SCHUNK FTN Commissioning Instructions
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SCHUNK FTN Commissioning Instructions

Force/torque sensor system
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Translation of original commissioning instructions
Commissioning instructions
FTN
Force/torque sensor system

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  • Page 1 Translation of original commissioning instructions Commissioning instructions Force/torque sensor system...
  • 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: 389242 Version: 02.00 | 01/06/2021 | en...

  • Page 3: Table Of Contents

    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...
  • Page 4 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...

  • Page 5: General

    • 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...

  • Page 6: Variants

    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...

  • Page 7: 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. 2.5 Personnel qualification Inadequate qualifications of the personnel...

  • Page 8: Disposal

    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...

  • Page 9: Technical Data

    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...

  • Page 10: Force-Torque Sensor

    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...

  • Page 11: Design And Description

    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...
  • Page 12 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...
  • Page 13 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...
  • Page 14 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...
  • Page 15 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...

  • Page 16: Description

    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...
  • Page 17 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...
  • Page 18 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...
  • Page 19 • 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...
  • Page 20 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...

  • Page 21: Assembly And Settings

    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...
  • Page 22 • 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...
  • Page 23 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...
  • Page 24 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...
  • Page 25 Assembly and settings 02.00 | FTN | Commissioning instructions | en | 389242...
  • Page 26 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...
  • Page 27 OUT connection Phoenix Contact 5-pin socket Signal US1+ (L1) US1- (N1) US2+ (L2) US2- (N2) EtherNet IN/OUT connection Phoenix Contact RJ45 socket Signal RX1+ RX1- RJ45_4 RJ45_5 TX1- RJ45_7 RJ45_8 02.00 | FTN | Commissioning instructions | en | 389242...
  • Page 28 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...
  • Page 29 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...

  • Page 30: Connecting The Force/Torque Sensor

    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...

  • Page 31: Voltage Supply

    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...

  • Page 32: Establishing An Ethernet/Ip Connection

    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...
  • Page 33 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...

  • Page 34: Start-Up

    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...

  • Page 35: Web Browser Interface

    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.
  • Page 36 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...
  • Page 37 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...
  • Page 38 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...
  • Page 39 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...
  • Page 40 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...
  • Page 41 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...
  • Page 42 Assembly and settings 02.00 | FTN | Commissioning instructions | en | 389242...
  • Page 43 • 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...
  • Page 44 Assembly and settings 02.00 | FTN | Commissioning instructions | en | 389242...
  • Page 45 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...
  • Page 46 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...
  • Page 47 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...
  • Page 48 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...

  • Page 49: Ethernet/Ip

    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...
  • Page 50 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...
  • Page 51 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.

  • Page 52: Can Bus

    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.
  • Page 53 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...
  • Page 54 110101 472 110111 001100 224 001110 352 001101 480 001111 101100 232 101110 360 101101 488 101111 011100 240 011110 368 011101 496 011111 111100 248 111110 376 111101 504 111111 02.00 | FTN | Commissioning instructions | en | 389242...
  • Page 55 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.
  • Page 56 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...

  • Page 57: Devicenet

    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).
  • Page 58 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...
  • Page 59 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...

  • Page 60: Profinet

    • 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...
  • Page 61 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...

  • Page 62: Troubleshooting

    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...
  • Page 63 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...
  • Page 64 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...

  • Page 65: Tcp Interface

    "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...
  • Page 66 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...
  • Page 67 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...
  • Page 68 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...
  • Page 69 // 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...

  • Page 70: Udp Interface (Raw Data Transfer)

    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...
  • Page 71 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...
  • Page 72 Int32 Fx; // X‑axis force Int32 Fy; // Y‑axis force Int32 Fz; // Z‑axis force Int32 Tx; // X‑axis torque Int32 Ty; // Y‑axis torque Int32 Tz; // Z‑axis torque 02.00 | FTN | Commissioning instructions | en | 389242...
  • Page 73 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.

  • Page 74: Common Gateway Interface (Cgi)

    <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...
  • Page 75 • 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...
  • Page 76 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...
  • Page 77 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...
  • Page 78 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...
  • Page 79 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...
  • Page 80 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...

  • Page 81: System Status Code

    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...
  • Page 82 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...
  • Page 83 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...
  • Page 84 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...

  • Page 85: Cip Model Ethernet/Ip And Devicenet

    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...
  • Page 86 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...
  • Page 87 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...
  • Page 88 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...
  • Page 89 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...
  • Page 90 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...
  • Page 91 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...
  • Page 92 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...
  • Page 93 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...
  • Page 94 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...

  • Page 95: Status Word

    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...

  • Page 96: Communication Error

    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...

  • Page 97: Force/Torque Sensor

    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...

  • Page 98: Maintenance

    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...

  • Page 99: Eu Declaration Of Conformity

    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 &...
  • Page 100 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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