SCHUNK FTN-AXIA Commissioning Instructions
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SCHUNK FTN-AXIA Commissioning Instructions

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

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Summary of Contents for SCHUNK FTN-AXIA

  • Page 1 Translation of original commissioning instructions Commissioning instructions FTN-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: 1366833 Version: 04.00 | 30/05/2022 | en...

  • Page 3: Table Of Contents

    Java® Demo Application .................. 41 Console interface via Telnet ................ 44 Common Gateway Interface (CGI).............. 53 TCP Interface ......................  58 XML Interface .....................  60 UDP interface (Raw Data Transfer).............. 64 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 4 Communication error .................. 69 Web browser interface.................. 69 Demo program (Java) .................. 69 LED error...................... 70 Force/torque sensor...................  70 EU Declaration of Conformity ................. 72 Appendix to the declaration of conformity ............. 73 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • 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. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 6: Applicable Documents

    1.3 Scope of delivery The scope of delivery includes • FTN-AXIA force/torque sensor in the ordered variant • Sensor cablein the version ordered • Control line • Commissioning instructions 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • 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 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • 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]. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 10: Design And Description

    • Individual vibration damping due to programmable low-pass filter with limit frequency. • Dust and splash water protection enable flexible use. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 11: Status Leds

    Communication error The sensor is not able to (flashing at transmit data via the 10 Hz) communication protocol. Status code error Information about the error record,Object 0x6010: Status Code [/ 67]. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 12 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. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • 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 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 14: Electrical Connection

    Nominal voltage [V] > 30 Nominal power current [A] > 0.25 5.2.1 Pin allocation Sensor connections FT-AXIA 80 M8 sensor connector, 6-pin Signal V- / 0V / Ground Housing Shielding 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 15 M8 sensor connector, 8-pin Signal Reserved V- / 0V / Ground Reserved Housing Shielding FT-AXIA 130 M12 sensor connector, 8-pin Signal Reserved V- / 0V / Ground Reserved Housing Shielding 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 16 Assembly and settings Sensor cable connections FT-AXIA 80 M8 socket, 6-pin Signal V- / 0V / Ground Housing Shielding M12 connector, 8-pin Signal Reserved V- / 0V / Ground Reserved Housing Shielding 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 17 Assembly and settings FT-AXIA 80/90 M8 socket, 8-pin Signal Reserved V- / 0V / Ground Reserved Housing Shielding M12 connector, 8-pin Signal Reserved V- / 0V / Ground Reserved Housing Shielding 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 18 Assembly and settings FT-AXIA 130 M12 socket, 8-pin Signal Reserved V- / 0V / Ground Reserved Housing Shielding M12 connector, 8-pin Signal Reserved V- / 0V / Ground Reserved Housing Shielding 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 19 Braided metal shielding Shielding (connect to ground) Brown Brown/White V- / 0V / Ground Blue/White (TP1+) Reserved Blue (TP1-) Reserved EtherNET connector, RJ45, 8-pin, socket Color Signal White/Orange Orange White/Green Green 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • 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 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 21: Start-Up

    New IP address settings are only loaded when switching on. • Variant 1: Set a static IP address in the FTN-AXIAsettings via the web browser interface. • Variant 2: Use DHCP server to perform IP address assignment. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 22: Connect To A Windows Computer

    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. ✓ 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 23 Start-up 8. Enter the address "192.168.1.1" in the browser. The welcome page is displayed. ✓ Welcome page of the web browser interface 9. Click on "Communications". Communications Page 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 24: Find Sensor In The Network

    IMPORTANT! When this ATI Discovery Tool is downloaded for the first time, the program may trigger a firewall warning. Click on the "Allow access" button to allow communication with the sensor. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 25 3. This IP address, which is assigned to the sensor's MAC address by the DHCP server, is used for communication between the sensor and the network. 4. Select this IP address and click on "Connect". Discovery Tool 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 26: 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 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 27 Start-up Frequency Filter damping at 1 kHz sampling rate Frequency Filter damping at 2 kHz sampling rate 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 28 Start-up Frequency Filter damping at 4 kHz sampling rate Frequency Filter damping at 8 kHz sampling rate 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 29: Web Browser Interface

    2. Refresh the page to display the current status. The current configuration and the calibration (3) used are ✓ displayed at the bottom of the page. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 30 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. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 31 Individual strain gage values do not correspond to the individual force and torque axes. ® Demo Page From this website, the user can download the Java demo application and additional demo software. Demo Page 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 32 IMPORTANT! Strain gage measured values do not correspond 1:1 to force and torque measured values. When a user clicks the "Apply" button, the changes are adopted in the sensor. ADC Settings Page 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 33 Fy = Fy-axis Fz = Fz-axis Tx = Tx-axis Ty = Ty-axis Tz = Tz axis Comparison Selects the type of comparison to be > Greater than performed. < Less than 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 34 • 6: 0x00000040 • 7: 0x00000080 • 8: 0x00000100 • 9: 0x00000200 • 10: 0x00000400 • 11: 0x00000800 • 12: 0x00001000 • 13: 0x00002000 • 14: 0x00004000 • 15: 0x00008000 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 35 If a threshold is not met, the threshold numbers are crossed out. Configurations Page On the Configuration page, the active calibration and tool transformation settings can be selected. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 36 "admin", and the default password is "password". Require Credentials When this setting is "ON", a login prompt is activated when a user visits the sensor's web pages. The default setting is "OFF" 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 37 Telnet communication. It is recommended to leave this value as the default. The user can set a value from 0 to 65535. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 38 Start-up System Information The System Information page provides the user with a summary of Page the current condition of the Ethernet AXIA sensor. System Information Page 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 39 Start-up Status Log Page The Status Log page displays the last 50 changes to the status code. System Information Page 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 40 Interface Example The Interface Example page allows the user to view TCP and RDT Page (UDP) commands, command descriptions, the command response (if applicable), and a user interpretation of the command. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 41: Java® Demo Application

    ✓ 2. Enter the IP address of the sensor. IMPORTANT! On the demo page, the IP address of the sensor is located in the paragraph above the "Download demo application" button. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 42 When the demo is used for the first time, the program may trigger a firewall warning. Check the box to give the network permission to communicate with the sensor and allow access. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 43 The measurement data is saved in CSV format. ✓ If an error occurs, it is listed in the error list (4). ✓ 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 44: Console Interface Via Telnet

    Telnet. Setting up a Console 1. Open serial console, for example: PuTTY. Interface via Telnet A window opens where the user can set the configuration ✓ for the session. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 45 CAL/SET command or through the communications web page. 4. Enter console command and press Enter to send the command. IMPORTANT! The commands are not case sensitive. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 46 F/T data scaled by MCU><; in any order counts per force or counts per torque. Continuously reports lines of F/T data that stop when a user presses another button. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 47 NVM. STATUS Not Applicable Output the status report. VIEW no operand Display properties and calibrations. Calibration 0. Calibration 1. Active calibration. DIAG Not Applicable Output the diagnostic status report. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 48 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. hwProdCode Product code of the hardware 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 49 SAVEALL command is issued. Unsolicited error messages 1 = Print unsolicited messages 0 = Do not print unsolicited messages username User name Default values: password Password User name = "admin" Password = "password" 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 50 The output value can be displayed in F/T numbers or technical units. Force The XYZM force data is displayed. and/or The XYZM torque data is displayed. Torque 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 51 ADC is read. software This command uses a "," (comma) instead program of a " " (space) to separate data values. Troubles This command specifies the 32-bit status hooting code. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 52 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 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 53: Common Gateway Interface (Cgi)

    Each variable can only be set from the CGI page that is responsible for that variable. Each CGI page and its associated adjustable variables are listed in the following tables. • variableName=newValue variableName name of the variable to be assigned indicates assignment 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 54 Sets the offset value for strain gage n. For 32767 example, Setbias3=0 would set BIAS/ zeroing of the fourth strain gage to zero (strain gages are enumerated starting at zero) 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 55 (integer) mcon 0x00 to Sets the output code for threshold 0xFF statement n. (hexadeci mal) n is an integer ranging from 0 to 15 that monitors the threshold statement index. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 56 Sets the tool transformation rotation R point Rotation must be in cfgtau angular units. number cfgtfx5 Floating Sets the tool transformation rotation R point Rotation must be in cfgtau angular units. number 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 57 Each IPV4 Sets the gateway to be used when DHCP address is disabled. in dot- decimal notation comrdtbsiz 1 to 40 RDT buffer mode, buffer size (integer) 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 58: Tcp Interface

    The force and torque values in the response are equal = current FT value × calibration counts per unit ÷ 16-bit scaling factor. The counts per unit and the scaling factor are read out with the command "Read calibration information". 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 59 // Should always be 0 The "transform" elements are multiplied by 100 to achieve good granularity with integer values. Force unit Code for unit Torque unit Inch Degrees Foot Radian Millimeter Centimeter Meter 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 60: Xml Interface

    [i] is appended to the data type, where i represents the number of values in the array. Array values in an XML element can be separated by a semicolon, comma, or space. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 61 DINT[16] Threshold statements’ counts moncon values for comparison HEX8[16] Threshold statements’ output moncon codes cfgcalsel USINT Calibration used by active config configuration cfgcalsn STRING8 Serial number of active config configuration’s calibration 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 62 STRING8 Digital board hardware manuf revision mfgtxdmdl STRING16 Analog board location manuf netip STRING15 IP address in use – runrate UDINT Internal sample rate for strain – gage collection 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 63 Name of torque units calmr REAL[6] Calibrated sensing ranges in calfu and caltu units calcpf DINT Counts per force unit calcpt DINT Counts per torque unit calrng REAL Calibrated sensing range 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 64: Udp Interface (Raw Data Transfer)

    All RDT requests use the following structure: Uint16 command_header = 0x1234; // Required Uint16 command; // RDT command to execute Uint32 sample_count; // Number of samples to output (0 = infinite) 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 65 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 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 66 "Counts per torque" factor. The factors "cfgcpf" and "cfgcpt" can be taken from the } 6.8 netftapi2.xml page, [/ 64]. Examples of C code at http://www.ati‑ia.com/Products/ft/ software/net_ ft_software.aspx. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 67 Occupied. Calibration not accessible. This bit is set when there is an error with the NVM and the calibration settings cannot be loaded. 8-26 Occupied. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 68 • The total percentage of the calibrated range used by the F axes is greater than 105%. • The total percentage of the calibrated range used by the F axes is greater than 105%. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 69: Demo Program (Java)

    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. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 70: Led Error

    If an error persists, the sensor is probably permanently damaged due to overload. The sensor is connected but does not Ensure that the devices are compatible. transmit data. Observe LEDs, Status LEDs. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 71 Values do not match expected values. Display force/torque data, [/ 44]. Use the bias command to set the measured values back to zero. Check Status Code [/ 67]. Verify that the sensor is properly installed. 04.00 | FTN-AXIA | Commissioning instructions | en | 1366833...

  • Page 72: 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 73: 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 | FTN-AXIA | Commissioning instructions | en | 1366833...
  • Page 76 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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