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ATI Technologies Wireless F/T WNet-6 Installation And Operation Manual

Wireless force/torque sensor system
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Wireless Force/Torque Sensor System
Installation and Operation Manual
Document #: 9620-05-Wireless FT-03
May 2014
Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com

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Summary of Contents for ATI Technologies Wireless F/T WNet-6

  • Page 1 Wireless Force/Torque Sensor System Installation and Operation Manual Document #: 9620-05-Wireless FT-03 May 2014 Engineered Products for Robotic Productivity Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...
  • Page 2 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 Foreword Information contained in this document is the property of ATI Industrial Automation, Inc. and shall not be reproduced in whole or in part without prior written approval of ATI Industrial Automation, Inc. The information herein is subject to change without notice and should not be construed as a commitment of ATI Industrial Automation, Inc.

  • Page 3: Table Of Contents

    General Safety Guidelines ......................6 Safety Precautions ........................6 System Overview ........................8 Wireless F/T WNet-3 ........................9 Wireless F/T WNet-6 ........................10 Antenna ............................10 Micro USB Conector ........................11 MicoSD™ Card Slot ........................11 External Power Adapter ......................11 USB Cable ............................
  • Page 4 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 Command Interface ........................ 21 Communication Interfaces ......................21 UPD Interface ..........................21 UDP Command Format ......................21 Commands ........................... 22 Maintenance ..........................45 Preventive Maintenance ......................45 6.2 Battery Recharging and Replacement ..................45 6.2.1 Charging Battery Internally ....................
  • Page 5 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 Glossary of Terms Definitions Terms Indicates the most significant byte of a value is stored first. Big-endian Dynamic Host Configuration Protocol (DHCP) is an automatic method for DHCP Ethernet equipment to obtain an IP address. The WNet system can obtain its IP address using DHCP on networks that support this protocol.

  • Page 6: Safety

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 1. Safety The safety section describes general safety guidelines to be followed with this product, explanation of the notification found in this manual, and safety precaution that apply to the product. More specific notification are imbedded within the sections of the manual where they apply.
  • Page 7 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 CAUTION: When setting up the Wireless F/T system adhere to the minimum bend radius. Bending the cables tighter than the minimum will cause damage to the cable. Refer to the F/T Transducer manual (9620-05-Transducer Section) for minimum bend radii.

  • Page 8: System Overview

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 2. System Overview The Wireless F/T can stream data to an existing wireless access point on the network. The Wireless F/T can stream six-axis measurements to the user’s host device for data collection, real-time motion control, or user-defined signal processing.

  • Page 9: Wireless F/T Wnet-3

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 2.1 Wireless F/T WNet-3 The Wireless F/T WNet-3 model can interface with up to three ATI Multi-Axis Force/Torque transducers simultaneously. Each of the three transducer connectors has a transducer status indicator. The device has a rechargeable battery that can power the device for approximately two hours at full measurement rate with all three transducers enabled.

  • Page 10: Wireless F/T Wnet-6

    Document #9620-05-Wireless FT-03 2.2 Wireless F/T WNet-6 The Wireless F/T WNet-6 model can interface with up to six ATI Multi-Axis Force/Torque transducers simultaneously. Each of the six transducer connectors has a transducer status indicator. The device has a rechargeable battery that can power the device for approximately one hour at full measurement rate with all six transducers enabled.

  • Page 11: Micro Usb Conector

    2.2—Wireless F/T WNet-3 periodically transmitted over the wireless network to the host device. See Figure 2.3— Wireless F/T WNet-6 for location of controls and indicators. Figure 2.10.1 Power Button The Power Button turns power on and off to the unit. The recessed power on/off switch has an integrated system status indicator and supports auto power-off.

  • Page 12: Transducer Status Indicators

    The Wireless F/T WNet-3 has three transducer status indicators on the front of the device, below its corresponding connector. The Wireless F/T WNet-6 has six transducer indicators, three on the front of the device and three on the back below its corresponding connector.

  • Page 13: Installation

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 3. Installation The Wireless F/T system consist of several components: Wireless F/T unit, transducer, external power adapter, USB cable, and software CD. The Wireless F/T unit must be set up and configured before installing the transducer so that forces can be monitored during installation.

  • Page 14: Typical Belt Clip Installation

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 8. Momentarity press the power button, the system status indicator will turn on blue once then turn off indicating system normal. NOTICE: The system will take a moment to initialize; after initialization the Battery indicator should illuminate steady green indicating charged.
  • Page 15 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 Figure 3.2—Wireless F/T Setup program 3. Select the COM port corresponding to your Wireless F/T. If you have more than one device connected, you can use Windows Device Manager to differentiate between them. You may need to press the “Refresh”...

  • Page 16: Installing The Wireless F/T Java Demo Application On A Pc

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 6. Select the “IP Settings” tab in the setup program and enter the appropriate information from step #5, as below. Note that in this example DHCP is enabled, so editing the Device IP, Gateway, and Subnet mask settings is not necessary.

  • Page 17: Starting The Wireless F/T Java Demo Application

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 3.6 Starting the Wireless F/T Java Demo Application Locate the WirelessFTJavaDemo.jar file in windows explorer and double click on it. The Initial screen will appear. Figure 3.5—Initial Screen Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...

  • Page 18: Establishing A Connection To The Wireless F/T And Monitoring Data

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 3.7 Establishing a Connection to the Wireless F/T and Monitoring Data To establish a connection to the Wireless F/T, enter the IP address from the Section 3.4—Initial Configuration that was designated for the Wireless F/T Unit into the “Wireless F/T Address or Name” field. If you don’t know the IP Address, you can press the “Discover…”...

  • Page 19: Data Collection

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 3.8 Data Collection There are two ways data can be stored, data can be collected and stored on a file on a PC or network directory or it can be collected and stored on the customers MicroSD™ card plugged into the Wireless F/T unit.

  • Page 20: Installing The Transducer

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 4. Installing the Transducer Information on the environment, mounting the transducer, interface plate design, and routing the transducer cable can be found in the F/T Transducer Installation and Operation manual (9620-Transducer Section). The transducer must be monitored during installation for gage saturation errors.

  • Page 21: Command Interface

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 5. Command Interface The WNet unit must be installed, setup and configured prior to using any command interfaces. Refer to Section 3— for Installation, setup, and configuration of the WNet unit. Installation 5.1 Communication Interfaces The Wireless F/T can be setup and configured using a text-based command prompt console interface.

  • Page 22: Commands

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 5.4 Commands These commands are available to any user, including commands to enter authenticated user and technician user modes. All users can read any information about the system, including values that only authenticated or technician users can write to.
  • Page 23 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 ADCDEL [1 -> 2000] => set minimum ADC conversion time in 12.5 nS units This command sets the conversion delay time for the ADCs on the Analog Board when samples are being read from the same physical ADC.
  • Page 24 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 BAT [ON | OFF | seconds] => Battery log on, off, toggle, or number of seconds This command turns a battery status log on and off. This log is used for testing the operation of the battery, the Battery Charger, and the Gas Gage.
  • Page 25 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 BC => print all Battery Charger registers This command prints all Battery Charger registers in a decoded format. For example: BC: 0 = 60 DISABLE_INPUT_UVCL = Enabled EN_BAT_CONDITIONER = Enabled > 60*C LOCKOUT_ID_PIN = Autonomous Start-up Disabled USBILIM...
  • Page 26 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 C [E] [EEPOT 0 -> 5] This command causes the selected EEPOT output (for the Active Transducer) to be written continuously. CAL => View Active Transducer/Calibration This command allows you to view the Calibration Matrix for the Active Transducer and Calibration. This includes all of its associated parameters.
  • Page 27 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 TRANS [Transducer 1 -> 6] => Set Active Transducer This command allows you to change the active Transducer. It will also show you the Active Calibration for each Transducer, and which Transducer is currently active. Tr Active-Calibrations -- ------------------- 0 <-- Active Transducer...
  • Page 28 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 DEVICES => print device list This command prints a list of all devices that communicate with the processor through I2C or SPI busses. The list includes the device, the status, the bus, the bus address (when applicable), the Transducer associated with the device (if any), and the device temperature (if available).
  • Page 29 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 EEPOT => print resistance-tolerance & end-to-end resistance of all EEPOTs This command prints the resistance tolerance and end-to-end resistance of all powered EEPOTs on the Analog Board. For example: >eepot Tr Chip Raw Tolerance(%) Resistance(K-Ohms) -- ---- --- ------------ ------------------...
  • Page 30 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 FDIR => File System directory This command prints the directory of the serial flash file system. For example: >fdir File-name Length Attr Cluster CRC --------- ------ ---- ------- --- 52 fffb 7 963d 20 fffb 8 3444...
  • Page 31 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 GG => print all Gas Gage registers This command prints all sixteen Gas Gage registers in a decoded format. For example: GG: A = 0c Chip=LTC2942 Charge Alert High Charge Alert Low GG: B = fc Mode=auto PrescalerM=7 AL/CCpin=alert Shutdown=off GG: C = 00 GG: D = 2b Charge...
  • Page 32 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 LED [RED | GREEN] [ON | OFF | AUTO] => Controls indicated Digital Board This command allows you to manually control the Red and Green LEDs on the Digital Board for testing, and then return the LEDs to automatic control.
  • Page 33 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 FILTER [* | Transducer 1 -> 6] [MEAN | MEDIAN | IIR] [taps | tc] => Set filter type & number of taps or time constant This command allows you to set the filter type and the number of taps in the filter that the ADC inputs pass through for any or all Transducers.
  • Page 34 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 NET DNS [up to 90 characters] => Get IP address(es) of given URL This command allows you to find the IP address(es) associated with a given URL. It tells you if network that you are connected to has connectivity to the wider internet.
  • Page 35 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 PORTS => print list of all GPIO ports This command prints a list of all GPIO ports of the processor. Each entry of the list contains the port, the bit on that port (0 through 7), the purpose of the bit, the current value of the bit (either 0 or 1), the GPIOPCTL setting for the bit (either GPIO or some peripheral device number), the direction of the port if it is GPIO (either in or out), the strength of the port in mA, the pin-type, and any interrupts triggered from the pin.
  • Page 36 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 REDPINE => Switch to RedPine Console Mode. Exit with +++ This is a special mode that allows you to communicate with the RedPine Console. This is used during radio frequency acceptance testing. RESET =>...
  • Page 37 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 SD => print SDCARD device info With no operands, this command prints a multitude of technical information about the SDCARD card. For example: SD: Card in SD: Card type = V2 SD: CSD register: CSD_STRUCTURE SPEC_VERS...
  • Page 38 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 SD [sector-1] [sector-n] => dump MicroSD sectors If sector numbers are given (in hex) this command will dump the contents of the specified sectors on the MicroSD This command is provided for MicroSD firmware testing only. For example, to dump the contents of sector 0x300 (which appears to be part of a directory): >sd 300 SD: Card in...
  • Page 39 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 SDEL => [filename] => delete file(s), wild cards * and ? may be used This command deletes the selected files in the current directory on the MicroSD. For example: >sdel f2.dat F2.DAT deleted Files deleted: 1 SDIR =>...
  • Page 40 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 SDREC [ON | OFF] => Stream packets to MicroSD: on, off, or toggle This command streams data (in the standard packet format, which is also used for UDP packets) to the MicroSD™...
  • Page 41 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 SS [A] [012345678 any combination or order] => read specified ADC channels once This command reads the specified ADC channels once. SS => repeats last SS command This command repeats the last SS command, without the need to retype the whole thing. SSI [ADC | DAC | EEPOT | PORTS | SDCARD | SF | WLAN] [bit rate: bits/ second] =>...
  • Page 42 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 T [ON | OFF] => Transmit packet on, off, or toggle This command turns the transmission of outgoing UDP data packets to the WLAN Module on and off. TEST [* | Transducer 1 -> 6] [OFF | ZERO | DAC] => Set Self-Test mode on selected Transducer(s) This command sets the self test mode for the selected Transducers: TEST Setting...
  • Page 43 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 USBILIM [value in mA] => set USB current limit This command sets the USB Input Current Limit (USBILIM) value in Battery Charger Register 0. You must enter an exact value from the following table: Meaning Value Notes...
  • Page 44 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 WFLOADRF => Load WLAN Module, for RF testing This command allows you to load the WLAN Module with new firmware for RF testing. This command takes about 2 minutes to execute. Before committing to the WLAN Module update, this command checks to make sure that the necessary files (WiSe_Con.t and WiSe_WLA.t) are present in the Serial Flash, have a termination record (so they are probably complete), and have no checksum errors.

  • Page 45: Maintenance

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 6. Maintenance Under normal conditions, no special maintenance is necessary, however it is recommended that periodic inspections be performed to assure long-lasting performance and to assure that unexpected damage has not occurred. Refer to Section 6.1—Preventive Maintenance for a schedule and items that should be visually inspected at regular intervals.

  • Page 46: Troubleshooting

    UDP flashing red address that does not exist 8. Serviceable Parts Description Part Number Wireless F/T WNet-3 9105-WNET3 Wireless F/T WNet-6 9105-WNET6 Battery 5515-3.70000-01 External Battery Charger 9105-WNETEBC Antenna 9105-WNETANT Wireless F/T Power Supply, Wall Adapter Type 9105-WNETPS USB A Male to USB B Male cable, 0.9m...

  • Page 47: Specifications

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 9. Specifications The specifications section covers characteristic of the Wireless F/T device, other components such as transducer, cabling may be found in the specific product manual on our website. Drawings may also be found in the product catalog and on our website.

  • Page 48: Regulatory Information

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 10. Regulatory Information 10.1 FCC Statement Declaration of Conformity with FCC Rules for Electromagnetic Compatibility We, ATI Industrial Automation of 1031 Goodworth Drive, Apex, NC 27539, declare under our sole responsibility that the Wireless Multi-Axis Force/Torque Transmitter models, WNET-NA-x, FTWN-NA-x, comply with Part 15 of the FCC Rules.

  • Page 49: Canadian Compliance Statement

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 10.2 Canadian Compliance Statement This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions: (1) this device may not cause interference, and (2) this device must accept any interference, including interference that may cause undesired operation of the device.

  • Page 50: Drawings

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 11. Drawings 11.1 Wireless Net F/T for 3 Transducers Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...

  • Page 51: Wireless Net F/T For 6 Transducers

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 11.2 Wireless Net F/T for 6 Transducers Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...

  • Page 52: Terms And Conditions Of Sale

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 12. Terms and Conditions of Sale The following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and Conditions, which are on file at ATI and available upon request. ATI warrants to Purchaser that force torque sensor products purchased hereunder will be free from defects in material and workmanship under normal use for a period of one year from the date of shipment.

  • Page 53: Appendix A - Udp Command Crc Calculation

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 Appendix A – UDP Command CRC Calculation All UDP commands sent to the Wireless F/T must include a two-byte CRC (Cyclic Redundancy Check) value. This value is used for error checking the command request and is based on the data in the command structure to be sent. The following C code performs the calculation of the CRC value.
  • Page 54 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 #else unsigned short crcByte(unsigned short crc, unsigned char ch) // direct calculation version (smaller & slower) unsigned short crc_new = (unsigned char)(crc >> 8) | (crc << 8); crc_new ^= ch; crc_new ^= (unsigned char)(crc_new &...

  • Page 55: Appendix B - Initial Configuration Using A Telnet Progam (Putty)

    Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 Appendix B – Initial Configuration Using a Telnet Progam (PuTTY) B.1 Initial Configuration Using The Wireless F/T must be configured before communicating with the device. The following procedure will help provide steps to configure the Wireless F/T. 1. Install Virtual Communication Port Driver from the following website: http://www.ftdichip.com/ Support/Documents/InstallGuides.htm Select the instructions for the operating system running on the computer being used to configure the wireless F/T system.
  • Page 56 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 5. In the Category pane click on Connection > Serial and fill in the following fields: • Serial line to connect to COM5 (Enter the Com port the Wireless unit is using) Speed (baud) 115200 •...
  • Page 57 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 7. Connect to the console, e.g. by pressing “Open” in PuTTy. Information will appear as the unit attempts to connect to a wireless network. 8. In the COMx – PuTTY Window type “d” and press Enter key. 9.
  • Page 58 Wireless F/T Installation and Operation Manual Document #9620-05-Wireless FT-03 12. Enter these commands in any order: (Commands are not case sensitive except where indicated) “MYIP <unitip>”, e.g. “MYIP 192.168.1.50” d. “NETMASK <subnetmask>” “GATEIP <defaultgateway>” “SSID <ssid>” Network<ssid> (Is case sensitive) g.

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