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ROBOTIQ FT 150 Instruction Manual

Force torque sensor
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© ROBOTIQ INC. 2016
Get the latest version of the manual at support.robotiq.com
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Summary of Contents for ROBOTIQ FT 150

  • Page 1 © ROBOTIQ INC. 2016 Get the latest version of the manual at support.robotiq.com...

  • Page 2: Table Of Contents

    Comments ....................62 Robotiq inc. © 2016...

  • Page 3: Home

    © Robotiq inc. 2016 Revisions Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at: http://support.robotiq.com/...

  • Page 4: General Presentation

    Robotiq FT sensor comes in two version, FT 150 and FT 300. Both version are physically different but the concept of utilization and the software provided by Robotiq is the same for both products. The following manual instructions apply to both versions unless explicitly stated otherwise.
  • Page 5 0.02 N*m Cross-talking None External noise sensitivity Immune Overload capacity 500% Input Voltage 24 V DC Maximum power consumption Communication interface RS-485, USB Figure 1.1 : General presentation of the Robotiq Force Torque Sensors with main features. Robotiq inc. © 2016...
  • Page 6 Status LED provides visual information on the status of the Sensor, see Section 3.6 for details. The thru hole is used in conjunction with hollow wristed robots to pass cables (only on the FT 150). Figure 1.2 : FT Sensor force and torque diagrams. Robotiq inc. © 2016...
  • Page 7 For both Sensors, the X axis traces a symmetric line centered on the connector, The FT 150 positive direction points towards the connector, The FT-300 positive direction points the opposite way; away from the connector, For both Sensors, the Y axis uses the right hand thumb rule according to X-Z.

  • Page 8: Safety

    Warning The operator must have read and understood all of the instructions in the following manual before handling the Robotiq Force Torque Sensor. The term "operator" refers to anyone responsible for any of the following operations on the FT 150 or FT 300 and associated robot or tools :...

  • Page 9: Warning

    Always respect the Sensor payload. All local safety measures and/or laws on robot operation must be applied to the Sensor. Any use of the Sensor in noncompliance with these warnings is inappropriate and may cause injury or damage. Robotiq inc. © 2016...

  • Page 10: Intended Use

    The unit may be used only within the range of its technical specifications. Any other use of the product is deemed improper and unintended use. Robotiq will not be liable for any damages resulting from any improper or unintended use.

  • Page 11: Installation

    USB Signal Converter ( ACC-ADT-USB-RS485 USB Signal Converter ( ACC-ADT-USB-RS485 Options : Couplings Note Coupling is optional for the FT 150, but mandatory for the FT 300. Adapter plates Tool plates Mechanical Protector Info Only available with the FT 150. Different cable lengths...

  • Page 12: Environmental And Operating Conditions

    Robotiq FT-150/300 Sensor Instruction Manual 3.2 Environmental and operating conditions The FT Sensor is designed for industrial applications. Always respect the following specified storage, transport and operating environmental conditions: FT 150 / FT 300 Minimum storage/transit temperature -25°C Maximum storage/transit temperature 70°C Minimum operating temperature 15°C...

  • Page 13: Mechanical Connections

    Our couplings are listed according to ISO 9409-1 and this covers most bolt patterns. If there is no coupling for your robot, you can modify a blank coupling or Robotiq can create a custom version for you. Some couplings may require an additional adapter plate.

  • Page 14: Power Supply Specifications

    Maximum output voltage tolerance is 10%, exceeding this limit, 26.4 V DC could damage the Sensor. Info Robotiq recommends the use of the following power supply : TDK-Lambda DPP Series, 15W Single Output DIN Rail Mount Power Supply, DPP15-24 Robotiq inc. © 2016...

  • Page 15: Wiring

    Power and communications are established with the FT Sensor via a single device cable. The pinout is the same on both versions of the FT Sensor although the FT 150 has a mounted connector, while the FT 300 has a pigtail cable.

  • Page 16: Wiring With Usb To Rs485 Converter

    The converter will provide you with a standard USB 2.0 male A connector. Warning Power is not delivered via the USB, do not plug 24V into the USB Figure 3.5.1.1 : Wiring diagram for the different RS485 to USB converters delivered before & after April 2015. Robotiq inc. © 2016...

  • Page 17: Wiring With Rs232 To Rs485 Converter

    The 24V power supply is supplied via the converter. The converted side will provide you with a standard DB - 9 female connector with signaling as shown in Figure 3.5.2.1. Figure 3.5.2.1 : Wiring diagram for RS232 to RS485 converter. Robotiq inc. © 2016...

  • Page 18: Calibration Procedure

    The sensor outputs the force and moment data according to a reference, i.e. a zero value. In order to compensate for any deviation of this reference, Robotiq provides a new feature which allows the sensor to automatically compute and compensate the installation offset, the weight of the tool and its center of mass.
  • Page 19 2. Run the program. Follow the instructions on the pop-ups. The displayed instructions explain how to move the robot through the three different poses. In each case, make sure that no external force is applied on the tool. Robotiq inc. © 2016...
  • Page 20 Robotiq FT-150/300 Sensor Instruction Manual 3. You can now monitor the forces in the Variables tab. Robotiq inc. © 2016...

  • Page 21: Calibration Procedure For The Visual Demo Software (Pc)

    You need the Visual Demo Software installed first, see Section 4.5 for download and installation. To calibrate your FT Sensor : Go to the "Tool Calibration" tab and follow the instructions. Once completed, go to the "Sensor Data" tab. Robotiq inc. © 2016...

  • Page 22: Status Led

    A single status LED provides information on both Sensors, detailed information can be found in the tables below, while a representation of both Sensor status LEDs is shown in Figure 3.6.1. On the FT 150 Sensor, the LED is located on the Sensor, next to the cable connector : COLOR...
  • Page 23 Robotiq FT-150/300 Sensor Instruction Manual Blue FT 300 Sensor is functional, communication established Figure 3.6.1 : FT Sensor status LED. Robotiq inc. © 2016...

  • Page 24: Software

    However, the code is provided "as is" without any liability from Robotiq and some restrictions apply regarding the distribution of the code and the use of the Robotiq name.
  • Page 25 - Neither the name of Robotiq, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

  • Page 26: Linux

    When started, the provided software will scan all ports in the system (ttySx and ttyUSBx) to find a compatible Robotiq device. It uses the Linux utility "fuser" to determine if the port is already opened. This section of code can be modified by the user if necessary to avoid the scanning of ports (for example, if another device would become confused when receiving a message that it cannot understand).
  • Page 27 At this point, the main.c file should be adapted according to the guideline comments inserted in the code. Please note that Robotiq can only support our customers in making sure they can compile and test the provided code...

  • Page 28: Windows

    After 1-2 seconds, the sensor data should start showing up in the command window as a vector of 6 floats with data in the (Fx, Fy, Fz, Mx, My, Mz) format. Figure 4.1.2.1 : Sensor Data Acquisition Under Windows. Robotiq inc. © 2016...
  • Page 29 At this point, the main.c file should be adapted according to the suggested comments inserted in the code. Please note that Robotiq can only support our customers in making sure they can compile and test the provided code...

  • Page 30: Ros

    Instruction Manual 4.2 ROS is an open-source framework for developing robot software. The Robotiq Force Torque Sensor has a ROS package which allows you to read the sensor data and bias the sensor. The ROS package is called robotiq_force_t orque_sensor...

  • Page 31: Universal Robots Driver Package

    4.3 Universal Robots driver package The Robotiq Force Torque Sensor can be directly and very easily integrated with Universal Robots using the software package described in this section. Once installed, the sensor readings will be available in Polyscope and will be directly usable in the robot program, for example to measure loads.

  • Page 32: Installing And Testing

    UR (see section 4. for compatibility matrix) The Robotiq Force Torque Sensor software package can be downloaded at: support.robotiq.com Extract the content of the zip file onto a blank USB flash drive. Plug the flash drive into a USB port for the robot controller (for example the one on the teach pendant). The pendant screen will show some status information while the software package is automatically installing.
  • Page 33 According to: Wiring with USB to RS485 converter, Section 3.5.1 , connect the sensor wires to the converter or see Figure 4.3.1 above. Plug the USB connector of the converter into the available USB port located inside the Universal Robots' control box. Robotiq inc. © 2016...

  • Page 34: Provided Examples

    Now add your instructions in the robot program section, for example you can command the robot to move until you read a certain threshold of force. The program instructions (robot motion, logic, etc.) can be added after the "Script: accessor_capt" line and you can start building the program as it is normally done with Polyscope. Robotiq inc. © 2016...

  • Page 35: Activedrive Toolbar For Universal Robots

    Robotiq ActiveDrive toolbar is an add-on software package to enhance guiding mode on Universal Robots. It allows the robot to be moved smoothly and easily to a waypoint. ActiveDrive works on UR robots with CB3 and CB3.1 controllers using Polyscope version 3.2 or later, with Robotiq’s FT 150 and FT 300 Force Torque Sensors. Section 4.4.1 guides you through the installation of the ActiveDrive Section 4.4.2...

  • Page 36: Activedrive Features

    Once installation is complete, this ActiveDrive button will appear : 4.4.2 ActiveDrive features After following the installation instructions from the previous section, you will have access the toolbar : Collapsed view : Expanded view : Expanded view with mode buttons expanded : Robotiq inc. © 2016...
  • Page 37 ActiveDrive modes allow you to constrain the robot to specific movements. Free Free motion: all translations and rotations are allowed. Robotiq inc. © 2016...

  • Page 38: Activedrive Troubleshooting

    (just try it, you will see!). 4.4.3 ActiveDrive troubleshooting The following messages will pop-up: When starting ActiveDrive while an excessive force is applied to the tool (ActiveDrive currently detects a force applied on the tool) Robotiq inc. © 2016...
  • Page 39 When unavailable, the ActiveDrive toolbar will be automatically collapsed and greyed out. As follows: In some cases, clicking on the ActiveDrive button will bring up the following messages: If no Force Torque Sensor is detected: Robotiq inc. © 2016...
  • Page 40 If the robot is not properly initialized: ActiveDrive cannot start because the robot is not initialized. If a program is already running: ActiveDrive cannot start because a robot program is already running. If ActiveDrive is badly installed: Robotiq inc. © 2016...
  • Page 41 ActiveDrive cannot start because the robot speed setting is lower than 50%. Please adjust the speed setting and try again. If the Free Drive button is pressed: ActiveDrive cannot start because the Freedrive button is pressed. Please released thre Free Drive button and try again. Robotiq inc. © 2016...

  • Page 42: Visual Demo Software

    Connect the USB connector to the converter attached to the PC. Important : The Sensor must NOT be powered at this time. Wait while the driver(s) install. After all the drivers have been installed. Plug the Sensor cable into the Sensor. Connect the Sensor cable to the power supply. Launch the demo application. Robotiq inc. © 2016...

  • Page 43: Serial Communication

    Modbus RTU can be used to obtain data, but will result in a slower data acquisition frequency. Info In both modes, force and torque data from the Sensor will be in 16-bits signed integer format. Modbus RTU: The Modbus RTU serial communication configuration parameters are: Parameter Value Robotiq inc. © 2016...
  • Page 44 When the stream is started, 16 bytes messages are sent by the sensor at 100Hz using this format: <0x20><0x4e><LSB_data1><MSB_data1> ... <LSB_data6><MSB_data6><LSB_crc><MSB_crc> With dataX being a 16-bits signed integer defined as: Data Value meaning data1 Fx * 100 (N) data2 Fy * 100 (N) Robotiq inc. © 2016...

  • Page 45: Specifications

    The CRC is computed using a standard 16-bits modbus CRC (see http://www.ccontrolsys.com/w/How_to_Compute _the_Modbus_RTU_Message_CRC) 5. Specifications The following sections provide data on the various specifications of the Robotiq Force Torque Sensor. Section 5.1 details the technical dimensions of the sensor. Section 5.2 details the mechanical specifications.
  • Page 46 Robotiq FT-150/300 Sensor Instruction Manual Figure 5.1.2 : Robotiq FT 300 Sensor general technical dimensions. Info Reminder: Measures in millimeters. Robotiq inc. © 2016...

  • Page 47: Robot Side Bolt Pattern

    Instruction Manual 5.1.1 Robot side bolt pattern Figure 5.1.1.1 shown below describes the bolt pattern for fixation of the FT 150 Sensor onto the robot or other support. M4 screw clearance is meant to fix the Sensor on the coupling that is attached to the robot.

  • Page 48: Tool Side Bolt Pattern

    Sensor tool flange must only make contact with the end effector tool flange within the 45 to 64 mm diameter range. Make sure that no other point of the FT 150 Sensor is in contact with the tool. Failure to do so will result in unpredictable force and torque readings from the Sensor.

  • Page 49: Mechanical Specifications

    5.2 Mechanical specifications Info Reminder, all units are metric units. SPECIFICATION FT 150 FT 300 Approximate Weight 650 g 300 g Maximum load (all 750 N 1500 N axes) (500%) (500%) Outside diameter 120 mm 75 mm Robotiq inc. © 2016...
  • Page 50 ? X 10 M , M 4700 Nm/rad ? Nm/rad 4600 Nm/rad ? Nm/rad : Expected rating, certification is planned and will be forthcoming (see manual revision date). : Maximum load expressed in % of measuring range. Robotiq inc. © 2016...

  • Page 51: Moment Of Inertia And Center Of Mass

    All values are approximate. Actual coordinates may vary according to various options present on the Sensor. Here is the approximate position of the center of mass for the FT Sensor : Coordinate FT 150 (mm) FT 300 (mm) - 0.3 20.3 Here is the approximate moment of inertia matrix for the FT Sensor, taken at the coordinate system origin : Figure 5.2.1.1 : Moment of inertia of the FT Sensor 150 and 300.

  • Page 52: Signal Specifications

    Robotiq FT-150/300 Sensor Instruction Manual 5.3 Signal specifications SPECIFICATION FT 150 VALUE FT 300 VALUE Measuring range Force ± 150 N ±300 N Torque ± 15 Nm ± 30 Nm Signal noise Fx, Fy 0.5 N 0.8 N 0.5 N Mx, My 0.03 Nm...

  • Page 53: Electrical Ratings

    Robotiq FT-150/300 Sensor Instruction Manual 5.4 Electrical ratings SPECIFICATION FT 150 VALUE FT 300 VALUE Input voltage 6 to 28 V DC ± 10% 5 to 24 V DC ± 10% Max power consumption Communication electrical interface RS-485 Recommended fuse...

  • Page 54: Couplings

    Accessories. The following sub-sections contain data required for custom couplings or creating couplings from blanks. Info All Robotiq couplings and adapter plates are provided with necessary hardware for fixation on the Robotiq device side. Note Unless identified for specific packages only, robot side screws and indexing pins are not provided Robotiq inc.

  • Page 55: Blank Coupling

    Instruction Manual 5.5.1 Blank coupling Schematics of Figure 5.5.1.1 below represent optional Blank Coupling for the FT 150 Sensor : (4) M4 thread and indexing pin holes are meant to affix the FT 150. The circular central section of 71 mm diameter (blue section of Figure 5.5.1.1) is available for custom bolt patterns for robot side fixing.
  • Page 56 Robotiq FT-150/300 Sensor Instruction Manual Figure 5.5.1.2 : Technical dimensions of the blank coupling for the FT 300. Robotiq inc. © 2016...

  • Page 57: Maintenance

    Validity of your warranty. Proper lifetime for your Sensor. Please visit support.robotiq.com for details on the maintenance operation. Warning Unless specified, any repairs done on the FT Sensor will be done by Robotiq. Maintenance Intervals : Operation Daily Weekly Semiannually...
  • Page 58 Coupling for 63 mm PCD FTS-150-CPL-110 63-4M6-61_4-1D6 (4) M6 thread and (1) 6 mm M6 indexing pin on 61.4 mm PCD. Tool plate F-104 Tool side plate for -150 -TOOL-104 conversion between FT and 50 PCD 4M6-1D6 bolt pattern Robotiq inc. © 2016...

  • Page 59: Troubleshooting

    (only for Sensor FT 150) Pitch Circle Diameter 8. Troubleshooting The following are some common troubleshooting hints, if you need further assistance please contact the Robotiq Support team. Procedure to Determine if the Sensor is Functional Verify that the Sensor is connected according to the Installation section of this manual.

  • Page 60: Warranty

    9. Warranty Robotiq warrants the Force Torque Sensor FT 150 / FT 300 against defects in material and workmanship for a period of one year from the date of reception when utilized as intended with the specified maintenance. Robotiq also warrants that this equipment will meet applicable specifications under normal use.

  • Page 61: Contact

    Robotiq shall not be liable for damages resulting from the use of the product, nor shall be responsible for any failure in the performance of other items to which the product is connected or the operation of any system of which the product may be a part.

  • Page 62: Comments

    Robotiq FT-150/300 Sensor Instruction Manual St-Nicolas, Qc G7A 2N1 Canada Comments Robotiq inc. © 2016...

This manual is also suitable for:

Ft 300

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