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Novanta ATI Axia80 Manual

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Ethernet Axia Manual
Document #: 9620-05-C-Ethernet Axia
Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •
www.ati-ia.com

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  • Page 1 Ethernet Axia Manual Document #: 9620-05-C-Ethernet Axia Engineered Products for Robotic Productivity Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • www.ati-ia.com...
  • Page 2 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 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 on the part of ATI Industrial Automation, Inc.

  • Page 3: Table Of Contents

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table of Contents Glossary ............................C-7 Safety ............................C-10 1.1 Explanation of Notifications ....................C-10 General Safety Guidelines ...................... C-10 Safety Precautions ........................C-11 Product Overview ........................C-12 Installation ...........................C-13 Installation of the Sensor to the Robot ................. C-13 3.2 Cable Configuration ........................
  • Page 4 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 6.3 Demo Page (demo.htm) ......................C-36 6.4 ADC Settings Page (setting.htm) ................... C-36 6.5 Thresholding Page (moncon.htm) ..................C-37 F/T Configurations Page (config.htm) ................... C-41 6.7 Communication Page (comm.htm) ..................C-42 6.8 System Information Page (manuf.htm) ................. C-44 6.9 Status Log Page (status.htm) ....................C-45 6.10 Interface Example Page (examples.htm) ................C-46 6.11 ATI Website Menu Item ......................
  • Page 5 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 10.2 Read F/T Command ......................... C-75 10.3 Read F/T Response ......................... C-75 10.4 Read Calibration Info Command .................... C-76 10.5 Read Calibration Info Response .................... C-76 10.6 Write Tool Transform Command .................... C-77 10.7 Write Monitor Condition Command ..................
  • Page 6 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 14. Specifications ........................C-93 14.1 Electrical Specifications ......................C-93 14.2 Cable Specifications ....................... C-93 14.2.1 P/N 9105-C-ZC22-ZC28-X ................... C-93 14.2.2 P/N 9105-C-ZC27-ZC28-X ................... C-93 14.2.3 P/N 9105-C-ZC28-ZC28-X ................... C-94 14.2.4 P/N 9105-C-ZC28-U-RJ45S-X ..................C-94 15. Terms and Conditions of Sale ....................C-95 Pinnacle Park •...

  • Page 7: Glossary

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Glossary Definitions Term Active Configuration The configuration that the system is currently using. Analog-to-digital converter Biasing is useful for eliminating the effects of gravity (tool weight) or other acting forces. When the bias function is used, the software collects data for the forces and torques that are currently acting on the sensor and use these readings as a reference Bias for future readings.
  • Page 8 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Definitions Term An IP Address (Internet Protocol Address) is an electronic address assigned to an IP Address Ethernet device so that it may send and receive Ethernet data. IP addresses may be either manually selected by a user or automatically assigned by the DHCP protocol.
  • Page 9 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Definitions Term Transmission Control Protocol (TCP) is a low-level method of transmitting data over Ethernet. TCP provides a slower, more reliable delivery of data than UDP. A software function of the sensor that performs a simple arithmetic comparison of a Thresholding user-defined threshold to the loading on a transducer axis.

  • Page 10: Safety

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 1. Safety The safety section describes general safety guidelines to be followed with this product, explanations of the notifications found in this manual, and safety precautions that apply to the product. Product specific notifications are imbedded within the sections of this manual (where they apply).

  • Page 11: Safety Precautions

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 1.3 Safety Precautions CAUTION: Modifying or disassembly of the sensor could cause damage and void the warranty. Use the supplied mounting interface plate and the provided tool side mounting bolt pattern to mount the sensor to the robot and customer tooling to the sensor.

  • Page 12: Product Overview

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 2. Product Overview The Ethernet Axia Force/Torque (F/T) sensor measures six components of force and torque (F ) and communicates this data to a device (such as a personal computer, robot, or PLC) that is compatible with an Ethernet communication interface.

  • Page 13: Installation

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 3. Installation WARNING: Performing maintenance or repair on the sensor when circuits (for example: power, water, and air) are energized could result in death or serious injury. Discharge and verify all energized circuits are de-energized in accordance with the customer’s safety practices and policies.

  • Page 14: Cable Configuration

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 3.2 Cable Configuration Cables can be configured a number of ways; however, the most common configurations are presented in the following: Figure 3.1—Axia80/Axia90 Cable Configuration Axia F/T Sensor and interface plate with Power and Ethernet cable cable support bracket to the customer application (P-clip not shown in this view)

  • Page 15: Pin Assignment For The Axia F/T Sensor

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 3.3.1 Pin Assignment for the Axia F/T Sensor Signals and corresponding pin numbers for the Axia models are listed in the following sections. 3.3.1.1 Axia80 6-Pin M8 Male Connector Table 3.2—Axia80 Sensor Connector, M8, 6-pin, Male Signal Connector Schematic Pin Number Tx + Tx -...

  • Page 16: Axia80 Sensor Cable (P/N 9105-C-Zc22-Zc28-X

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 3.3.2 Axia80 Sensor Cable (P/N 9105-C-ZC22-ZC28-X) Table 3.5—ZC22 Connector, M8, 6-pin, Female Signal Connector Schematic Pin Number Tx + Tx - Rx + Rx - V - / 0 V / Ground Shell Shield Table 3.6—ZC28 Connector, M12, 8-pin, Male Signal Connector Schematic Pin Number Reserved V - / 0 V / Ground Tx -...

  • Page 17: Axia130 Sensor Cable (P/N 9105-C-Zc28-Zc28-X

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table 3.8—ZC28 Connector, M12, 8-pin, Male Signal Connector Schematic Pin Number Reserved V - / 0 V / Ground Tx - Rx + Tx + Reserved Rx - Shell Shield 3.3.4 Axia130 Sensor Cable (P/N 9105-C-ZC28-ZC28-X) Table 3.9—ZC28 Connector, M12, 8-pin, Female Signal Connector Schematic Pin Number Reserved V - / 0 V / Ground...

  • Page 18: Ethernet Cable (P/N 9105-C-Zc28-U-Rj45S-X

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 3.3.5 Ethernet Cable (P/N 9105-C-ZC28-U-RJ45S-X) This cable has (2) branches: an unterminated end for power and an RJ45 connection for Ethernet. Both of these connections connect to the customer’s device. For the signals and corresponding pin numbers/wire color, refer to the following sections.

  • Page 19: Connecting Through Ethernet

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 4. Connecting Through Ethernet Different methods for setting an IP address and how to configure a Windows 7/8/10 operating system to connect ® the sensor to the ATI Ethernet Axia sensor webpages, are covered in the following sections. For a sensor to connect through Ethernet, a user must configure the IP address setting of the sensor.

  • Page 20: Connecting To The Ati Webpages Using A Windows Computer

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 4.2 Connecting To the ATI Webpages Using a Windows Computer To initially access the ATI Ethernet Axia F/T webpages, configure the sensor to work on the network by assigning an IP address and provide basic information about the network. For the initial connection, directly connect the computer to the sensor and disconnect from LAN. The sensor’s default IP address is 192.168.1.1.
  • Page 21 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 4. Select the Use the following IP address radio button. NOTICE: IP addresses must be unique to each device. If 192.168.1.100 is already used by any other devices on the network, use another IP address with the same first three fields as the sensor. 5. In the IP address: field, type 192.168.1.100. 6.
  • Page 22 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 11. On the left side of the page is a menu bar with buttons that link to various Ethernet Axia webpages. Click on the Communications button. Figure 4.3—The Ethernet Axia F/T Sensor Communications Page 12. Select an IP address mode: •...

  • Page 23: Finding The Ethernet Axia Sensor On A Network

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 14. Open up a new web browser window. Type the sensor’s IP address into the browser’s address bar, and press Enter. • The Ethernet Axia Sensor’s Welcome page should display again. 15. Communicate with the sensor over the network, without reconfiguring the communications settings. 4.3 Finding the Ethernet Axia Sensor on a Network To find the IP address assigned by the DHCP server to an Ethernet Sensor, refer to the following procedure;...
  • Page 24 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Figure 4.5—Discovery Tool NOTICE: In addition to the ATI website, ATI provides this Discovery Tool in a directory that is sent to a user upon receipt of the sensor. To access the tool in the directory (9030-05- 1026), open the folder “Utilities”, open the folder “ATI Discovery Tool”, and then install the file named “setup”...

  • Page 25: Operation

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 5. Operation For general operation information about the sensor, refer to the appropriate sensor manual in Table 2.1. 5.1 LED Self-Test Sequence The Ethernet Axia sensor has three LEDs: Sensor Status, Link/Activity, and Diag. When a user applies power, the sensor completes a self-test, during which the LEDs under firmware control turn-on individually.

  • Page 26: Led Normal Operation

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 5.2 LED Normal Operation 5.2.1 Sensor Status LED One LED signals the health status of the sensor as follows: Table 5.2—Sensor Status LED LED Color State Description No power Electricity is not supplied to the sensor. The sensor’s electronics are functioning and Green Normal operation...

  • Page 27: Sample Rate

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 5.3 Sample Rate The power-on default sample rate is the rate a user sets before removing power. The sample rate is stored to nonvolatile memory. The ADC rate controls the current sample rate. The following table lists the rounded and exact sample rates.
  • Page 28 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Figure 5.2—Filter Attenuation at 0.5 kHz Sample Rate 0.0 dB 200 Hz 60 Hz -6.0 dB 22 Hz 10 Hz -12.0 dB 5 Hz Attenuation 2.5 Hz -18.0 dB 1.3 Hz 0.6 Hz 0.3 Hz -24.0 dB -30.0 dB 0 Hz 1 Hz 10 Hz...
  • Page 29 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Figure 5.4—Filter Attenuation at 2 kHz Sample Rate 0.0 dB 500 Hz 235 Hz 90 Hz -6.0 dB 43 Hz 20 Hz -12.0 dB 10 Hz Attenuation 5 Hz 2.4 Hz -18.0 dB 1.4 Hz -24.0 dB -30.0 dB 0 Hz 1 Hz 10 Hz...
  • Page 30 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Figure 5.6—Filter Attenuation at 8 kHz Sample Rate 0.0 dB 2000 Hz 958 Hz 935.10 Hz -6.0 dB 373 Hz 364.04 Hz -12.0 dB Attenuation 169.52 Hz 81.24 Hz -18.0 dB 39.84 Hz 20.31 Hz -24.0 dB 9.37 Hz 5.47 Hz -30.0 dB 0 Hz...

  • Page 31: Status Code

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 5.5 Status Code A bitmap from bit number 0 to 31 for the current condition of the sensor is in the following table. The user can retrieve the status code using the Ethernet commands (refer to Section 8.4.4—How to Interpret the Output from “!”...

  • Page 32: Status Code: Sensing Range Exceeded

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 5.5.1 Status Code: Sensing Range Exceeded Bit 30 in is set when an F/T load is outside the sensor’s detection capability. Bit 30 is set Table 5.7 when either of the following conditions are TRUE: • The total percentage of the calibrated range used by F axes is greater than 105%.
  • Page 33 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 The F equation simplifies as follows: Because the F equation simplified to TRUE, bit 30 in Table 5.7 is set. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • www.ati-ia.com C-33...

  • Page 34: Ati Ethernet Axia Webpages Interface

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 6. ATI Ethernet Axia Webpages Interface The ATI Ethernet Axia F/T sensor webpages provide full configuration options for the sensor. On the left side of the website, a menu bar has buttons that link a user to other pages for settings and sensor information. The webpages use simple HTML browser scripting and do not require plug-in technology.

  • Page 35: Snapshot Page (Rundata.htm

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 6.2 Snapshot Page (rundata.htm) This page displays the current sensor loading conditions. The information on the Snapshot page is static and becomes current after a user loads or reloads the page. Figure 6.3—Snapshot Page Transducer Loading Snapshot (User Units) Force/Torque Data: These fields display the force and torque data scaled in units that a user selected on the Configurations page.

  • Page 36: Demo Page (Demo.htm

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 6.3 Demo Page (demo.htm) From this webpage,a user may download the Java Demo Application and additional demo software. See ® also Section 7—Java® Demo Application. Figure 6.4—Demo Page 6.4 ADC Settings Page (setting.htm) On the ADC Settings page, a user can select the following: the active calibration, ADC sampling frequency, low-pass filter cutoff frequency, and software bias values.

  • Page 37: Thresholding Page (Moncon.htm

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 The descriptions for the fields on the ADC Settings page, Figure 6.5, are the following: Active Calibration: A user may select a calibration range to be applied to the force and torque readings. For more information about the calibration ranges, refer to the applicable sensor manual in Table...
  • Page 38 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Figure 6.6—Thresholding Threshold Monitoring: A user can enable or disable threshold monitoring by clicking the radial button. Relay Trigger: The user can select if the output code is calculated by bitwise OR’ing (trigger if any condition is true) or bitwise AND’ing (trigger only if ALL conditions are true).
  • Page 39 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Threshold Condition Elements: Statement number. On / Off: Selects which statements are to be included in the processing of threshold conditions. Axis: Selects the axis to be used in the comparison statement. Available axes are: Table 6.1—Thresholding Statement Axis Selections Menu Value Description...
  • Page 40 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 When this statement’s comparison is found true, this 8-bit value will be bitwise Output Code: OR’ed with the Output Code values of all other true statements to form the threshold output. Any set bits remain latched until a user issues a Reset Latch. If no statements are true the threshold output is zero.

  • Page 41: F/T Configurations Page (Config.htm

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 6.6 F/T Configurations Page (config.htm) On the Configurations page, a user may select the active calibration and tool transformation settings for the sensor system. When a user clicks the Apply button, the changes on this page are implemented on the sensor.

  • Page 42: Communication Page (Comm.htm

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 6.7 Communication Page (comm.htm) On the Communication page, a user may view and edit the system’s Ethernet networking options. Usually these settings are set once when a user first setup the system and do not need to be changed later A detailed overview of setting up Ethernet communications with the sensor is in Section 4—Connecting Through...
  • Page 43 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 This field is for the default gateway. Users should contact their IT department to IP Default Gateway: know what default gateway to assign. Ethernet MAC A unique address that given to the sensor at the time of manufacture. This address uniquely identifies this sensor from other sensors and other Ethernet devices.

  • Page 44: System Information Page (Manuf.htm

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 6.8 System Information Page (manuf.htm) The System Information page provides a user with a summary of the Ethernet Axia sensor’s current state. ATI application engineers refer to this page when troubleshooting the sensor. For status codes, refer to Section 5.5—Status Code.

  • Page 45: Status Log Page (Status.htm

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 6.9 Status Log Page (status.htm) The Status Log page reports the last 50 changes to the status code. For more information on the status code, refer to Section 5.5—Status Code. Figure 6.10—Status Log Page Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • www.ati-ia.com C-45...

  • Page 46: Interface Example Page (Examples.htm

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 6.10 Interface Example Page (examples.htm) On the Interface Example page, a user can view TCP and RDT (UDP) commands, command descriptions, the command response (if applicable), and a user-interpretation of the command. For more information on TCP and RDT(UDP), refer to Section 10—TCP Interface Section 12—UDP Interface Using...

  • Page 47: Ati Website Menu Item

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 6.11 ATI Website Menu Item On the menu bar, if a user clicks the ATI Website button, a user goes to ATI Industrial Automation’s official website. To use this feature, be sure a user network is connected to the internet. Pinnacle Park •...

  • Page 48: Java Demo Application

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 ® 7. Java Demo Application The user can collect and view F/T data through the Java demo application on a personal computer. Install Java ® ® version 6.0 (runtime 1.6.0) or later on the computer (download Java ®...
  • Page 49 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 • If the demo is unable to make contact with the Ethernet Axia sensor, the force and torque values will display zero and the Force units and other configuration-related items will each display a question mark.

  • Page 50: Data Display With The Demo

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 7.2 Data Display with the Demo features a live display of the current F/T data, sequence numbers, and status The main screen in Figure 7.3 Code. During normal code. To understand how to interpret the status code, refer to Section 5.5—Status operation, the application requests single records, so the RDT sequence remains constant.
  • Page 51 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Figure 7.5—Java Demo Application while Collecting Data ® 5. To stop collecting data, click the Stop Collecting button (the Collect Streaming button changes to Stop Collecting, during collections). Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • www.ati-ia.com C-51...

  • Page 52: Demo Csv File Format

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 7.4 Demo CSV File Format Information stored in the CSV file is organized as follows: Figure 7.6—Sample Data Opened in Spreadsheet Row 1: Start Time: the date and time when the data collection started. Row 2: RDT Sample Rate: the speed (in samples per second) at which data is sent to the host computer.
  • Page 53 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table 7.1—CSV File Column Headings Column: Status Name: Time (hex) Sequence Sequence Status (hex): a 32-bit system status code for this row. Column A: To understand how to interpret the hexadecimal code and find the status code, refer to Section 5.5—Status Code.

  • Page 54: The Errors Field Display Of The Demo

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 7.5 The Errors Field Display of the Demo On the bottom of the Java demo application main window, an Errors field tracks errors that have occurred ® for an example). For assistance with troubleshooting these error and the times they occurred (see Figure 7.7 Errors.

  • Page 55: Console Interface Through Telnet

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 8. Console Interface Through Telnet The Ethernet Axia sensor has a console interface that is available to a user through Telnet. 8.1 Setting Up a Console Interface Through Telnet By using a console interface on the computer, a user can communicate with the sensor. Free Telnet console software, such as PuTTY, is available online.

  • Page 56: Console Commands

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 3. After a terminal window opens, the session prompts a user to enter a Login (or username) and Password. The Login is “ati”; the password is “ati7720115”. NOTICE: Users can also log into the console with a user-defined username and password that can be set with a CAL/SET command (Table 8.2) or through the Communications webpage (Section 6.7—Communication Page...
  • Page 57 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table 8.1—Commands Operand(s) Command Description The bias command, used without an no operand operand, allows a user to turn the bias feature on and off. “BIAS ON” turns the feature on and sets the F/T output to 0. BIAS “BIAS OFF” turns the feature off and clears the bias bit.

  • Page 58: Console "Cal" | "Set" Command Fields And Values

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table 8.1—Commands Operand(s) Command Description This command records all values that SAVEALL Not Applicable remain through a power cycle to NVM. If there could be an underlying problem within the sensor hardware, the “status” command can be used to retrieve detailed information or for a user to send STATUS...
  • Page 59 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 To read a stored parameter in NVM for a field from 8.2, type “set [field]”, for example: Table user: set cpf response: Field Value ----- ----- 100000 A user can send the “CAL” or “SET” command with additional fields and sometimes values to read or edit parameters such as tool transformation and calibration range.
  • Page 60 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table 8.2—“set” Fields User Example Long Name Field Read/ Description Type Contents Write Calibration counts per force Counts per Force 32-bit unit. 1000000 unsigned Calibration counts per integer Counts per Torque torque unit. peakPos0 PeakLoadsPosF 2395927...
  • Page 61 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table 8.2—“set” Fields User Example Long Name Field Read/ Description Type Contents Write Read Display the physical location Alex’s Bench String(40) location of the sensor. Write Serial serNum The serial number String(100) number Read HW Product hwProdCode...
  • Page 62 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table 8.2—“set” Fields User Example Long Name Field Read/ Description Type Contents Write A custom user name ID and password value that can be set up to prompt a user to log into the telenet interface or to lock/unlock username admin...

  • Page 63: Query Commands: "S" Or "C

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 8.4 Query Commands: “S” or “C” The query command starts the high-speed data transmission of F/T data. The ”S” command reports a single line of FT data that is scaled by the counts per force or counts per torque. The “C” command reports continuous lines of FT data that stop when a user holds another key, for example: “enter”, until the output of data ceases.

  • Page 64: Converting Counts Per Force/Torque To Ft Values

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 8.4.1 Converting Counts Per Force/Torque to FT Values To obtain the real force and torque values, each force value must be divided by the counts per force (cpf) factor, and each torque value must divided by the counts per torque (cpt) factor. The cpf and cpt factors can be obtained using the “set”...

  • Page 65: Examples Of Secondary Commands (Specifiers

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table 8.3—Secondary “S” or “C” Commands Secondary Command Category Notes Specifier The data is displayed in a formatted human-readable output, > for example: lined-up columns. “>” is the default setting. The data is displayed in a compressed output that has no Format leading zeros, trailing zeros, or unnecessary blanks.
  • Page 66 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 3. S D0123 is interpreted as: user: S D01234567 response: 246123 245592 246707 246029 The S is a command for reporting a single line of data. b. The D specifies printing raw ADC values in counts decimal. A number 0 through 7 specifies to print the data for the corresponding gage number.

  • Page 67: How To Interpret The Output From "!" Specifier

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 8.4.4 How to Interpret the Output from “!” Specifier The output from “!” specifier reports an output in hexadecimals that must be converted to a 32-bit binary number that correlates to a status code from Table 5.7. Refer to the following table for an example of bit patterns: Table 8.4—Bit Pattern Examples Simple Description...

  • Page 68: Example Of Tool Transformation Functionality Through Telnet

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 8.5 Example of Tool Transformation Functionality Through Telnet For a more detailed explanation on the concept of tool transformation, refer to the applicable manual in 2.1. For an example of how to use console commands through Telnet, refer to the following example: Table A user wants to set a reference point of origin: = -97.3 mm D...
  • Page 69 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 3. Send the tool transformation “tt” command: user: set tt response: set tt Field Value ----- ----- ttdu ttau ttdx -97.3 ttdy 46.1 ttdz 201.82 ttrx ttry ttrz If a user goes to the Configuration page on the ATI website (Section 6.6—F/T Configurations Page (config.

  • Page 70: Common Gateway Interface (Cgi

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 9. Common Gateway Interface (CGI) A user can configure the sensor over Ethernet by using standard CGI protocol and standard HTTP GET method which sends configuration variables and their values in the requested URL. External factors to the sensor determine the maximum length of these URLs.

  • Page 71: Cgi Variable: Settings (Setting.cgi

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 9.2 CGI Variable: Settings (setting.cgi) A user can specify certain global settings such as ADC rate, low-pass filter selection, and bias (refer to Section 6.4—ADC Settings Page (setting.htm) for related information). Table 9.1—setting.cgi Variables Allowed Variable Name Description Example Values...

  • Page 72: Cgi Variable: Configurations (Config.cgi

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table 9.3—moncon.cgi Threshold Conditions Variable Allowed Description Example Name Values mcen Integers: 0 or 1 Threshold statement n: enable = 1 or disable = 0 mce0=1 Selects the axis evaluated by threshold statement n. Value Description Menu Value...

  • Page 73: Example Of Tool Transformation Functionality Through Cgi

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table 9.4—config.cgi Variables Allowed Variable Name Description Values with the units that are specified Sets the tool transformation distance D cfgtfx0 in the variable: cfgtdu. with the units that are specified Sets the tool transformation distance D cfgtfx1 in the variable: cfgtdu. with the units that are specified Sets the tool transformation distance D cfgtfx2 in the variable: cfgtdu.

  • Page 74: Cgi Variable: Communications (Comm.cgi

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 9.5 CGI Variable: Communications (comm.cgi) A user can set the networking options of the sensor (refer to Section 6.7—Communication Page (comm.htm) for more information). Table 9.5—comm.cgi Variables Variable Name Allowed Values Description Sets DHCP behavior. Value Description comnetdhcp Integers: 0 or 1...

  • Page 75: Tcp Interface

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 10. TCP Interface TCP interface allows a more advanced user to write their own software to interact with the sensor. This software or C#. Many robots can also communicate via TCP ™ could be written with a programming language such as python Socket Messaging communication.

  • Page 76: Read Calibration Info Command

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 10.4 Read Calibration Info Command uint8 command; /* Must be READCALINFO (1). */ uint8 reserved[19]; /* Should be all 0s. */ 10.5 Read Calibration Info Response uint16 header; /* always 0x1234. */ uint8 forceUnits;...

  • Page 77: Write Tool Transform Command

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 10.6 Write Tool Transform Command With TCP, more advanced users can write their own software to set up a defined point of reference. For most users, the most efficient method to use the tool transformation functionality is through either the ATI (Section 6.6—F/T Configurations Page (config.htm)) or a Telnet console webpages...

  • Page 78: Xml Interface

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 11. XML Interface A user application can retrieve the sensor settings in XML format by using standard Ethernet HTTP requests. This enables programs to read system settings such as the Counts per Force value. The Java ®...
  • Page 79 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Table 11.2—XML Elements in netftapi2.xml XML Element Data Type Description Reference setmce USINT Threshold processing status USINT[16] Threshold statements’ individual enabling USINT[16] Threshold statements’ selected axes moncon USINT[16] Threshold statements’ comparisons DINT[16] Threshold statements’...

  • Page 80: Calibration Information (Netftcalapi.xml

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 11.2 Calibration Information (netftcalapi.xml) The XML page netftcalapi.xml retrieves information about a specific calibration. Retrieved calibration information has not been modified by any of the Ethernet Axia configuration settings. A calibration index can be specified when requesting this calibration information. This is done by appending ?index=n to the request, where n is the index of the desired calibration.

  • Page 81: Udp Interface Using Rdt

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 12. UDP Interface Using RDT The Ethernet Axia can output data at up to 7912 Hz over Ethernet using UDP. This method of fast data collection is called Raw Data Transfer (RDT). RDT provides the following data in a packet: forces, torques, and status codes of the Ethernet Axia.

  • Page 82: Rdt Request For Records Structure

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 12.1.1 RDT Request For Records Structure All RDT requests have the following structure: Uint16 command_header = 0x1234; // Required Uint16 command; // Command to execute Uint32 sample_count; // Samples to output (0 = infinite) • Set the command field of the RDT request to a command from Table...

  • Page 83: Calculating F/T Values For Rdt

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 12.2 Calculating F/T Values for RDT To obtain the real force and torque values, divide each force output value by the Counts per Force, and divide each torque output value by the Counts per Torque factor. The Counts per Force and Counts per Torque factors can be read from netftapi2.xml page.

  • Page 84: Troubleshoot

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 13. Troubleshoot This section includes answers to some issues that might arise when using Ethernet with the ATI F/T Axia sensor. For more troubleshooting guidance, refer to the appropriate sensor manual in Table 2.1.

  • Page 85: Ethernet Communication Questions And Errors

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 13.2 Ethernet Communication Questions and Errors Question: What IP address Solution: Refer to Section 4.1—IP Address Configuration for is assigned to Ethernet. the sensor? The Axia’s current IP address can be found using the ATI Discovery Utility which is available for download on the ATI website or on the file 9030-05-1026 that was e-mailed to the customer when the product was shipped.

  • Page 86: Ethernet Axia Webpage Errors

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 13.3 Ethernet Axia Webpage Errors Symptom: The Invalid Request Cause: One or more entries on the previous webpage were invalid page appears. or out of range. Go back to the previous page and review the last entry. To Solution: make debugging easier, make only one change at a time.

  • Page 87: Basic Guidance For Troubleshooting

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 13.5 Basic Guidance for Troubleshooting Basic symptoms of inaccurate data and system errors are listed in the following section. For each symptom, causes and appropriate solutions are suggested. Symptom: Noise — jumps in Cause: Noise can be caused by mechanical vibrations and electrical disturbances that are possibly from a poor ground.
  • Page 88 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Cause: Mechanical coupling or internal failure can cause Hysteresis which Symptom: Hysteresis — is outside of the sensor’s specified and acceptable measurement when the sensor is loaded from a uncertainty (error) range. zeroed or biased Verify the sensor is properly installed, fasteners are Solution: tightened, and the customer tooling is securely installed;...
  • Page 89 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Cause: The user’s devices are not compatible with real time Ethernet or Telnet Symptom: The sensor is communication; refer to connected but not Section 4—Connecting Through Ethernet streaming data. Section 8.1—Setting Up a Console Interface Through Telnet.
  • Page 90 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Cause: The user may be viewing gage data instead of F/T data. Symptom: The values do not Gage data is not a 1:1 correlation to F/T axis data. match expected Solution: To view F/T data, refer to values, for example: Section 8.4—Query the F/T values are...
  • Page 91 Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 Symptom: The sensor Cause: The sensor may have been overloaded beyond its calibration limits. For calibration limits, refer to the applicable ATI manual does not report accurate F/T data. listed in Table 2.1.

  • Page 92: Reducing Noise

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 13.6 Reducing Noise 13.6.1 Mechanical Vibration In many cases, perceived noise is actually a real fluctuation of force and/or torque, caused by vibrations in the tooling or the robot arm. The Axia sensor offers digital low-pass filters that can dampen frequencies above a certain threshold.

  • Page 93: Avoid Logging The Host To A Company Network

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 13.7.4 Avoid Logging the Host to a Company Network Being logged onto a network requires the periodic access to the Ethernet interface by processes other than the measurement application and can lead to loss of UDP packages. 13.7.5 Use a Dedicated Network Placing the sensor on a dedicated Ethernet network with no other devices on the network, other than the host computer, removes data collisions and gives the best network performance.

  • Page 94: P/N 9105-C-Zc28-Zc28-X

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 14.2.3 P/N 9105-C-ZC28-ZC28-X Table 14.4—9105-C-ZC28-ZC28-X M8, 8-pin, Female Connector to M12, 8-pin, Male Connector Parameter Value Voltage Rating 60 V Current Rating 2.0 A IP Rating IP67 (when connectors are attached at both ends) Operating Temperature Range (Min-Max) -40°C to 80°C Note:...

  • Page 95: Terms And Conditions Of Sale

    Manual, F/T Sensor, Ethernet Axia Document #9620-05-C-Ethernet Axia-02 15. 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 (1) year from the date of shipment.

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