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Summary of Contents for SCHUNK FTR-AXIA
- Page 1 Translation of Original Operating Manual Assembly and Operating Manual FTR-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: 1398962 Version: 01.00 | 12/05/2021 | en...
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Page 3: Table Of Contents
Special features of the FTR-Axia 80 .............. 16 Measurements .................... 17 4.4.1 X/Y-axis force measurements.............. 17 4.4.2 Z-axis force measurement .............. 17 4.4.3 Torque measurements ................ 18 Assembly ........................ 19 Mechanical connection .................. 19 5.1.1 Fastening elements................. 19 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... - Page 4 Measurement deviations ................... 39 Command reference................... 41 Troubleshooting ..................... 45 Maintenance ...................... 47 Maintenance intervals.................. 47 Removing the product from the robot arm............ 48 Drawing ...................... 49 EU Declaration of Conformity ................. 50 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
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Page 5: General
Dangers for persons! Non-observance can lead to irreversible injury and even death. CAUTION Dangers for persons! Non-observance can cause minor injuries. CAUTION Material damage! Information about avoiding material damage. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 6: Definition Of Terms
– Sensor cable with M8 socket, 6-pin for connection to product – Outlet for 3.5 mm jack cable for synchronization with customer application • Assembly and Operating Manual • Accessory pack 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
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. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 8: Basic Safety Notes
Use of unauthorized spare parts Using unauthorized spare parts can endanger personnel and damage the product or cause it to malfunction. • Use only original spare parts or spares authorized by SCHUNK. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 9: Ambient Conditions And Operating Conditions
Due to its technical training, knowledge and experience, service the manufacturer personnel of the manufacturer is able to perform the delegated tasks and to recognize and avoid possible dangers. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 10: Personal Protective Equipment
• Eliminate any malfunction immediately. • Observe the care and maintenance instructions. • Observe the current safety, accident prevention and environmental protection regulations regarding the product's application field. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 11: Malfunctions
The incorrect handling of disposal may impair the product's safety and cause serious injuries as well as considerable material and environmental harm. • Follow local regulations on dispatching product components for recycling or proper disposal. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 12: Fundamental Dangers
Falling and violently ejected components can cause serious injuries and even death. • Take appropriate protective measures to secure the danger zone. • Never step into the danger zone during operation. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 13: Technical Data
More technical data is included in the catalog data sheet. Whichever is the latest version. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 14: Ranges Of Measurement
Version FTR-AXIA SI-200-8/SI-500-20 Parameter [Nm] Range of measurement 1 Range of measurement 2 Version FTR-AXIA SI-480-20/SI-1200-50 Parameter [Nm] Range of measurement 1 1200 2000 Range of measurement 2 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 15: Design And Description
• Individual vibration damping due to programmable low-pass filter with limit frequency. • Dust and splash water protection enable flexible use. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 16: Special Features Of The Ftr-Axia 80
The number of identification grooves in the product indicates which product version it is. Identification groove Version Material Number of grooves SI-75-4/SI-150-8 Aluminum SI-200-8/SI-500-20 Aluminum SI-480-20/SI-1200-50 Stainless steel 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 17: Measurements
When measuring force in the Z-axis direction, the tool side of the product is moved in the Z-axis direction compared to the robot side. This leads to the result F 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 18: Torque Measurements
Y-axis The tool side is tilted in the Y-axis direction compared to the robot side (M X-axis The tool side is tilted in the X-axis direction compared to the robot side (M 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 19: Assembly
Tightening torque [Nm] 5.88 8.47 Mounting screw, supplied M5 x 5, 12.9 by the customer (6 Piece) Tightening torque [Nm] 5.88 8.47 Drilled hole for alignment Ø 3 H7 pin (2 Piece) 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 20: Requirements For Adapter Plates
The product can be damaged. Use alignment pins of the correct length • Make sure the adapter plate and product are flush. • 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... - Page 21 Tool adapter plate (provided by customer) Fastening screw (provided by customer) Alignment pin 4 mm (provided by customer) Alignment pin 3 mm (provided by customer) Fastening screw M5 x 8.5 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
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Page 22: Assembling And Connecting The Product
Use alignment pins of the correct length. • Make sure the adapter plate and product are flush. • 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... - Page 23 20]. 4. Attach the product (7) to the robot. Use a hexagon socket wrench for this purpose. ✓ Tighten the screws (5). Observe the tightening torque, ✓ Mechanical connection 19]. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
- Page 24 20]. 4. Secure the end effector (3) to the product (1) using the screws (4) and alignment pin (2). Observe the tightening torque, depth of engagement and ✓ strength class, if required. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
- Page 25 Assembly Connecting the product Circular plug pin allocation, 6-pin Pin allocation Signal RS485 + RS485 − CLK SYNC GND for CLK SYNC V + V − Circular plug with feather key, 6-pin 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
- Page 26 Material damage due to incorrect assembly! If the plug connection is tightened with a tool, e. g. a wrench, • do not exceed the maximum tightening torque of 0.5 Nm. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
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Page 27: Usb Connector
USB connector: LED Tx: • Blue: data transfer to sensor • Off: no data transfer to sensor USB connector: LED PWR: • Green: power supply OK • Off: no power supply 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 28: Setting Up The Product
COM port. Appropriate drivers can be found on the Internet, for example on one of the following sites: • https://www.virtual-serial-port.org http://www.ftdichip.com/Drivers/VCP.htm ✓ • Ask the administrator to set up the driver and product, if required. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... - Page 29 ✓ to SCHUNK for diagnosis and re-calibration, if necessary. Example The rated precision of the product for FTR-AXIA 80 is 2 % on all axes at 500 N permissible force on axes XY (F ) and 900 N on axis Z ). In case of 2 % rated precision, the maximum possible inaccuracy is ±10 N on F...
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Page 30: Console
4. Following successful installation, perform a restart if required. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... - Page 31 Select Serial Configuration > Connection > Serial Serial line Select the COM port previously identified as the connection interface in the device manager. Speed Enter 115200 (baud rate) 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
- Page 32 To do this, in the configuration of the PuTTY console in the area Window > Selection activate the option Windows [Middle extends, Right brings up menu]. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
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Page 33: Operation
Description Product starts or checks the status. Indicates an error in the status word. Green Normal operation. Red/Green Measured value of an axis outside the permissible range. (Orange) 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... - Page 34 Receipt of data via USB port. Description No data transfer via USB port. Blue Data transfer via USB port. Description No power supply established. Green Power supply established. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
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Page 35: Measurement And Transmission Data
(2) are not transferred. Selecting a data rate that is higher than the sampling rate is recommended if other devices in the network are operated at a higher frequency. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 36: Filters And Dampening
Depending on the selected sampling rate, this leads to the following relations between frequency and damping: Frequency Filter damping at 0.5 kHz sampling rate 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... - Page 37 Operation Frequency Filter damping at 1 kHz sampling rate Frequency Filter damping at 2 kHz sampling rate Frequency Filter damping at 4 kHz sampling rate 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
- Page 38 • Avoid interference from motors or other electronic devices and ensure sufficient earthing of other devices. • For all devices, ensure a protection class I power supply (protective conductor and Schuko plug). 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
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Page 39: Measurement Deviations
(see drawing). The displacements measured are then entered via the console in order to minimize falsification of the measurement results, Command reference 44]. Tool conversion example sketch 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... - Page 40 The forces and torques applied to the travel paths need to be observed to prevent the product getting damaged. When entering the rotation and offset, apply the tolerances • for measurement deviations so as not to overload the product. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
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Page 41: Command Reference
To do this, in the configuration of the PuTTY console in the area Window > Selection activate the option Windows [Middle extends, Right brings up menu]. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... - Page 42 Diagnostic status overview SIMERR [ON | OFF] Control of simulated errors SAVEALL Save all parameters set in the permanent memory STATUS Output the status report RESET Reset controller 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
- Page 43 Output counter of values output via "C" or "S" command Read counter of analog/digital converter that is increased by one unit with each conversion. Display of the 32-bit status code. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
- Page 44 Transfer rate (between 300 Baud and 3 MBaud), default value 115200 Dealing with inexplicable 0 = do not output error messages 1 = output Further information can be found in the PuTTY manual. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
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Page 45: Troubleshooting
Poor earthing. Check the earthing and optimize if necessary. The product must be earthed via the system structure. Component failure. Check overall system for failure of a component. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... - Page 46 Check product and cable; cables may not touch the product. Internal error Switch off the product and restart it. Replace component or send it to SCHUNK for repair. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962...
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Page 47: Maintenance
Perform a precision test, Setting up the product 29]. If required, send the product back to Schunk for re-calibration. 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 48: Removing The Product From The Robot Arm
4. Support the product (5) and use a hexagon socket wrench to loosen the secured screws (2) and (4) that fasten the product to the robot (1) or adapter plate (3). 5. Remove the product (5). 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 49: Drawing
8.3 Drawing The following figure is an example image. It serves for illustration and assignment of the spare parts. Variations are possible depending on size and variant. Drawing 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... -
Page 50: 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 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962... - Page 52 Translation of Original Operating Manual SCHUNK GmbH & Co. KG Spann- und Greiftechnik 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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