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Summary of Contents for SCHUNK FTR-AXIA
- Page 1 Translation of original commissioning instructions Commissioning instructions FTR-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: 1517835 Version: 01.00 | 18/07/2022 | en...
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Page 3: Table Of Contents
Setting up the serial communication interface .......... 16 RS422 serial commands.................. 19 RS422 - "Robot Mode" .................. 26 6.3.1 More commands .................. 27 Clock synchronization functionality.............. 28 Low-pass filter .................... 29 Troubleshooting ..................... 32 Status Code...................... 32 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... - Page 4 Sensor does not report accurate force/torque data .......... 36 7.10 Force/torque values are not equal to zero............ 36 EU Declaration of Conformity ................. 37 Appendix to the declaration of conformity ............. 38 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
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Page 5: General
WARNING 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 | Commissioning instructions | en | 1517835... -
Page 6: Applicable Documents
1.3 Scope of delivery The scope of delivery includes • FTR-AXIA force/torque sensor in the ordered variant • Sensor cablein the version ordered • Control line • Commissioning instructions 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... -
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. • 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... -
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, [/ 6]. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... -
Page 10: Design And Description
1 Hz) Communication error The sensor is not able to (flashing at transmit data via the 10 Hz) communication protocol. Status code error Information on the error record, } 7.1 [/ 32]. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... - Page 11 An LED indicates the communication status of the sensor interface as follows: LED color Status Description No power or Connection/activity is not connection activity detected. Green Link/Activity Remains green for five seconds after every connection activity. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
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Page 12: Assembly And Settings
5.2 Electrical connection Power supply Designation Sensor requirements Supply voltage [VDC] 12-30 Max. Power consumption [W] Designation Sensor cable Nominal voltage [V] > 30 Nominal power current [A] > 0.25 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... - Page 13 M12 sensor connector, 8-pin Signal Clock sync mass1 * V- / ground RS422_TX- RS422_RX+ RS422_TX+ Clock sync * RS422_RX- Housing Shielding * Optional, only when using the clock synchronization functionality, } 6.4 [/ 28] 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
- Page 14 M12 connector, 8-pin Signal Clock sync mass1 * V- / ground RS422_TX- RS422_RX+ RS422_TX+ Clock sync * RS422_RX- Housing Shielding * Optional, only when using the clock synchronization functionality, } 6.4 [/ 28] 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
- Page 15 M12 connector, 8-pin Signal Clock sync mass1 * V- / ground RS422_TX- RS422_RX+ RS422_TX+ Clock sync * RS422_RX- Housing Shielding * Optional, only when using the clock synchronization functionality, } 6.4 [/ 28] 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
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Page 16: Start-Up
Control Panel to Device Manager > Ports > USB Serial Port. In the following illustration, COM6 is assigned to the sensor. Note: The name of the device may differ depending on the name of the serial port of the PC. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... - Page 17 4. Open serial console. A window opens where the user can set the configuration for the session. 5. Set configuration: – Connection type: Select "Serial". – Enter the com port from Step 3 in the "Serial line" field. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
- Page 18 – After a terminal window opens, the user can start entering commands. – After a command has been entered, press the Enter key to send the command, } 6.2 [/ 19]. Note: When entering commands, no distinction is made 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
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Page 19: Rs422 Serial Commands
VIEW [0 -> 2 | A] => Display calibrations: 0 to 2, or active DIAG Diagnostic status report SIMERR [ON | OFF] => Control simulated error RESET Reset the MCU 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... - Page 20 To obtain the actual force and torque values, each force value must be divided by the counts per force (cpf) factor and each torque value must be divided by the counts per torque (cpt) factor. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
- Page 21 Numeric The data is displayed as a hexadecimal System number. All data printed in units is displayed as decimal numbers by default. The data is displayed as a decimal number. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
- Page 22 0x80000004 device Occupied bit 0x80000008 Occupied Other 0x80000020 6-26 Occupied Measuring device 0x88000000 outside the range of measurement Simulated error 0x10000000 Calibration checksum 0xA0000000 error Force/torque outside 0xC0000000 the range 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
- Page 23 Command: "saveall" The "saveall" command stores all values that are retained after a power failure in the NVM. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
- Page 24 Number of RDT transmissions per UDP packet filTC Filter selection (0–8) calib Select calibration 0 or 1. location Display location of the sensor. serNum Display serial number. hwProdCod Product code of the hardware 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
- Page 25 The command can be used in conjunction with a second operand. 0 = calibration 0 1 = calibration 1 A = active calibration - (no operand) = all calibrations 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
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Page 26: Rs422 - "Robot Mode
The following actions can be performed: • Enter and exit robot mode. • Print a single reading or a continuous reading of force/torque values. • Print counts per force and counts per torque. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... -
Page 27: More Commands
Enter "W" followed by "4" to select 4-byte or 32-bit output values (8 hexadecimal characters). Note: The 32-bit output mode provides the user with higher resolution or precision of force/torque data. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... -
Page 28: Clock Synchronization Functionality
5-12 V is applied to the conductors. When activated, the sensor outputs the last collected data point, which corresponds to the output of the "S" command sent via an } 6.2 RS422 serial cable interface, [/ 20]. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... -
Page 29: Low-Pass Filter
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 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... - Page 30 Start-up Frequency Filter damping at 1 kHz sampling rate Frequency Filter damping at 2 kHz sampling rate 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
- Page 31 Start-up Frequency Filter damping at 4 kHz sampling rate Frequency Filter damping at 8 kHz sampling rate 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835...
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Page 32: Troubleshooting
Strain gauge outside the range warning: This bit is active when a strain gauge warning range (gageMinRangeWam to gageMaxRangeWam) has been exceeded in any of the past hold time samples (normally 32). 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... -
Page 33: Detection Range Exceeded
Status LED lights up red for the first 20 Normal. seconds after switching on and then turns green. Link/Activity LED is not green or flashes Check the connector and cable connection. green. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... -
Page 34: Signal Noise
If errors such as "Scanning range exceeded", "Measuring device outside the range" or "Measuring device broken" persist after using the larger calibration size and without applying a load, the sensor is probably permanently damaged due to overload. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... -
Page 35: Sensor Does Not Transmit Data
Check the status code of the } 7.1 nonsensical. sensor, [/ 32]. If the values exceed the calibration range of the sensor, the reported values will be incorrect. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... -
Page 36: Sensor Does Not Report Accurate Force/Torque 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. 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... -
Page 37: 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, July 2022... -
Page 38: 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 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835... - Page 40 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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