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ATI Technologies 9105-NET-axia80 Manual

Serial axia f/t sensor
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Serial Axia F/T Sensor
Manual
Document #: 9610-05-Serial 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

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Summary of Contents for ATI Technologies 9105-NET-axia80

  • Page 1 Serial Axia F/T Sensor Manual Document #: 9610-05-Serial 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...

  • Page 2: Foreword

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial 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 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Note: Please read the manual before calling customer service, and have the following information available: Serial number (e.g., FT01234) 2. Sensor model (e.g., Axia80, etc.) 3. Calibration (e.g., US-15-50, SI-65-6, etc.) 4. Accurate and complete description of the question or problem •...

  • Page 4: Statement Of Compliance

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Statement of Compliance Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • www.ati-ia.com...

  • Page 5: Table Of Contents

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Table of Contents Foreword ............................2 Statement of Compliance ....................... 4 Glossary ............................8 Safety ............................10 1.1 Explanation of Notifications ....................... 10 General Safety Guidelines ......................10 Safety Precautions ........................11 Product Overview ........................12 Overview of Axia Models ......................
  • Page 6 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 4.7.2 Tool Transformation Functionality Through a Serial Interface .......... 39 Status Code ..........................40 4.8.1 Status Code: Sensing Range Exceeded ................40 Serial Commands ........................42 Help Command: “h” or “?” ......................42 Reset Sensor Command: “reset”...
  • Page 7 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Serial Axia Sensor “Robot Mode” ..................60 Enter and Exit “Robot Mode”: “m” command ................60 Print a Single Reading of FT Values: “r” command ..............60 Print and Stop a Continuous Output or High Speed Streaming of FT Values: “s” and “e”...

  • Page 8: Glossary

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Glossary Definitions Term Active Configuration The configuration that the system is currently using. Analog-to-digital converter. A number that is related to the speed of data transmission in a system. The data Baud Rate indicates the number of electrical oscillations per second that occurs within a data transmission.
  • Page 9 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Definitions Term Resolution The smallest change in load that can be measured. Sample Rate How fast the ADCs are sampling inside the unit. The ATI F/T sensor detects sense loads that are a cumulation of forces and torques Sense loads acted upon the customer tooling.

  • Page 10: Safety

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial 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. Product specific notifications are imbedded within the sections of this manual (where they apply).

  • Page 11: Safety Precautions

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 1.3 Safety Precautions CAUTION: Modifying or disassembly of the sensor could cause damage and void the warranty. Use the supplied mounting interface plate and the provided tool side mounting bolt pattern to mount the sensor to the robot and customer tooling to the sensor.

  • Page 12: Product Overview

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 2. Product Overview The Serial Axia Force/Torque (F/T) sensor measures six components of force and torque (F ) and communicates this data to a personal computer. The sensor communicates data by using RS485 protocol. The mounting side attaches to a mounting interface plate, which mounts to the customer robot.

  • Page 13: Overview Of Axia Models

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Table 2.1—Serial Axia Cable Configurations Cable Part Configuration Cable Description Number (1) Cable that routes from the sensor to a USB 9105-C-ZC33- 6-pin female M8 Connector to a connection on the customer application. ZC34-XXX USB type A plug. (1) Optional sensor cable for clock 9105-CP- A 3.5 mm stereo audio jack synchronization.

  • Page 14: Sync Functionality Overview

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 2.2 Sync Functionality Overview Sync functionality is possible if the 9105-CP-ZC38-U-1.8 cable is used from (refer to Table 2.1). When the user applies a rising edge of at least 5 V to the red and black conductors (Table 3.5), the sync functionality of the sensor is activated.

  • Page 15: Installation

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 3. Installation 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. CAUTION: Using fasteners that exceed the customer interface depth penetrates the body of the sensor, damages the electronics, and voids the warranty.
  • Page 16 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 If the customer chooses to design and build an interface plate, consider the following points: • The interface plate should include bolt holes for mounting fasteners as well as a dowel pin and boss for accurate positioning to the robot or customer’s device.

  • Page 17: Routing The Cable

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial 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 18 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 CAUTION: Subjecting the connector to the repetitive motion will cause damage to the connector. Restrain the cable close to the connector so that the repetitive motion of the robot does not interfere with the cable connector. For added stability, zip ties can be used to secure the cable to a mounting bracket (refer to the following figure).
  • Page 19 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 CAUTION: Do not cable ties or zip ties to bundle cables or restrain the cable to the robot arm. Directly affixing cable ties or zip ties to the cable jacket will prevent power and signal communication between the F/T sensor and robot controller. Use hook and loop or Velcro straps on the cable jacket surfaces. Examples of the incorrect and correct methods to restrain or bundle cables are in the following pictures: CORRECT INCORRECT...

  • Page 20: Installing The Sensor To The Robot

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 3.3 Installing the Sensor to the Robot Parts required: Refer to Figure 3.9 and customer drawings on the website. Tools required: 4 mm hex key or 4 mm low profile hex key (part of ATI Kit P/N 9105-IP-2126) 242 (if applicable, refer to step ®...
  • Page 21 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Figure 3.5—Installation of the Sensor to the Robot Robot Dowel Pin (6) M5 Mounting Fastener Interface Plate Mounting Fastener (2) Dowel Pin Power and Signal Connection Mounting Side to the interface plate Serial Axia Sensor Tool Side USB Cable...
  • Page 22 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Figure 3.6—Connecting a Stereo Audio Jack Plug on a Signal Cable to the USB type A plug 3.5 mm Stereo Audio Jack USB Type A plug 3.5 mm Stereo Audio Jack Plug Sensor cable to the customer application.
  • Page 23 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 b. Select Device Manager on the System and Security Panel. Figure 3.8—System and Security Panel In the Device Manager, under Ports (COM & LPT) the Serial Axia sensor is assigned a COM port. Figure 3.9—Device Manager Section 3.6—Setting-Up 8.

  • Page 24: Removing The Sensor From The Robot

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 3.4 Removing the Sensor from the Robot Tools required: 4 mm hex key 1. Turn off all energized circuits, for example: electrical. 2. Remove the 6-pin female M8 cable from the sensor’s connection. 3.

  • Page 25: Pin And Wire Assignments For Serial And Power Connection

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 3.5 Pin and Wire Assignments for Serial and Power Connection CAUTION: Ensure the cable shield is properly grounded. Improper shielding on the cables can cause communication errors and an inoperative Serial Axia sensor. The following section provides the pin assignment for the connector on the Serial Axia sensor and applicable connectors on the cables from Table...

  • Page 26: Setting-Up Communications With The Serial Axia Sensor

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 3.6 Setting-Up Communications with the Serial Axia Sensor The Serial Axia sensor is a serial device that is used programmatically with the user’s application. When the sensor is attached via cable to the customer’s personal computer or robot, the computer assigns the sensor a COM port.
  • Page 27 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 3. Open the serial console, for example: PuTTY. A window opens that allows the user to set the configuration for the session. 4. Set the configuration: Under Connection type: select the radio button for Serial. Figure 3.12—Set the Connection Type to Serial In the Serial Line field, enter the assigned COM port from step 2.
  • Page 28 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 After a terminal window opens, the user can then start entering commands. Section 6—Serial Axia Sensor After a command is entered from Section 5—Serial Commands “Robot Mode”, press the (enter) key to send the command. NOTICE: Commands which are entered are not case sensitive.

  • Page 29: Accuracy Check Procedure

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 3.7 Accuracy Check Procedure Complete the following procedures after the initial installation of the sensor to the robot and once annually for maintenance. NOTICE: The mass on the tool side can be the weight of the tooling used in the application. 1.
  • Page 30 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 6. The calculated tooling masses for all (6) points should deviate from each other by less than twice the worst accuracy rating of the sensor. For example: the Axia80-M20 sensor’s rated accuracy is 2% the range on all axes. For a 500 N F •...

  • Page 31: Operation

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 4. Operation The following section provides information required when using the software to operate the Serial Axia sensor. 4.1 Sensor Environment CAUTION: Damage to the outer jacketing of the sensor cable could enable moisture or water to enter an otherwise sealed sensor.

  • Page 32: Diag Led

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 4.2.3 DIAG LED One LED signals the diagnostic communication status of the Serial Axia sensor interface as follows: Table 4.3—DIAG LED LED State Description Indicates an error in the STATUS word (refer to Table 4.8) except the following:...

  • Page 33: Sample Rate

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 4.4 Sample Rate The power-on default sample rate is the rate the user set before removing power. The sample rate is stored to nonvolatile memory. The ADC rate controls the current sample rate. The following table lists the rounded and exact sample rates.
  • Page 34 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Figure 4.1—Filter Attenuation at 0.5 kHz Sample Rate 0.0 dB 200 Hz 60 Hz -6.0 dB 22 Hz 10 Hz -12.0 dB 5 Hz Attenuation 2.5 Hz -18.0 dB 1.3 Hz 0.6 Hz 0.3 Hz -24.0 dB -30.0 dB 0 Hz 1 Hz 10 Hz...
  • Page 35 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Figure 4.3—Filter Attenuation at 2 kHz Sample Rate 0.0 dB 500 Hz 235 Hz 90 Hz -6.0 dB 43 Hz 20 Hz -12.0 dB 10 Hz Attenuation 5 Hz 2.4 Hz -18.0 dB 1.4 Hz -24.0 dB -30.0 dB 0 Hz 1 Hz 10 Hz...

  • Page 36: Bias

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Figure 4.5—Filter Attenuation at 8 kHz Sample Rate 0.0 dB 2000 Hz 958 Hz 935.10 Hz -6.0 dB 373 Hz 364.04 Hz -12.0 dB 169.52 Hz Attenuation 81.24 Hz -18.0 dB 39.84 Hz 20.31 Hz -24.0 dB 9.37 Hz 5.47 Hz -30.0 dB 0 Hz...

  • Page 37: Tool Transformation

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 4.7 Tool Transformation By default, the forces and torques are reported with respect to a point of origin on the sensor that is set by ATI. Refer to the drawing in for the sensor’s point of origin. The tool transformation function allows measurement of the forces and torques at a reference point other than the sensor’s point of origin.
  • Page 38 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 After the displacements, the user point of origin rotates in the following order: 1. The first rotation is about the X-axis. = +90° rotation. The user point of origin rotates +90° about the X-axis, in the •...

  • Page 39: Avoid Overloading The Sensor During Tool Transformation

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 4.7.1 Avoid Overloading the Sensor During Tool Transformation It is possible for the user to set a reference point of origin that does not detect that a torque is applied to the customer tooling, and by extension, the sensor. Torque is the force multiplied by the distance of that force from a reference point of origin.

  • Page 40: Status Code

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 4.8 Status Code A bitmap from bit number 0 to 31 for the current condition of the sensor is in the following table. The user can retrieve the status code using the serial commands (refer to Section 5.3.4—How to Interpret the Output from “!”...
  • Page 41 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 • The total percentage of the calibrated range used by F axes is greater than 105%. Refer and T to the following F equation: Refer to Section 9.3—Calibration Ranges for the calibrated ranges that are used in the preceding equations.

  • Page 42: Serial Commands

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5. Serial Commands These serial commands can be used to view the status, parameters, and adjust settings of the sensor. Refer to Section 3.6—Setting-Up Communications with the Serial Axia Sensor for setting up a serial console. 5.1 Help Command: “h”...

  • Page 43: Reset Sensor Command: "Reset

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.2 Reset Sensor Command: “reset” The “reset” command resets the MCU. “reset” command format: reset user: response: BL3I0+I1+C= =============================================================================== RESET due to SoftwareReset SPI EEPROM 24-bit address => M95M01 SPI EEPROM POST = Good SPI EEPROM Parameter status: copy 0 Good, copy 1 Good Entering main loop ADC reset...

  • Page 44: Query Commands: "S" Or "C

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.3 Query Commands: “s” or “c” The query command starts the high-speed data transmission of FT data. The ”s” command reports a single line of FT data that is scaled by the counts per force or counts per torque. The “c” command reports continuous lines of FT data that stop when the user holds another key, for example: “enter”, until the output of data ceases.
  • Page 45 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Table 5.1—Secondary “c” or “s” Commands Secondary Command Category Notes Specifier Gage values are printed in counts only. Gage number(s). As many as all gage numbers can be reported or as few as a single gage number.

  • Page 46: Examples Of Secondary Commands (Specifiers)

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.3.3 Examples of Secondary Commands (Specifiers) The following are examples of a “c” or “s” command with specifiers: 1. C XTY is interpreted as: s xty user: 0.001 N 0.0009 Nm response: The C is a command for reporting continuous lines of data. b.

  • Page 47: How To Interpret The Output From "!" Specifier

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.3.4 How to Interpret the Output from “!” Specifier The output from “!” specifier reports an output in hexadecimals that must be converted to a 32-bit binary number that correlates to a status code from Table 4.8. Refer to the following table for an example of bit patterns: Table 5.2—Bit Pattern Examples Simple Description...

  • Page 48: Bias Command: "Bias

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.4 Bias Command: “bias” The “bias” command reports the current bias status of the sensor. “bias” command format: bias user: BIAS OFF response: In this case, the command reports the status that the bias feature is off. 5.4.1 Secondary Bias Commands: “on”, “off”, “[values]”...

  • Page 49: Peak Reset Command: "Peak Reset

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.6 Peak Reset Command: “peak reset” The highest and lowest values of F that occurred for a run-time and all-time can be set to the following values by using the “peak reset” command. “peak reset”...
  • Page 50 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Table 5.3—“set” Fields User Field Long Name Read/ Description Example Contents Type Write The FT serial FT001234 STRING(8) serialNum FT Serial number Calibration Part The calibration Num-4 STRING(30) partNum Number part number The field always Read STRING(8)
  • Page 51 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Table 5.3—“set” Fields User Field Long Name Read/ Description Example Contents Type Write -988570 peakNeg0 PeakLoadsNegF -2099525 peakNeg1 PeakLoadsNegF All-time peak negative force/ 32-bit -91487584 peakNeg2 PeakLoadsNegF Read torque loads unsigned -48751 peakNeg3 PeakLoadsNegT that are in F/T...
  • Page 52 Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Table 5.3—“set” Fields User Field Long Name Read/ Description Example Contents Type Write Read Display the Alex’s Bench String(40) location physical location Write of the sensor. The serial Serial number String(100) serNum number The hardware HW Product Code...

  • Page 53: Write "Set" Commands

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.9 Write “set” Commands A secondary “set” command allows the user to write or edit the stored parameter in a certain field in Table 5.3. All write commands are temporary until a “saveall” command is issued. When a “saveall” command is given, the parameter is stored in NVM.

  • Page 54: Filtering Level Command: " Set Filtc

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.9.4 Filtering Level Command: “ set filTc” The user can set the filtering level with a value that is listed in Table 4.7. “set filTc” read and write command format, for example: set filTc user: Field Value response: ----- -----...

  • Page 55: Tool Transform Distance Units Command: "Set Ttdu

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.9.7 Tool Transform Distance Units Command: “set ttdu” The user can set the units for the tool transformation distance, where: • 0 = in. • 1 = ft. • 2 = mm. 3 = cm.

  • Page 56: Tool Transform Rotation Angles Command: "Set Ttrx", "Set Ttry", "Set Ttrz

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.9.10 Tool Transform Rotation Angles Command: “set ttrx”, “set ttry”, “set ttrz” The user can write or edit the tool transform rotation angles. The following is an example of the read and write command format: set ttrx user: Field...

  • Page 57: Simmulated Error Command: "Simerr

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.10 Simmulated Error Command: “simerr” The “simerr” command refers to bit 28 from Table 4.8. The command can be issued to view status of bit 28 or turn bit 28 on or off. The simulated error command is useful for customers, who need to test their error- handling routines.

  • Page 58: Diagnostic Status Command: "Diag

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.12 Diagnostic Status Command: “diag” The diagnostic status command provides a report for each of the gages within the sensor. The information can be compared to the values in Section 9.3—Calibration Ranges. Use Section 5.13—Status Command: “status”, for troubleshooting.

  • Page 59: Status Command: "Status

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 5.13 Status Command: “status” If there could be an underlying problem within the sensor hardware, the “status” command can be used to retrieve detailed information or for the user to send the information to ATI for troubleshooting. “status”...

  • Page 60: Serial Axia Sensor "Robot Mode

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 6. Serial Axia Sensor “Robot Mode” When in “robot mode” the Serial Axia sensor is able to complete these following actions: • enter and exit “robot mode” print a single reading or continuous reading of FT values •...

  • Page 61: Print And Stop A Continuous Output Or High Speed Streaming Of Ft Values: "S" And "E" Command

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 6.3 Print and Stop a Continuous Output or High Speed Streaming of FT Values: “s” and “e” command To receive a continuous output or start high speed streaming of FT values in each axis, type the character “s”.

  • Page 62: Interpreting Robot Mode Readings

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 6.5 Interpreting Robot Mode Readings The following is an example of how to interpret “robot mode” FT readings into decimal values. The “p” counts per force and counts per torque command and “r” single FT reading command have the following outputs: P = 15.2588, 15.2588, 15.2588, 15.2588, 15.2588, 15.2588 R = 1FFFF00000023000000000000...

  • Page 63: Set The Adc Sample Rate: "A" Command

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 6.6.2 Set the ADC Sample Rate: “a” command The ADC sample rate that is set for the sensor must match the same sample rate set on the serial console. Refer to Figure 5.1.

  • Page 64: Maintenance

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 7. Maintenance 7.1 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 in or on the sensor.

  • Page 65: Errors Powering Up

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 8.1 Errors Powering Up Table 7.1—Powering Up Symptom Resolution 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 66: Reducing Noise

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 Table 7.2—Errors with Force and Torque Readings Symptom Cause Resolution Some drift from a change in temperature or mechanical coupling is normal. Drift: after a load is Mechanical coupling occurs removed or applied, A shift in the raw gage reading is observed more when a tool plate contacts the raw gage reading...

  • Page 67: Detecting Sensitivity Changes

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 8.4 Detecting Sensitivity Changes Sensitivity checking of the sensor can also be used to measure the Sensor Axia sensor’s health. Apply known loads to the sensor and verifying the system output matches the known loads. For example, a sensor mounted to a robot arm may have an end-effector attached to it.

  • Page 68: Specifications

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 9. Specifications The requirements for the Sensor Axia sensor are covered in the following sections. 9.1 Environmental Conditions Table 8.1—Environmental Conditions Parameter Value Storage Temperature, °C -20 to +85 Operating Temperature, °C 0 to +65 Relative Humidity <95%, non-condensing...

  • Page 69: Cable Specifications

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 9.4 Cable Specifications 9.4.1 9105-C-ZC33-ZC34-XXX Table 8.4—9105-C-ZC33-ZC34-XXX 6-pin Female A-Coded M8 Connector and USB Type A Plug Parameter Value Voltage Rating 12-30 V IP67: When the M8 connector is attached. IP Rating IP50: USB connector. Operating Temperature -5°C to 70°C Range (Min-Max)

  • Page 70: Terms And Conditions Of Sale

    Manual, F/T Sensor, Serial Axia Document #9610-05-Serial Axia-05 10. 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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