ROBOTIQ FT 300-S Manual
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ROBOTIQ FT 300-S Manual

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Original Notice
© 2021 Robotiq Inc.
Robot iq FT 300-S Force Torque
Sensor for OMRON TM Series Robot s
robot iq.com | leanrobot ics.org

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  • Page 1 Original Notice © 2021 Robotiq Inc. Robot iq FT 300-S Force Torque Sensor for OMRON TM Series Robot s robot iq.com | leanrobot ics.org...

  • Page 2: Table Of Contents

    Table of Contents Revisions 1. General Presentation 1.1. FT 300-SForce Torque Sensor 2. Safety 2.1. Warning 2.2. Intended Use 3. Installation 3.1. Scope of Delivery 3.2. Environmental and Operating Conditions 3.3. Mechanical Installation 3.4. Power Supply Specifications 3.5. Wiring 3.6. Calibration Procedure for Visual Demo Software (PC) 4.
  • Page 3 8.1. General troubleshooting 8.2. Troubleshooting on other platforms 9. Harmonized Standards, Declarations and Certificates 9.1. Original EU Declaration of Conformity 9.2. Applied standards 9.3. IngressProtection Certification 10. Warranty 10.1. Exclusions 11. Contact FT 300-SForce Torque Sensor - Instruction Manual...

  • Page 4: Revisions

    Revisions Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at: support.robotiq.com.
  • Page 5 Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after the edition date.

  • Page 6: General Presentation

    The terms ''Sensor'', ''Robotiq Sensor'', ''Force Sensor'', ''Torque Sensor'', ''FT 300-SForce Torque Sensor'' used in the following manual refer to the Robotiq FT 300-SForce Torque Sensor unless specified. The Robotiq FT 300-SForce Torque Sensor is a robotic peripheral designed for force and torque data acquisition.
  • Page 7 1 .1 .1 . Main features Fig. 1.2: Overview of the Robotiq Force Torque Sensors, with main features. The end-of-arm tool contact surface (in green) is the only point of contact allowed between the Sensor and the tool to ensure correct force and torque feedback.
  • Page 8 Fig. 1.3: FT 300-SForce Torque Sensor force and torque diagrams. The figure above represents the various force and torques that the FT 300-SForce Torque Sensor can measure. Reference frame is centered on the Sensor as shown above and visual inscriptions are also represented on it. The Z axis passes through the center of the depression with positive direction in the tool direction.

  • Page 9: Safety

    2. Safety Warning The operator must have read and understood all the instructions in this manual before handling the Robotiq Force Torque Sensor. Info The term " operator" refers to anyone responsible for: Any of the following operations with the FT 300 and the associated robot or tools:...

  • Page 10: Warning

    2.1 . Warning Info Any use of the Force Torque Sensor in noncompliance of these warnings is inappropriate and may cause injury or damage. Warning A force torque sensor used in human-robot collaboration must not be considered a complete safety measure, additional dedicated safety device(s) must be considered.

  • Page 11: Intended Use

    The unit may be used only within the range of its technical specifications. Any other use of the product is deemed improper and unintended use. Robotiq will not be liable for any damages resulting from any improper or unintended use.

  • Page 12: Installation

    3. Installation Warning Be sure to read and understand the safety instructions related to the Robotiq Force Torque Sensor prior to installation. 3.1 . Scope of Delivery Standard delivery for an FT Sensor kit: FTS-300-S-OMRON-KIT FT-300-SBasic Sensor Unit (FTS-300-S-SEN-001) 1 x Mechanical coupling (FTS-300-S-CPL-014)

  • Page 13: Environmental And Operating Conditions

    Refer to the Signal Specifications section for d etails on temp erature comp ensation rang e. Dust-tig ht and p rotected ag ainst water jets . IP Certification p erformed on the FT 300-S-UR-KIT, FT 300-S-OMRON-KIT, and FT 300-S-TM-KIT config urations only. FT 300-SForce Torque Sensor - Instruction Manual...

  • Page 14: Mechanical Installation

    3.3. Mechanical Installation You must use a coupling to attach the Sensor to a robot. Be sure to use the coupling related to your robot model. Here are the steps to follow for the installation of the Sensor (see figures below). 1.
  • Page 15 Fig. 3.1: Attaching the FT 300-Ssensor to a robot arm using the mandatory coupling. FT 300-SForce Torque Sensor - Instruction Manual...

  • Page 16: Power Supply Specifications

    Maximum output voltage tolerance is 10%, exceeding this limit, 26.4 V DC could damage the Sensor. Info Robotiq recommends the use of the following power supply: TDK-Lambda DPP Series, 15W Single Output DIN Rail Mount Power Supply, DPP15-24 FT 300-SForce Torque Sensor - Instruction Manual...

  • Page 17: Wiring

    Always protect the controller side of the cable connection with a strain relief cable clamp. Fig. 3.2: Pinout of the Robotiq FT 300-SForce Torque Sensor and color code per cable type. Info Power pins 2 &...
  • Page 18 Fig. 3.3: FT300-SCable to Terminal Connector on the Controller 3.5.1 . Wiring with USBto RS485 Converter When using a RS485 to USB converter (refer to the Spare Parts, Kits and Accessories section), the wiring must respect the figure below and subsequent directions. GND / 0V is wired to Sensor pin #1 as stated in the Wiring section. The converter will provide you with a standard USB 2.0 male A connector.
  • Page 19 Warning Do not wire converter pin #3 (5V) on the RS485. The 24V power supply is NOT supplied via the converter. The converted side will provide you with a standard DB - 9 female connector with signaling as shown in the figure below. Fig.

  • Page 20: Calibration Procedure For Visual Demo Software (Pc)

    3.6. Calibration Procedure for Visual Demo Software (PC) Info You need the Visual Demo Software installed first. Please refer to the Visual Demo Software section for download and installation. To calibrate your FT 300-SSensor: Go to the " Tool Calibration" tab and follow the instructions. Once completed, go to the "...

  • Page 21: Software

    4. Software The following subsections provide instructions for the installation of the Force Copilot software package. This lets you receive input from a Force Torque Sensor. Section 4.1 explains the use of he FT300-SForce Torque Sensor with TMFlow Software Section 4.2 and subsections detail the installation of an open source development package, which can be adapted according to the users' needs.
  • Page 22 FT 300-SForce Torque Sensor - Instruction Manual...
  • Page 23 If no device already exist, press the + sign on the top right Enter a name for the device and select the model from the list Select the appropriate COM port FT 300-SForce Torque Sensor - Instruction Manual...
  • Page 24 For the FT300 sensor, a rotation of 180° must be done around the Z axis so that the orientation matches the one of the robot. FT 300-SForce Torque Sensor - Instruction Manual...

  • Page 25: Development Package

    (commercial or not). If it is included in a software, this software does not need to be open-source. However, the code is provided " as is" without any liability from Robotiq and some restrictions apply regarding the distribution of the code and the use of the Robotiq name.
  • Page 26 Caution When started, the provided software will scan all ports in the system (ttySx and ttyUSBx) to find a compatible Robotiq device. It uses the Linux utility " fuser" to determine if the port is already opened. This section of code can be modified by the user if necessary to avoid the scanning of ports (for example, if another device would become confused when receiving a message that it cannot understand).
  • Page 27 At this point, the main.c file should be adapted according to the guideline comments inserted in the code. Caution Please note that Robotiq can only support our customers in making sure they can compile and test the provided code as No support can be provided for the integration of the provided source code into a custom application.
  • Page 28 4.2.3. Windows Package Files – Description The development package is structured with the following files and directories architecture (non-Windows files and directories are ignored in this section): src: contains the source files common to all platforms obj: used during compilation for the object files related to the common sources Windows: contains Windows specific files bin: contains the binary files src: contains the source files common to all platforms...

  • Page 29: Visual Demo Software

    At this point, the main.c file should be adapted according to the suggested comments inserted in the code. Caution Please note that Robotiq can only support our customers in making sure they can compile and test the provided code as No support can be provided for the integration of the provided source code into a custom application.

  • Page 30: Serial Communication

    Launch the demo application. You should see a COM port in green with a serial number, showing the Sensor connected to the PC. Click on it. By going into the Sensor Data tab, you can now see in real time the force and moment applied on the FT Sensor. 4.4.
  • Page 31 Modbus RTU is a communication protocol based on Big Endian byte order. Therefore, the 16-bit register addresses are transmitted with the most significant byte first. However, the data port is, in the case of Robotiq products, based on the Little Endian byte order. As such, the data parts of Modbus RTU messages are sent with the less significant byte first.
  • Page 32 Connection Setup The following table describes the connection requirements for controlling the Sensor using the Modbus RTU protocol: Propriety Value Baudrate (bps) 19,200 Data bits Stop bit Parity None Supported Functions Read Holding Register (FC03) Preset Multiple Register (FC16) Slave ID 0x0009 (9) In Modbus RTU you can obtain the following information: Information...
  • Page 33 Information Register Acceleration Y (g) = value / 1000 Acceleration Z (g) = value / 1000 Read Holding Register (FC03) Function code 03 (FC03) is used to read the status of the Sensor (robot input). Examples of such data is the display of the current force and torque values.
  • Page 34 Bits Description 0006 Number of registers requested (6) 04A6 Cycle Redundancy Check (CRC) 4.4.2. Data Stream Data stream mode is the recommended method of obtaining data from the Sensor. Once initiated, the Sensor will stream force and moment data continuously until communication is interrupted by the user. To start the data stream, write 0x0200 in register 410.
  • Page 35 To initialize the data stream, 0x0200 must be written with the function 16 (0x10) in register 410 (019A). Request is: 09 10 01 9A 00 01 02 02 00 CD CA Hex format: 0x09 0x10 0x01 0x9A 0x00 0x01 0x02 0x02 0x00 0xCD 0xCA Bits Description SlaveID...

  • Page 36: Specifications

    5. Specifications The following sections provide data on the various specifications of the Robotiq Force Torque Sensor. Section 5.1 details the technical dimensions of the sensor. Section 5.2 details the mechanical specifications. Section 5.3 covers signal specifications (data acquisition). Section 5.4 specifies electrical rating.
  • Page 37 5.1 .1 . Tool Side Bolt Pattern The figure below illustrates the bolt pattern used for tool fixation on the FT 300-SSensor. Bolt pattern diameter is 50 mm Mounting holes are M6 thread, 6 mm deep. Dowel pin holes for M6 dowel pin has a tight fit (H7) and 6 mm deep. Info FT 300-Stool side bolt pattern matches ISO-9409-1-50-4M6.

  • Page 38: Mechanical Specifications

    5.2. Mechanical Specifications Info Reminder: all units are within the metric measurement system. SPECIFICATION VALUE Approximate weight 442 g A combined load exceeding 500% of the measuring range will permanently damage the Force Torque Sensor Overload capacity (Fx/300 + Fy/300 + Fz/300 + Mx/30 + My/30 + Mz/30 < 500%) Ø...
  • Page 39 Here is the approximate position of the center of mass for the FT Sensor: Sensor x (mm) y (mm) z (mm) Mass (g) FT 300-S -6.00 13.5 410* *Cab le mass is not comp letely consid ered . Here is the Tool Center Point (TCP) table for the FT 300-SSensor:...
  • Page 40 The overload capacity given includes forces and torques in all 3 axes. To get an approximation of the total load, these formulas must be used: For the FT 300-S Fx/300 + Fy/300 + Fz/300 + Mx/30 + My/30 + Mz/30 < 500%...

  • Page 41: Signal Specifications

    5.3. Signal Specifications SPECIFICATION FT 300-S Force ±300 N Measuring range Torque ±30 Nm Fx, Fy 0.1 N 0.1 N Signal noise Mx, My 0.005 Nm 0.003 Nm Fx, Fy Recommended threshold when mounted on a robot Mx, My 0.02 Nm 0.01 Nm...

  • Page 42: Electrical Ratings

    The figure below represents the coupling for the FT 300-SSensor on the robot: Info All Robotiq couplings and adapter plates are provided with necessary hardware for fixation on the Robotiq device side. Caution Unless identified for specific packages only, robot side screws and dowel pins are not provided.
  • Page 43 5.5.1 . Coupling for ISO 9409-1 -50-4-M6 Bolt pattern for coupling FTS-300-S-CPL-014 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: 50 mm pitch circle diameter: (4) M6-1.0 button head socket cap screw clearance (1) M6 dowel pin ISO 9409-1 standard 50-4-M6 Fig.

  • Page 44: Maintenance

    Proper lifetime for your Sensor. Please visit support.robotiq.com for details on the maintenance operation. Warning Unless otherwise specified, any repairs done on the FT 300-SForce Torque Sensor will be done by Robotiq. 6.1 . Maintenance Intervals Operation Daily Weekly Semiannually...

  • Page 45: Cable Replacement Procedure

    6.2. Cable replacement procedure Caution Make sure the Force Torque Sensor is mounted on the robot when repairing the cable. This allows the o-ring to be well compressed. 1. Unplug M12 connector between 1m pigtail cable and the 10m cable. 2.

  • Page 46: Spare Parts, Kitsand Accessories

    For Spare Parts and kits before the update of FT 300-STorque Sensor, please consult the instruction manual available in the Archives section of our support website. Item Description Ordering Number FT 300-SSensor Standard Kit Robotiq Force Torque Sensor , includes cable and FTS-300-S-KIT-001 USB converter. Kit for OMRON TM Standard Sensor with Coupling for OMRON TM FTS-300-S-OMRON-KIT Sensor Replacement sensor, sensor alone.

  • Page 47: Troubleshooting

    8. Troubleshooting The following are some common troubleshooting hints, if you need further assistance please contact support@robotiq.com. 8.1 . General troubleshooting 8.1 .1 . An offset has appeared in the Sensor data Changes in ambient conditions can cause an offset in the sensor signals.

  • Page 48: Troubleshooting On Other Platforms

    8.2. Troubleshooting on other platforms 8.2.1 . USBconverter detected as a mouse by Windows In Windows, the USB converter is sometimes detected as a mouse, making the cursor move. This a well know problem in Win- dows: http://support.microsoft.com/kb/819036 A simple workaround is to plug in the USB converter before powering the Sensor. Once the USB driver is initialized in Windows, the Sensor can be powered and used without a problem.

  • Page 49: Harmonized Standards, Declarationsand Certificates

    9. Harmonized Standards, Declarationsand Certificates 9.1 . Original EU Declaration of Conformity FT 300-SForce Torque Sensor - Instruction Manual...

  • Page 50: Applied Standards

    9.2. Applied standards This section describes all applied harmonized standards for the design and production of the Robotiq FT 300-S Force Torque Sensor. Standards are applied where applicable, some points may not be applied if not applicable to this specific product.

  • Page 51: Ingressprotection Certification

    9.3. Ingress Protection Certification FT 300-SForce Torque Sensor - Instruction Manual...
  • Page 52 FT 300-SForce Torque Sensor - Instruction Manual...

  • Page 53: Warranty

    Robotiq shall not be liable for damages resulting from the use of the product, nor shall be responsible for any failure in the performance of other items to which the product is connected or the operation of any system of which the product may be a part.
  • Page 54 This warranty excludes failure resulting from: improper use or installation, normal wear and tear, accident, abuse, neglect, fire, water, lightning or other acts of nature, causes external to the product or other factors beyond Robotiq's control. It also excludes all consumable parts, such as suction cups, and their normal wear.

  • Page 55: Contact

    1 1 . Contact www.robotiq.com Contact Us Phone 1-888-ROBOTIQ (762-6847) (+1) 418-380-2788 Outside US and Canada Technical Support Option 3 Sales Option 2 Head Office Robotiq 966, chemin Olivier Suite 500 Lévis, Québec G7A 2N1 Canada Where automation Pros come to share their know-how and get answers.

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