SCHUNK FTE-AXIA Commissioning Instructions
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SCHUNK FTE-AXIA Commissioning Instructions

Force/torque sensor system
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Translation of original commissioning instructions
Commissioning instructions
FTE-AXIA
Force/torque sensor system

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Summary of Contents for SCHUNK FTE-AXIA

  • Page 1 Translation of original commissioning instructions Commissioning instructions FTE-AXIA 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: 1009369 Version: 04.00 | 30/05/2022 | en...

  • Page 3: Table Of Contents

    5.2.1 Connecting the force/torque sensor ............ 20 Start-up ........................ 21 Low-pass filter .................... 21 EtherCAT bus interface.................. 24 6.2.1 PDO interface .................. 24 6.2.2 EtherCAT Dictionary Objects (SDO data) .......... 24 Establishing communication with the sensor.............  39 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 4 Sensor does not report accurate force/torque data ..........  42 Fluctuating force/toque data ................ 43 7.10 Force/torque values are not equal to zero............ 43 EU Declaration of Conformity ................. 44 Appendix to the declaration of conformity ............. 45 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 5: General

    • General terms of business * • Catalog data sheet of the purchased product * • Assembly and operating manual of the sensor * The documents labeled with an asterisk (*) can be downloaded from schunk.com. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 6: Warranty

    1.3 Scope of delivery The scope of delivery includes • FTE-AXIA force/torque sensor in the ordered variant • Sensor cablein the version ordered • Control line • Commissioning instructions 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • 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

    Do not overload the sensor. • CAUTION Material damage due to incorrect grounding! Damage to the sensor due to electrostatic discharge possible. Make sure that all components are properly grounded. • 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 9: Technical Data

    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 } 1.1.2 Operating Manual for the sensor, [/ 5]. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 10: Design And Description

    Power and EtherCAT cable to the customer's control system RJ45 connection for EtherCAT Non-terminated end for voltage supply 4.2 Description The force/torque sensor is connected to the system via EtherCAT. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 11: Status Leds

    10 Hz) communication protocol. Calibration error The calibration was not (flashing at saved in the EEPROM. 1 Hz) Status code error Information on the error record,} 6.2.2.8 [/ 31]. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 12 Either no connection activity connection activity has occurred within 5 seconds or the sensor is not supplied with power. Green Link activity Remains green for five seconds after the connection activity. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 13: Assembly And Settings

    1. Connect components of the force-torque sensor system with each other, } 5.2 [/ 14]. 2. Check for functionality. 3. Mount the force-torque sensor on the robot, see the installation and operating instructions for the sensor. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 14: Electrical Connection

    Sensor connections FT-AXIA 80 M8 sensor connector, 6-pin Signal V- / 0V / Ground Housing Shielding FT-AXIA 90 M8 sensor connector, 8-pin Signal Reserved V- / ground Reserved Housing Shielding 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 15 Assembly and settings FT-AXIA 130 M12 sensor connector, 8-pin Signal Reserved V- / ground Reserved Housing Shielding 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 16 Assembly and settings Sensor cable connections FT-AXIA 80 M8 socket, 6-pin Signal Housing Shielding M12 connector, 8-pin Signal Reserved Reserved Housing Shielding 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 17 Assembly and settings FT-AXIA 80/90 M8 socket, 8-pin Signal Reserved Reserved Housing Shielding M12 connector, 8-pin Signal Reserved Reserved Housing Shielding 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 18 Assembly and settings FT-AXIA 130 M12 socket, 8-pin Signal Reserved Reserved Housing Shielding M12 connector, 8-pin Signal Reserved Reserved Housing Shielding 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 19 Wire sheath color Signal Braided metal shielding Shielding (connect to ground) Brown Brown/White Blue/White (TP1+) Reserved Blue (TP1-) Reserved EtherCAT connector, RJ45, 8-pin, socket Color Signal White/Orange Orange White/Green Green 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 20: Connecting The Force/Torque Sensor

    1. Connect the supplied sensor cable (2) to the force/torque sensor (1). 2. Connect the supplied control line (3) to the sensor cable (2). 3. Connect the control line (3) to the customer's control system. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 21: Start-Up

    1 kHz at 2 kHz at 4 kHz at 8 kHz sampling sampling sampling sampling sampling rate rate rate rate rate 1000 2000 Frequency Filter damping at 0.5 kHz sampling rate 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 22 Start-up Frequency Filter damping at 1 kHz sampling rate Frequency Filter damping at 2 kHz sampling rate 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 23 Start-up Frequency Filter damping at 4 kHz sampling rate Frequency Filter damping at 8 kHz sampling rate 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 24: Ethercat Bus Interface

    This section lists dictionary objects that are specific to the EtherCAT force/torque sensor and some objects that are a required part of the standard defined by the ® EtherCAT Technology Group. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 25 0x07 Commit To use this field, the UDINT 0x00000000 user must have been provided with a password. This field accepts changes to other fields within this object. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 26 1 = foot 2 = mm 3 = cm 4 = m 0x08 ttAngUnits UINT8 Rotation units: 0 = degree 1 = radian 0x09 Commit UINT8 Enter "123" to set changes. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 27 Max. Ty Counts 0x36 Max. Tz Counts 0x37 Counts per force DINT Calibration counts per unit of force 0x38 Counts per DINT Calibration counts per torque torque unit 0x39 to Occupied. 0x56 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 28 3 (neg. Fy counts) 0x5f PeakLoadsNegFz 3 (neg. Fz counts) 0x60 PeakLoadsNegTx 3 (neg. Tx counts) 0x61 PeakLoadsNegT y3 (neg. Ty counts) 0x62 PeakLoadsNegTz 3 (neg. Tz counts) 0x63 to Occupied. 0x97 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 29 0x0E TcpRx /103 Degree Rotation of the TCP with regard to the robot 0x0F TcpRy flange. (Convention: Euler 0x10 TcpRz Z-Y-X.) 0x11 Occupied. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 30 UINT Major version 0x02 Minor UINT Minor version 0x03 Revision UINT Revision 0x04 Bootloader UDINT Bootloader version version 0x05 SensorHwVe UINT Sensor hardware version 0x06 SensorInstru UINT Instrumentation version ment 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 31 • The sensor reports loads that are significantly higher than its range of measurement. It resets itself 32 sampling periods after the condition is cleared. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 32 This bit is set when a force/torque measured value exceeds the calibrated range. This test is performed before digital filtering. Error: This bit is set when a status code bit indicating an error is set. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 33 2,000 N -300 N 2,000 N -1,000 N 4,000 N 10 Nm 125 Nm 20 Nm 125 Nm -105 Nm 125 Nm The equation F can be simplified as follows: 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 34 This number changes from 4 294 967 295 (232-1) to 0 without reporting an error. The sample counter is reset to zero when the instrument is switched on. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 35 0 = 487 Hz 1 = 975 Hz 2 = 1,990 Hz 3 = 3900 Hz 4 = 7,912 Hz 0x02 Control 2 DINT Bit Function 0-30 Occupied 31 Simulated error control 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 36 UDINT Number subject to change and should not be used for identification purposes. 0x04 Serial This field is Number subject to change and should not be used for identification purposes. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 37 5.2.1.6 - Object 0x2090: Version. [/ 30]. 0x100A Software STRIN For information on version displaying the software version of the sensor, see section 5.2.1.6 - Object 0x2090: Version [/ 30]. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 38 So in this example, bits 0, 2 and 31 are switched on. According to the previous table, the sensor has the status codes "temperature", "measuring device error" and "any error". 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 39: Establishing Communication With The Sensor

    – Example: The calibration outputs 1,000,000 counts per Newton (N). To calculate the output in counts per pound of force (lbf), perform the following conversion: 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 40: Troubleshooting

    Use the bias command to set the measured values back to zero. Use insulator between the force/torque sensor and any tool or device that has a different temperature. Shield the sensor from an excessive air flow. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 41: Status Code Object 0X6010

    ESI files. Download the latest EtherCAT Axia ESI to date. file from the SCHUNK website. Load this ESI file into the EtherCAT master. The way you download the file depends on the master. ESI files are also referred to as .XML files or device description files.

  • Page 42: Data Output Rate Lower Than Expected

    04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 43: Fluctuating Force/Toque Data

    The initial force/torque values Normal. Set the sensor to zero via BIAS to return all force/ are not equal to zero and no torque values to zero. load is applied. 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...

  • Page 44: 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 & Sensors Lauffen/Neckar, May 2022...

  • Page 45: Appendix To The Declaration Of Conformity

    FTN-AXIA80-UR-DUAL SI-200-8/SI-500-20 FTN-AXIA80-DUAL SI-480-20/SI-1200-50 FTN-AXIA90-SI-1000-50 FTN-AXIA130-SI-2000-125 FTN-AXIA130-SI-4000-300 FTE-interface FTE-AXIA80-DUAL SI-75-4/SI-150-8 FTE-AXIA80-DUAL SI-200-8/SI-500-20 FTE-AXIA80-DUAL SI-480-20/SI-1200-50 FTE-AXIA90-SI-1000-50 FTE-AXIA130-SI-2000-125 FTE-AXIA130-SI-4000-300 FTRS-interface FTR-AXIA80-DUAL SI-75-4/SI-150-8 FTR-AXIA80-DUAL SI-200-8/SI-500-20 FTR-AXIA80-DUAL SI-480-20/SI-1200-50 FTRS422-AXIA90-SI-1000-50 FTRS485-AXIA90-SI-1000-50 FTRS422-AXIA130-SI-2000-125 FTRS485-AXIA130-SI-2000-125 FTRS422-AXIA130-SI-4000-300 FTRS485-AXIA130-SI-4000-300 04.00 | FTE-AXIA | Commissioning instructions | en | 1009369...
  • Page 48 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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