x02 Control 2 DINT Bit Function Enable checking of Monitor Condition 0 1-30 Reserved 31 Simulated Error Control 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 27: Maintenance
Follow applicable ISO-9000-type standards for calibration. SCHUNK recommends an- nual recalibrating, especially for applications that frequently cycle loads applied to the sensor. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 28: Troubleshooting
Verify the sensor is correctly installed. Ensure the robot mounting measurement data to and tool adapter plates are installed on the proper side of the the customer devices sensor Installation 10]. that use EtherCAT fieldbus. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 29: Drawings
Drawings 9 Drawings 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 30: Glossar
Fx and Fy. GPIO Random access memory. General-purpose input/output. Saturation The condition where the transducer Inter-integrated circuit. has a load or signal outside its sensing range. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... -
Page 31: Ft-Axia 80 Ethercat | Assembly And Operating Manual | En
(8) bytes. UINT A (16) bit data type representing an un- signed integer. USINT An (8) bit data type representing an un- signed integer. 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369... - Page 32 02.00 | FT-AXIA 80 EtherCat | Assembly and operating manual | en | 1009369...
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