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SCHUNK FT-AXIA 80 Ethernet Software Manual

Software module for urcap
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SCHUNK Software Module for URCap
SCHUNK Sensor FT-AXIA 80 Ethernet

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Summary of Contents for SCHUNK FT-AXIA 80 Ethernet

  • Page 1 Original Software Manual Software Manual SCHUNK Software Module for URCap SCHUNK Sensor FT-AXIA 80 Ethernet...
  • 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.

  • Page 3: Table Of Contents

    Installing Demo Programs and Setting a Start Position ........ 35 Operation ....................... 41 Standard Demo Program .................. 41 Simple Demo ......................  42 Troubleshooting ..................... 43 Errors with the URCap Software.................  44 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 4: About This Manual

    Illustrations in this manual are provided for basic understanding and may differ from the actual product design. In addition to these instructions, the documents listed under Link Mitgeltende Unterlagen are applicable. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 5: Explanation Of Warnings

    Non-observance can cause minor injuries.  WARNING Dangers for persons! Non-observance can lead to irreversible injury and even death. NOTICE Material damage! Information about avoiding material damage. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 6: Safety

    Material damage due to wrong up setting. When initially setting up the Demo Programs, position the robot manually in order to avoid damaging parts, especially the sensor cable. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 7: Overview

    For more information on the SCHUNK F/T Ethernet sensors refer to the Ethernet AXIA manual for the FT-AXIA 80 sensor and Net FT for all other SCHUNK Ethernet sensors. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 8: Ur Kit

    Refer to the FT-AXIA 80 Ethernet manual for information about the FT-AXIA 80 Ethernet sensor. The FT-AXIA 80 Ethernet manual in- cludes mechanical and electrical specifications. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 9: Unpacking The Ur Kit

    UR Kit. 3.1.2 Installing the Ethernet AXIA Sensor Refer to the Ethernet AXIA manual, for mechanical installation, cable routing, wiring information for the connectors, and electrical specifications. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 10: Urcap Software

     34], for information about the simple and standard demo pro- grams available through the URCap software. The demo programs are included in the URCap software package that is downloaded from the website 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 11: Installing Urcap Software

    UR Teach Pendant. 2. On the UR Teach Pendant, “PolyScope Robot User Interface” screen or main menu, click "Setup Robot". 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 12 URCap Software 3. On the “Setup Robot” screen, click URCaps Setup. 4. On the “Setup Robot”, “URCaps Setup” screen, click +. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 13 6. On the “Setup Robot”, “URCaps Setup” screen, AXIA Force/ Torque Sensor appears in the “Active URCaps” field. Click Restart. 7. When the installation completes, remove the USB stick. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 14: Setting Up Urcap Software

    1. On the UR Teach Pendant, “PolyScope Robot User Interface” screen or main menu, click "Program Robot". 2. The “New Program” screen displays. Select the Installation tab. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 15 4. The “Force/Torque Sensor” screen displays. Enter the sensor’s IP address. The sensor is shipped with a default sensor IP address: “192.168.1.1”. 5. Click Start Daemon. The setup completes. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 16 URCap Software NOTE If after clicking Start Daemon and the error message “FT Daemon failed.” appears, verify the IP Address entered is correct. Repeat previous step. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 17: Determining The Tooling Mass And Offset

    The following diagram can be used as a reference for the equa- tions. Customer's CG in the Z direction CG of FT-Sensor and Interface Plate CG Total Robot Arm CG Cutsomer's Tooling 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 18 F/T sensor to the robot. The F/T mass does not include any hardware the customer uses to mount their tooling to the F/T sensor. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 19: Uninstalling Urcap Software

    1. On the UR Teach Pendant, “PolyScope Robot User Interface” screen or main menu, click Setup Robot. 2. On the “Setup Robot” screen, click URCaps Setup. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 20 4. Click -. AXIA Force/Torque Sensor is removed from the “Active URCaps” field. 5. Click Restart. The changes require a restart for the uninstallation to be complete. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 21: Operation Of The Urcap Software

    Communicating with the sensor and UR robot, requires a know- ledge of Ethernet standards and operation and UR interface, Poly- scope. For more information about UR, refer to https://www.uni- versal-robots.com. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 22: Sample Rate

    While the program is operating, the user can view the force and torque readings. Select the “Variables” tab. The values are labeled “ForceValue” and are in the order [Fx, Fy, Fz, Tx, Ty, Tz] in N/Nm. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 23: Program Node Commands And Options

    In order to access the commands, the user must complete the fol- lowing steps: 1. On the UR Teach Pendant, “PolyScope Robot User Interface” screen or main menu, click Program Robot. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 24 Operation of the URCap Software 2. The “New Program” screen displays. Click the "Empty Program" button. 3. The “Program” screen appears. Click the Structure tab. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 25 Program Node Commands  26] – To access the Program Node Operations, click the SCHUNK F/ T Sensor Options button. i. Refer to Section Program Node Options  28] 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 26 5.3.1 Program Node Commands There are three Program Node Commands that the user can select by clicking on the radio button on the “F/T Sensor Command” screen. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 27 When biasing, ensure the force and torque readings are steadys- tate. Biasing while the sensor is vibrating, accelerating, or deceler- ating can provide a poor reference for the user’s application. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 28 5.3.2 Program Node Options Under the Command tab and on the “F/T Sensor Options” screen, the user selects the Logging Level and Acceptable Status Condi- tions. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 29 SSH into the UR Controller. To copy the log file to another location, it is possible to SFTP to the UR Controller. Table 4.3 lists messages written in the log for the applicable Log- ging Level. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 30 Communication with F/T sensor took longer than expected. New longest period between pack- This is the longest period of time ets: #. gone without communication with the F/T sensor. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 31 Time run: #. Loop iterations: #. Rate: #. URCap operating information. Gen- erated roughly every 10 seconds. Rate should be around 125 Hz. F/T Thread safely closed. Time run: URCap successfully stopped. #. Loop iterations: #. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 32 Conditions so that the URCap software ignores the status condi- tion and continues operation. The user sets Acceptable Status Con- ditions using the following steps: Net F/T Status Bits AXIA  80 Sensor Bits 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 33: Protective Stop Error

     32] are selected, then those status condition will be ignored and the UR robot does not stop with the following error message. Protective Stop Error Message 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 34: Demo Programs

    The Demo consists of a robot, a sensor, a program loaded from a USB drive, a customer supplied tool, and an uneven surface. The following sections includes information on downloading, in- stalling, and operating the demo programs. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 35: Downloading Demo Programs

    Insert a USB stick that contains the Demo package into the USB Ø port on the UR Teach Pendant. On the UR Teach Pendant, “PolyScope Robot User Interface” Ø screen or the main menu, select "Run Program". 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 36 Double click the program or select the program > Open Ø The Universal Robots Home screen, with program control ✓ buttons displays. The demo includes the SCHUNK default safety settings. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 37 To use current safety settings installed on the UR robot, click Cancel. If the user selects to not load the default settings, the following Ø message appears. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 38 Load Programs Installation the next time the demo program is run. The Universal Robots Run Program control screen displays. Click Ø the Play button. The robot moves to a Start position. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 39 The robot moves to the default Start Position and the Auto ✓ button becomes grayed out. To edit the demo program to teach the robot a Start Position, Ø click "Manual". 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...
  • Page 40 Under the Move tab, use the manual controls to move the ro- Ø bot to the Start Position. Click "Ok". After the robot moves to a Start Position, the Universal Robots Ø Home Screen appears. Click "Play". 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 41: Operation

    Acceptable Status Conditions  32] for Acceptable Status Con- ditions that the user can set the URCap software to ignore so that the UR robot continuously operates. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 42: Simple Demo

    NOTICE! The Simple Demo Program stops when the sensor de- tects a force greater than 2 N. This motion repeats until the program is stopped. Ø 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 43: Troubleshooting

    5. Computer and software information. Operating system, PC type, drivers, application software, and other relevant information about your configuration. If possible, be near the F/T system when calling. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

  • Page 44: Errors With The Urcap Software

    The SCHUNK F/T AXIA 80 sensor is mal- Refer to the Ethernet AXIA manual. functioning. The SCHUNK NET F/T sensor is malfunc- Refer to the NET FT manual. tioning. 01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443...

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