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Summary of Contents for SCHUNK FTE-AXIA
- Page 1 Original manual Assembly and operating manual FTE-AXIA Force-torque-sensor...
- Page 2 Imprint Imprint Copyright: This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights reserved. Technical changes: We reserve the right to make alterations for the purpose of technical improvement. Document number: 1009369 Version: 03.00 | 12/05/2021 | en...
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Page 3: Table Of Contents
7.2.1 Object 0x2021: Calibration .............. 25 7.2.2 Object 0x2080: Diagnostic Readings ............ 27 7.2.3 Object 0x2090: Version ................ 28 7.2.4 Object 0x6000: Reading Data .............. 28 7.2.5 Object 0x6010: Status Code .............. 29 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... - Page 4 Maintenance ...................... 32 Periodic Inspection ..................... 32 Periodic Calibrating .................... 32 Troubleshooting ..................... 33 Errors with Force and Torque Readings ............. 33 10 Drawings......................... 34 Glossar........................ 35 11 EU Declaration of Conformity ................. 36 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369...
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Page 5: General
Non-observance can cause minor injuries. CAUTION Material damage! Information about avoiding material damage. 1.1.2 Definition of Terms The term "product" replaces the product name on the title page in this manual. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 6: Variants
– Y-cable with M12 socket to 5-pin voltage supply (open wire strands) and RJ45 connector for connecting the product to a PC or the local network • Assembly and Operating Manual • Accessory pack 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 7: Accessories
A wide range of accessories are available for this product For information regarding which accessory articles can be used with the corresponding product variants, see catalog data sheet. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 8: Safety
Using fasteners that exceed the customer interface depth penetrates the body of the sensor, damages the electronics, and voids the warranty. Refer to Drawings 34] for more information. • 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... - Page 9 Probing openings in the transducer causes damage to the instrumentation. Avoid prying into openings of the transducer. • CAUTION Exceeding the single-axis overload values of the transducer, causes irreparable damage. Do not overload the transducer. • 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369...
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Page 10: Technical Data
Version FTE-AXIA SI-200-8/SI-500-20 Parameter [Nm] Range of measurement 1 Range of measurement 2 Version FTE-AXIA SI-480-20/SI-1200-50 Parameter [Nm] Range of measurement 1 1200 2000 Range of measurement 2 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 11: 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 12]. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 12: 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”. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 13: Sensor Status Led
Green functioning and communicating. Power-up self testing. At power-up, the sensor Flashing completes diagnostic testing to verify internal green electronics are functioning. Amber Sensing range exceeded. System error. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 14: Installation
Always apply new thread locker when reusing fasteners. • NOTE Depending on the maintenance or repair being performed, utilities to the sensor may not need to be disconnected. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 15: Adapter Plates
• The mounting fasteners should not extend through the sensor’s housing or interfere with the internal electronics. Drawings 34] for thread depth, mounting patterns, and other details. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 16: Routing The Cable
NOTE The maximum supported cable length is 25 m. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... - Page 17 When routing cables do not bend less than the minimum • bending radius specified by the cable’s manufacturer. CAUTION Do not damage or crush the cable by over tightening tie wraps on the cable. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369...
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Page 18: Installing The Sensor To The Robot
8. Properly restrain and route the power and EtherCAT cable Routing the Cable 16]. 9. After installation is complete, the sensor is ready for normal operation. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 19: Removing The Sensor From The Robot
Pin M8 Male Connector for power supply and EtherCAT Pin Number Signal TX + TX – RX + RX – V + V – The figure and table details show the sensor’s power and EtherCAT connector’s signals and corresponding pin numbers. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... - Page 20 Installation Cable assignment Cable assignment voltage supply Item Cable color Assignment Shielding Brown V + Brown/White V – Blue/White (TP1+) Sync (not assigned) Blue (TP1-) Sync Ground (not assigned) 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369...
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Page 21: 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 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 22: Low-Pass Filter
0.5 kHz at 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 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... - Page 23 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 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369...
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Page 24: 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. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 25: Object 0X2021: Calibration
0x37 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 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... - Page 26 PeakLoadsPosTz 0x5d 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 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369...
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Page 27: 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. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 28: 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 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 29: Object 0X6010: Status Code
• MCU part number or version is incorrect. • MCU Watchdog reset. • MCU registers error. • MCU Program Counter error. • ADC No interrupt observed. • MCU Stuck GPIO output bits. 6-15 Reserved. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 30: Object 0X6020: Sample Counter
This number rolls over from 4 294 967 295 (2 -1) to 0 without signalling an error. The sample counter is reset to zero during power 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 31: 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 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 32: Maintenance
Periodic calibration of the sensor and its electronics is required to maintain traceability to national standards. Follow applicable ISO-9000-type standards for calibration. SCHUNK recommends annual recalibrating, especially for applications that frequently cycle loads applied to the sensor. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 33: 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 14]. that use EtherCAT fieldbus. 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 34: Drawings
Drawings 10 Drawings 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... -
Page 35: Glossar
Glossar Glossar Accuracy MAX. Single-Axis Overload See Measurement Uncertainty. The largest amount of load in a single axis (all other axes are unloaded) that the transducer can withstand without Analog-to-digital converter. damage. Calibration The act of measuring a transducer’s Microcontroller unit. raw response to loads and creating Overload data used in converting the response to... -
Page 36: Eu Declaration Of Conformity
Signed for and on behalf of: SCHUNK GmbH & Co. KG Dr.-Ing. Manuel Baumeister, Technology & Innovation, Mechatronics & Sensors Lauffen/Neckar, May 2021 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369... - Page 40 Original manual SCHUNK GmbH & Co. KG Clamping and gripping technology Bahnhofstr. 106 - 134 D-74348 Lauffen/Neckar Tel. +49-7133-103-0 Fax +49-7133-103-2399 info@de.schunk.com schunk.com Folgen Sie uns I Follow us...
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