Collision and overload protection sensor (48 pages)
Summary of Contents for SCHUNK FTN
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Translation of original commissioning instructions Commissioning instructions Force/torque sensor system...
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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: 389242 Version: 02.00 | 01/06/2021 | en...
5.3.5 DeviceNet .................... 57 5.3.6 PROFINET.................... 60 5.3.7 TCP Interface .................. 65 5.3.8 UDP interface (Raw Data Transfer)............ 70 5.3.9 Common Gateway Interface (CGI)............ 74 5.3.10 System settings XML pages.............. 81 5.3.11 CIP model EtherNet/IP and DeviceNet ........... 85 02.00 | FTN | Commissioning instructions | en | 389242...
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Status word ...................... 95 Voltage supply .................... 95 Communication error .................. 96 Demo program (Java) .................. 96 Force/torque sensor................... 97 Web browser interface.................. 97 Maintenance ...................... 98 EU Declaration of Conformity ................. 99 02.00 | FTN | Commissioning instructions | en | 389242...
• Catalog data sheet of the purchased product * • Assembly and operating manual of the sensor * The documents marked with an asterisk (*) can be downloaded on our homepage schunk.com 02.00 | FTN | Commissioning instructions | en | 389242...
Depending on the variant, the scope of delivery includes: • External power supply unit for NetBox • Adapter cable M12 to RJ45 • Mini to Micro (M12) DeviceNet adapter • Cable for DeviceNet 02.00 | FTN | Commissioning instructions | en | 389242...
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. 2.5 Personnel qualification Inadequate qualifications of the personnel...
Only qualified electricians may perform electrical installations. • Check if de-energized, ground it and hot-wire. • Cover live parts. • 02.00 | FTN | Commissioning instructions | en | 389242...
Whichever is the latest version. 3.2 Ambient conditions and operating conditions Ambient conditions and operating conditions for NetBox Designation NetBox Ambient temperature [°C] during storage min. max. during operation min. max. Protection class IP 02.00 | FTN | Commissioning instructions | en | 389242...
Dimensions and max. loads on the force-torque sensor Detailed information on the mounting, installation and maintenance of the sensor is provided in the Assembly and Operating Manual for the sensor, Applicable documents 5]. 02.00 | FTN | Commissioning instructions | en | 389242...
Top: Force-torque sensor with interface electronics (from gamma and larger) / Bottom: Force-torque sensor with sensor cable (Nano and Mini) Sensor cable connection Integrated sensor cable Tool side adapter plate Robot side adapter plate 02.00 | FTN | Commissioning instructions | en | 389242...
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NetBox (NETB) for Gamma and higher (sensors with integrated electronics) DIP switch and status display Sensor cable connection CAN bus connection/external power supply unit Relay output for threshold monitoring EtherNet/IP connection 02.00 | FTN | Commissioning instructions | en | 389242...
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NetBox (NETBA) for Nano and Mini (sensors without integrated electronics) DIP switch and status display Sensor cable connection CAN bus connection/external power supply unit Relay output for threshold monitoring EtherNet/IP connection 02.00 | FTN | Commissioning instructions | en | 389242...
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Sensor cable connection Voltage supply OUT connection Voltage supply IN connection EtherNet OUT connection EtherNet IN connection Relay output for threshold monitoring Service port RJ45 connection Self-closing cap (IP67 protected) 02.00 | FTN | Commissioning instructions | en | 389242...
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Service port RJ45 connection Self-closing cap (IP67 protected) Adapter cable from M12 socket on NetBox to RJ45 socket M12 connector (type D), connection to EtherNet/IP switch RJ45 connector, connection to adapter cable 02.00 | FTN | Commissioning instructions | en | 389242...
IP address is assigned. Flashes The IP address is assigned green but there is no connection to the EtherNet/IP. Green The EtherNet/IP connection has been established. Flashes Timeout on EtherNet/IP connection. 02.00 | FTN | Commissioning instructions | en | 389242...
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Force/ Xdcr Green The data acquisition system torque works perfectly. sensor link There is an error in the data status acquisition system or a restart is being performed. 02.00 | FTN | Commissioning instructions | en | 389242...
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Green Link available. Flashes Connection available. green PROFINET EN 2 PROFINET disabled or no option voltage supply connected. status Green PROFINET connection available. Flashes PROFINET is working. yellow Yellow 02.00 | FTN | Commissioning instructions | en | 389242...
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• DeviceNet: No network connection • PROFINET: Duplicate IP address found • EtherNet/IP: Duplicate IP address found or EtherNet/IP network • DeviceNet: Network error Flashes Timeout on connections 02.00 | FTN | Commissioning instructions | en | 389242...
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Force/ Xdcr Green The data acquisition system torque works perfectly. sensor link There is an error in the data status acquisition system or a restart is being performed. 02.00 | FTN | Commissioning instructions | en | 389242...
Power is drawn from only one power source at a time. Complies with IEEE 802.3af, Class 0, supplied with power via data lines. Uses Mode A to receive power. Mode B is not supported. 02.00 | FTN | Commissioning instructions | en | 389242...
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• The RS485+ and RS485- cables must form a twisted pair. • Cable capacities should be low enough to operate with 1.25 Mbps. • The total resistance of the individual conductors should not exceed 0.5 Ω. 02.00 | FTN | Commissioning instructions | en | 389242...
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NetBox (NETB) Socket on the NetBox for sensor cable connection, M12 5-pin Signal Drain RS485+ RS485- NetBox (NETBA) Socket on the NetBox (BA) for sensor cable connection, circular Signal -VSG +VSG 02.00 | FTN | Commissioning instructions | en | 389242...
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Current strength 50 mA 10 µA Voltage 42 VDC, 30 VAC 10 mVDC Connector on NetBox for relay output, M8 3-pin EtherNet/IP™ Name Description Normally open contact Normally closed contact Common 02.00 | FTN | Commissioning instructions | en | 389242...
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Assembly and settings 02.00 | FTN | Commissioning instructions | en | 389242...
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NetBox (NETB-PN2) Socket on the NetBox for sensor cable connection, M12 5-pin Signal Drain CAN_H CAN_L NetBox (NETBA) Socket on the NetBox (BA) for sensor cable connection, circular Signal -VSG +VSG 02.00 | FTN | Commissioning instructions | en | 389242...
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The optional semiconductor threshold relay contacts (SSR+ and threshold monitoring SSR-) are protected against reverse voltage by a Zener diode. The relay switches on within 500 μs. Max. load Current strength [mA] Voltage [VDC] Voltage Issr [mA] 02.00 | FTN | Commissioning instructions | en | 389242...
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Assembly and settings Socket on NetBox for relay output, M8 3-pin PROFINET Name Description SSR- Solid-state relay, negative connection SSR+ Solid-state relay, positive connection not occupied 02.00 | FTN | Commissioning instructions | en | 389242...
2. Connect the supplied sensor cable (2) to the M12 socket on the NetBox (3) and screw on tight. Max. tightening torque for NetBox (NETB): 3 Nm ✓ Max. tightening torque for NetBox (NETBA): 0.7 Nm ✓ 02.00 | FTN | Commissioning instructions | en | 389242...
1. Connect the external power supply unit (3) to the M12 socket (2) on the NetBox (1) and screw it tight. Max. tightening torque: 3 Nm ✓ 2. Connect the power cable (4) to the power supply unit (3). 02.00 | FTN | Commissioning instructions | en | 389242...
5. Connect the RJ45 EtherNet cable (5) to a PoE port on the EtherNet switch (6). The LEDs on the NetBox flash red and green for approx. 20 ✓ seconds, then all LEDs light up green. 02.00 | FTN | Commissioning instructions | en | 389242...
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Approximately 20 seconds later, the MS and Xdcr LEDs will ✓ light up green. The force/torque sensor system is now ready for operation. Check the system in the event of deviating behavior, Troubleshooting 94]. 02.00 | FTN | Commissioning instructions | en | 389242...
255.255.255.0 in the "Subnet mask" field. 6. Click "OK" and close the computer settings. 7. Connect the EtherNet cable to the LAN port on the computer. The computer recognizes the connection. ✓ 02.00 | FTN | Commissioning instructions | en | 389242...
Assembly and settings 5.3.2 Web browser interface The web browser interface provides all configuration options for the FTN force/torque sensor system. Enter the IP address of the sensor system in the web browser. The Welcome Page (index.htm) opens. Welcome Page Welcome Page of the web browser interface 1.
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Minimum Peaks Displays the minimum peaks in the units selected on the Configuration page. Maximum Displays the maximum peaks in the units Peaks selected on the Configuration page. 02.00 | FTN | Commissioning instructions | en | 389242...
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The displayed values are invalid in the event of saturation errors. The individual strain gage values do not correspond to the individual force and torque axes. 02.00 | FTN | Commissioning instructions | en | 389242...
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The value "Thresholds Breached" is the result of linking the bit patterns for all true statements together. The "Threshold Breached" value is reset to zero by the Reset Latch function. 02.00 | FTN | Commissioning instructions | en | 389242...
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Refresh Page The button refreshes the Snapshot page and the values are updated. This button is equivalent to using the "Reload" or "Refresh" command in the browser. 02.00 | FTN | Commissioning instructions | en | 389242...
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2. Enter the IP address of the NetBox and confirm with "OK". The IP address is located above the "Download Demo Application" button on the demo page and can be looked up there "Download Demo Application". The Java Demo Application opens. ✓ 02.00 | FTN | Commissioning instructions | en | 389242...
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CSV file separated with commas. If an error occurs, it is listed in the error list (4). ✓ 5. Click the "Stop Collecting" (3) button to stop the data transfer. 6. Open CSV file. 02.00 | FTN | Commissioning instructions | en | 389242...
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Assembly and settings 02.00 | FTN | Commissioning instructions | en | 389242...
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• The output of the threshold monitoring is updated. • Bit 16 of the status code becomes "true". • The relay for threshold monitoring interrupts the connection at PIN 3. 02.00 | FTN | Commissioning instructions | en | 389242...
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Assembly and settings 02.00 | FTN | Commissioning instructions | en | 389242...
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All codes can be in set bits remain temporarily stored until hexadecimal or decimal "Reset Latch" is pressed. If no statements format. were true, the threshold output is zero. 02.00 | FTN | Commissioning instructions | en | 389242...
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Snapshot page. If no threshold conditions are met, the "Thresholds Breached", "Thresholds Output", and "Thresholds Latched" values are set to zero and the system status "Threshold Level Latched condition is cleared" is displayed. 02.00 | FTN | Commissioning instructions | en | 389242...
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Assembly and settings Configurations On the Configuration page, the force/torque sensor calibrations can be configured and saved. 02.00 | FTN | Commissioning instructions | en | 389242...
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Assembly and settings System information The page shows a summary of the current status of the force/ torque sensor system and is used for troubleshooting. 02.00 | FTN | Commissioning instructions | en | 389242...
1. Open the Internet browser and enter "192.168.1.1" in the address line. The Welcome page opens. ✓ 2. Click on the "Communications" button via the navigation bar on the left. The Communications page opens. ✓ 02.00 | FTN | Commissioning instructions | en | 389242...
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DeviceNet, CAN and TCP interface data. Since these are unsigned, a "no load" value is counted as +32768, a negative full-scale value is given as approximately 0 counts, and a positive load is given as approximately 65536 counts. 02.00 | FTN | Commissioning instructions | en | 389242...
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Assembly and settings EtherNet/IP operation NOTE The sensor system, FTN , operates as a server on the EtherNet/IP network and supports Class 3 'Connected Explicit Messaging': UCMM Explicit Messaging and Class 1 Connected Cyclic I/O Messaging. The EtherNet/IP network supports an input-only connection and not a list-only connection.
Assembly and settings 5.3.4 CAN bus NOTE The sensor system, FTN , supports a basic CAN protocol to allow reading of force/torque data and the system status word over CAN without the need for a DeviceNet scanner. The settings for the CAN bus base address and the baud rate are configured via the DIP switches.
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1. Select "CAN Bus" on the Communications page under CAN Network Settings. 2. Set the "CAN Bus Base Address" and the "Baud Rate" via DIP switches. The set values are displayed here. 02.00 | FTN | Commissioning instructions | en | 389242...
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The baud rate is set by software when DIP switch positions 7 and 8 are ON. Calculating FT values The sensor system, FTN , multiplies each F/T value by a factor for CAN before it is sent via the CAN interface. This calculation allows the F/T values to be sent with full resolution.
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System data, status address +6 (INT) status Z-axis force and and sample (INT) Tz value torque values, number (INT) Sample system status word number and sample in short (INT) format. 02.00 | FTN | Commissioning instructions | en | 389242...
IP and DeviceNet 85]. NOTE The sensor system, FTN , operates as a Group 2-only server in the EtherNet/IP network and supports "Explicit Messaging" and "Polled I/O Messaging' for the predefined master/slave connection set. The FTN DeviceNet node supports the Unconnected Message Manager (UCMM).
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PROFINET = ON 7-off, 8-off: 125 kbit/s 7-on, 8-off: 250 kbit/s 7-off, 8-on: Off: DHCP or Static IP 500 kbit/s 7-on, 8-on: Set On: IP address = by software 192.168.1.1 Transmission rate 02.00 | FTN | Commissioning instructions | en | 389242...
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The DeviceNet network status LED is marked "NS DN" on the NetBox, Status LEDs 16]. EDS file The DeviceNet Electronic Data Sheet (EDS) file for the system is located in the \EDS directory and can be downloaded from https:// www.ati-ia.com/Products/ft/software/net_ft_software.aspx. 02.00 | FTN | Commissioning instructions | en | 389242...
• Enable the option "Fieldbus Module Enabled" on the Communications page under Fieldbus Module Settings. The PROFINET protocol can be used. ✓ A GSDML file can be downloaded from ati-ia.com/Products/ft/ software/net_ft_software. 02.00 | FTN | Commissioning instructions | en | 389242...
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Force in Z-direction, 16-bit format Torque about the X-axis, 16-bit format Torque about the Y-axis, 16-bit format Torque about the Z-axis, 16-bit format UINT Sequence Incremented each time a dataset is sent 02.00 | FTN | Commissioning instructions | en | 389242...
Config select bit 2 Config select bit 3 reserved reserved reserved reserved reserved reserved reserved reserved Threshold high Threshold enable mask, high byte Threshold low Threshold enable mask, low byte 02.00 | FTN | Commissioning instructions | en | 389242...
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XML page elements The NetBox for PROFINET has two additional XML elements, which are included in the output of the netftapi2.xml page. The following elements are additionally available in the netftapi2.xml page: 02.00 | FTN | Commissioning instructions | en | 389242...
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The new NetBox is automatically assigned the name and IP ✔ address of the old NetBox. After a few seconds the NS/BF LED is permanently green and ✔ the NetBox is working correctly in the network. 02.00 | FTN | Commissioning instructions | en | 389242...
"Modbus Client's Server IP Address" field. 5. In the "Modbus Client's Server Write Register" field, specify at which register number the Modbus client should start to write to the remote server. 02.00 | FTN | Commissioning instructions | en | 389242...
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Function register robot register (from NetBox) Force X Force Y Force Z Torque X Torque Y Torque Z Status MSB Status LSB Gage 0 Gage 1 Gage 2 Gage 3 02.00 | FTN | Commissioning instructions | en | 389242...
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WMC compare value Information about the TCP Interface The TCP interface runs on TCP port 49151. All commands are 20 bytes long. All outputs start with the two-byte header 0x12, 0x34. 02.00 | FTN | Commissioning instructions | en | 389242...
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The counts per unit and the scaling factor are read out with the command "Read calibration information". Reading calibration info command uint8 command; // Must always be READCALINFO (1) uint16 reserved[19]; // Should always be 0 02.00 | FTN | Commissioning instructions | en | 389242...
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// Output code of condition monitoring int8 comparison; // Code for comparison, 1 for "greater than" (>), -1 for "less than" (<) int8 compareValue; // Value for comparison, divided by 16 bits, scaling factor 02.00 | FTN | Commissioning instructions | en | 389242...
3. In the "RDT Buffer Size" field, enter the number of data packets that are to be bundled into a block and then sent per sample. 02.00 | FTN | Commissioning instructions | en | 389242...
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Collecting data at high high‑speed Hz), but comes speed, but not respond buffered in bursts to it in real-time. Buffer streaming (buffers) size is set on the Communication Settings web page. 02.00 | FTN | Commissioning instructions | en | 389242...
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The extended RDT request is used if the sensor system is to send the UDP FT data to a different IP address than the one from which the request originates. This is useful, for example, if the FTN stream data is sent to a multicast address so that several clients can receive the stream simultaneously.
<firstVariableAssignment><&nextVariable Assignment> http:/ indicates an HTTP request <netFTAddress> the EtherNet/IP address of the force/torque sensor system a separator <CGIPage.cgi> name of the CGI page that contains the variables to be accessed 02.00 | FTN | Commissioning instructions | en | 389242...
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• Example: http://192.168.1.1/setting.cgi? setcfgsel=2&setuserfilter=0&setpke=1 instructs the force/torque sensor system to set the CGI variables setcfgsel to 2, setuserfilter to 0, and setpke to 1 using the IP address 192.168.1.1. 02.00 | FTN | Commissioning instructions | en | 389242...
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Value Description name range setmce 0 or 1 Enables (value=1) or disables (value=0) (integer) the threshold monitoring. mcen 0 or 1 Enables (value=1) or disables (value=0) en (integer) threshold n. 02.00 | FTN | Commissioning instructions | en | 389242...
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CGI call. This variable is required for all calls to config.cgi. cfgnam Text Name for configuration string of up to 16 character cfgcalsel 0 to 15 Sets the calibration used by the (integer) configuration. 02.00 | FTN | Commissioning instructions | en | 389242...
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Kilogram-force kgf cm centimeter Kilonewton meter cfgtdu 1 to 5 The distance measurement units used by (integer) the configuration’s tool transformation. Value Description Menu value Inch Foot Millimeter Centimeter Meter 02.00 | FTN | Commissioning instructions | en | 389242...
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Text Stores text in user-defined field #1. string of up to 16 charac- ters cfgusrb Text Stores text in user-defined field #2. string of up to 16 charac- ters 02.00 | FTN | Commissioning instructions | en | 389242...
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1 to 7000 Sets the RDT output rate in Hertz. The (integer) actual value used may be rounded up. comrdtbsiz 1 to 40 RDT buffer mode, buffer size (integer) 02.00 | FTN | Commissioning instructions | en | 389242...
The reference column in the following table indicates which .htm page and which .cgi function accesses this element. Data type Description Refer- element ence runstat HEX32 System status code – runft DINT[6] Force and torque values in rundata counts 02.00 | FTN | Commissioning instructions | en | 389242...
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STRING8 Name of force units used by config active configuration cfgtu USINT Torque units used by active config configuration scfgtu STRING8 Name of torque units used by config active configuration 02.00 | FTN | Commissioning instructions | en | 389242...
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STRING15 Static IP gateway comm comeipe ENABL EtherNet/IP protocol setting comm nethwaddr STRING17 EtherNet MAC address comm comdnte ENABL CAN bus protocol setting comm comdntmac USINT DeviceNet MAC ID comm 02.00 | FTN | Commissioning instructions | en | 389242...
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STRING8 Serial number calpn STRING32 Calibration type caldt STRING20 Calibration date calfu USINT Force units (refer to config.cgi variable cfgfu for values) scalfu STRING8 Name of force units 02.00 | FTN | Commissioning instructions | en | 389242...
DeviceNet input bitmap WORD (16-bit) Name Status word, bits 16 to 31 Fx (16 bit) Fy (16 bit) Fz (16 bit) Tx (16 bit) Ty (16 bit) Tz (16 bit) 02.00 | FTN | Commissioning instructions | en | 389242...
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Config Select Bit 2 Config Select Bit 3 reserved reserved reserved reserved reserved reserved reserved reserved Threshold high Threshold enable mask, high byte Threshold low Threshold enable mask, low byte 02.00 | FTN | Commissioning instructions | en | 389242...
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DeviceNet and CAN) for the axis and each torque value received must be divided by (Counts per torque ÷ Scaling factor for DeviceNet and CAN) for the axis. 02.00 | FTN | Commissioning instructions | en | 389242...
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Access rule value Revision UINT Max. instance UINT Number of UINT instances BIAS/Zeroing * USINT A value other than zero causes BIAS/zeroing, a value of zero cancels BIAS/zeroing of the transducer readings. 02.00 | FTN | Commissioning instructions | en | 389242...
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When 16-bit unsigned data is enabled, the upper 16 bits always remain 0 and the lower 16 bits are the unsigned 16- bit F/T data. Each attribute value set resets the specified peak value. 02.00 | FTN | Commissioning instructions | en | 389242...
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UINT Instance attributes (instance 1-6) Attribute Name Data type Default data Access rule value Status code (32 DWORD bit) Status code (16 BYTE bit) * This attribute is dimensioned for DeviceNet. 02.00 | FTN | Commissioning instructions | en | 389242...
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User REAL Get/Set transformation - Dz User REAL Get/Set transformation - Rx User REAL Get/Set transformation - Ry User REAL Get/Set transformation - Rz User BYTE Get/Set transformation distance units *** 02.00 | FTN | Commissioning instructions | en | 389242...
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Common Gateway Interface (CGI) 74] **** Variable cfgtau, Common Gateway Interface (CGI) 74] Common services Service code Implementation on Service name Class level Instance level 0x0E Get_Attribute_ Single 0x10 Set_Attribute_ Single 02.00 | FTN | Commissioning instructions | en | 389242...
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Common Gateway Interface (CGI) 74] Variable mccn, Common Gateway Interface (CGI) 74] Common services Service code Implementation on Service name Class level Instance level 0x0E Get_Attribute_ Single 0x10 Set_Attribute_ Single 02.00 | FTN | Commissioning instructions | en | 389242...
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0x00000100 Insufficient strain gage excitation current 0x00000080 Artificial analog ground out of range 0x00000040 Analog board power supply too high 0x00000020 Analog board power supply too low 0x00000010 Serial link data unavailable 02.00 | FTN | Commissioning instructions | en | 389242...
NetBox is rebooted. and correct connection. There is an internal error in the NetBox. The LS EN LED does not light up green. Check EtherNet cable for damage and correct connection. 02.00 | FTN | Commissioning instructions | en | 389242...
Error message "IO exception". The demo Name file correctly or create new file. program cannot find the stored file because the path is no longer correct or it has been renamed. 02.00 | FTN | Commissioning instructions | en | 389242...
One or more entries on the page are invalid. Find errors and correct information. The page "HTTP 1.0 401 Error- Unauthorized ATI is performing server maintenance. Try page" is displayed. accessing again later. 02.00 | FTN | Commissioning instructions | en | 389242...
This product must not be disassembled for maintenance. Maintenance Maintenance Maintenance work intervals interval weekly Check all parts for damage and wear. as required Send damaged products to SCHUNK for repair. 02.00 | FTN | Commissioning instructions | en | 389242...
Directive 2014/30/EU and will be made available to national authorities on demand. The signatory is resident at the manufacturer's address and is authorized to compile this documentation. Signed for and on behalf of: SCHUNK GmbH & Co. KG Dr.-Ing. Manuel Baumeister, Technology & Innovation, Mechatronics &...
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Translation of original commissioning instructions 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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