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Novanta ATI Omega191 Manual

Force/torque (f/t) sensor system
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This manual is a compilation of several modular manual sections for an F/T sensor system. The modular manual sections
are in the following order and provide the following information:
A. Introduction
This section includes contact information to reach an ATI representative, general safety guidelines, and terms and
conditions of sale. The ATI document number for this modular manual section is: 9620-05-A-Introduction.
A comprehensive glossary of terms is here: https://www.ati-ia.com/library/Glossary_of_Robotic_Terminology.aspx.
B. Sensor
This section contains information about the sensor mechanical body.
Content includes a product overview, installation instructions, operation information, preventative maintenance
guidance, troubleshooting guidelines, and specifications.
The ATI document number for this modular manual section is: 9620-05-B-XX (XX = sensor model name).
C. Communication Interface Version
This section contains information about the electrical and software features of a specific communication interface
version. Examples of communication interface versions are EtherCAT, Ethernet, and RS422. This section also
includes cable information.
The ATI document number for this modular manual section is: 9620-05-C-XX (XX = communication
interface version).
D. Custom Application
This section contains additional information needed for the sensor system to work within a custom application.
The ATI document number for this modular manual section is: 9620-05-D-XX (XX = custom application).
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 •
Force/Torque (F/T) Manual
Introduction
Engineered Products for Robotic Productivity
www.ati-ia.com

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  • Page 1 Force/Torque (F/T) Manual Introduction This manual is a compilation of several modular manual sections for an F/T sensor system. The modular manual sections are in the following order and provide the following information: A. Introduction This section includes contact information to reach an ATI representative, general safety guidelines, and terms and conditions of sale.
  • Page 2 Tel: +1.919.772.0115 Fax: +1.919.772.8259 Application Engineering Tel: +1.919.772.0115, Extension 511 Fax: +1.919.772.8259 E-mail: ft.support@novanta.com 24/7 Support: +1 855 ATI-IA 00 (+1 855-284-4200) Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com...
  • Page 3 Manual. F/T Sensor, Introduction Document #9620-05-A-Introduction-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 4 Manual, F/T Sensor, Introduction Document #9620-05-A-Introduction-02 2. 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 robotic Tool Changer products purchased hereunder will be free from defects in material and workmanship under normal use for a period of three (3) years from the date of shipment.
  • Page 5 Axia90 F/T Sensor Manual Document #: 9620-05-B-Axia90 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 6 Tel: +1.919.772.0115 Fax: +1.919.772.8259 Application Engineering Tel: +1.919.772.0115, Extension 511 Fax: +1.919.772.8259 E-mail: ft.support@novanta.com 24/7 Support: +1 855 ATI-IA 00 (+1 855-284-4200) Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • www.ati-ia.com...

  • Page 7: Table Of Contents

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 Table of Contents Glossary ............................B-4 Safety ............................B-6 1.1 Explanation of Notifications ..................... B-6 General Safety Guidelines ......................B-6 Safety Precautions ........................B-7 Product Overview ........................B-8 Installation ...........................B-10 Interface Plates ........................B-10 Routing the Cable ........................B-12 Cable Kits ..........................

  • Page 8: Glossary

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 Glossary Term Definition 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 Bias reference for future readings.
  • Page 9 Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 Term Definition Part Number Power Cycle When a user removes and then restores power to a device. The smallest change in load that can be measured. Resolution is usually much Resolution smaller than accuracy. Sample Rate How fast the ADCs are sampling inside the unit.

  • Page 10: Safety

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 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, Axia90 Document #9620-05-B-Axia90-04 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, Axia90 Document #9620-05-B-Axia90-04 2. Product Overview The Axia90 Force/Torque (F/T) sensor detects six components of force and torque (F ) that are applied to the tool side of the sensor. The sensor communicates this data to a device (such as a personal computer, robot, or PLC).
  • Page 13 Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 For more information on the electrical and software features of a specific communication interface version and the applicable cable, refer to the ATI manual in the following table: Table 2.1—ATI Communication/Software Manual Reference Sensor Model Communication ATI Cable P/N Refer to the ATI Manual...

  • Page 14: Installation

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 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 15 Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 If the customer chooses to design and build an interface plate, consider the following points: • The interface plate should include bolt holes for mounting fasteners as well as a dowel pin and boss for accurate positioning to the robot.

  • Page 16: Routing The Cable

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 3.2 Routing the Cable The routing and bending radius of the cable depends upon the customer application. Unlike motionless applications, where the cable is in a static condition, dynamic applications subject the cable to a repetitive motion.
  • Page 17 Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 For added stability, zip ties can be used to secure the cable to a mounting bracket (refer to the following figure). The zip ties should never contact the cable jacket. Figure 3.3—Use Zip Ties on the Connector (sensor shown for reference only) (2) Zip ties stabilize and secure the connector.
  • Page 18 Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 CAUTION: Do not use cable ties or zip ties to bundle cables or restrain the cable to the robot arm. Directly affixing cable ties or zip ties to the cable jacket will damage the cable. Use hook and loop or Velcro straps on the cable jacket surfaces. Examples of the incorrect and correct methods to restrain or bundle cables are in the following pictures: CORRECT...

  • Page 19: Cable Kits

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 3.3 Cable Kits For images of the sensor support bracket and P-clip, refer to Figure 3.2 Figure 3.5. Table 3.2—Cable Kit 9105-CKIT-ZC27-ZC28-X Part Number Description Quantity 9105-C-ZC27-ZC28-4 8-pin M12 connector to 8-pin M12 connector with a 4 m cable (1) bracket, (1) M5 x 10 socket head cap screw, (1) M5 flat 9005-05-1078 washer, and (1) tie...

  • Page 20: Install The Sensor

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 3.4 Install the Sensor Parts required: Refer to Figure 3.5 ATI Axia sensor customer drawing Tools required: 3 mm and 4 mm hex key Supplies required: Clean cloth, Loctite ® 1. Clean the mounting surfaces. 2.
  • Page 21 Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 Figure 3.5—Installation of the Sensor to the Robot robot arm locating dowel pin interface plate (robot side) Use this M5X0.8 10 mm threaded hole to attach a P-clip for cable routing. The P-clip is either customer supplied or included in ATI kit.

  • Page 22: Remove The Sensor

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 3.5 Remove the Sensor Tools required: 3 mm hex key 1. Turn off all energized circuits, for example: electrical. 2. Remove the cable from the sensor. 3. Supporting the customer tooling, remove the customer supplied screws that attach the customer tooling to the sensor.

  • Page 23: Accuracy Check Procedure

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 3.6 Accuracy Check Procedure Complete the following procedures after the initial installation of the sensor to the robot and once annually for maintenance. NOTICE: The mass on the tool side can be the weight of the tooling used in the application. 1.

  • Page 24: Detecting Sensitivity Changes

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 6. The calculated tooling masses for all (6) points should deviate from each other by less than twice the worst accuracy rating of the sensor. • For example: the Axia90-M50 sensor’s rated accuracy is 2% the range on all axes. For a 1000 N F range, the allowable errors of any single data point would be ±...

  • Page 25: Operation

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 4. Operation Information that applies generally to all Axia90 sensors is in the following section. For more information specific to the communication protocol of the sensor, such as sampling rate, LEDs, operation commands, refer to the Table 2.1.

  • Page 26: Tool Transformation

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 4.2 Tool Transformation By default, the forces and torques are reported with respect to a point of origin on the sensor that is set by ATI. For the sensor’s point of origin, refer to the ATI Axia sensor customer drawing.
  • Page 27 Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 After the displacements, the user point of origin rotates in the following order: 1. The first rotation is about the X-axis. • Recall in this example R = +90° rotation. The user point of origin rotates +90° about the X-axis, in the following figure.

  • Page 28: Avoid Overloading The Sensor During Tool Transformation

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 4.2.1 Avoid Overloading the Sensor During Tool Transformation It is possible for the user to set a reference point of origin that does not detect that a torque is applied to the customer tooling, and by extension, the sensor. Torque is the force multiplied by the distance of that force from a reference point of origin.

  • Page 29: Troubleshooting

    Apex, NC 27539 USA www.ati-ia.com Application Engineering Tel: +1.919.772.0115, Extension 511 Fax: +1.919.772.8259 E-mail: ft.support@novanta.com 24/7 Support: +1 855 ATI-IA 00 (+1 855-284-4200) Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • www.ati-ia.com B-25...

  • Page 30: Basic Guidance For Troubleshooting

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 6.1 Basic Guidance for Troubleshooting Basic symptoms of inaccurate data and errors are listed in the following section. For each symptom, causes and appropriate solutions are suggested. Cause: Noise can be caused by mechanical vibrations and electrical Symptom: Noise —...
  • Page 31 Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 Symptom: Hysteresis — Cause: Mechanical coupling or internal failure can cause Hysteresis which when the sensor is outside of the sensor’s specified and acceptable measurement uncertainty (error) range. is loaded from a zeroed or biased Solution: Verify the sensor is properly installed, fasteners are state and then the...
  • Page 32 Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 Symptom: The F/T values Cause: The sensor may be in a mode that reports gage data do not match instead of F/T data. expected values, Solution: Gage data is not a 1:1 correlation to F/T axis data. View for example: the F/T data instead of gage data;...

  • Page 33: Specifications

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 7. Specifications Some requirements and specifications for the Axia90 sensor are covered in the following sections. For more information, refer to the customer drawing. 7.1 Environmental Conditions Table 6.1—Environmental Conditions Parameter Value Storage Temperature, °C -20 to +85 Operating Temperature, °C 0 to +65...

  • Page 34: Terms And Conditions Of Sale

    Manual, F/T Sensor, Axia90 Document #9620-05-B-Axia90-04 8. 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.
  • Page 35 RS422 Axia Manual Document #: 9620-05-C-RS422 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 36: Foreword

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-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 on the part of ATI Industrial Automation, Inc.
  • Page 37 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Table of Contents Foreword ............................2 Glossary ............................6 Safety ............................8 1.1 Explanation of Notifications ......................8 General Safety Guidelines ......................8 Safety Precautions ........................9 Product Overview ........................10 Installation ..........................11 Installation of the Sensor to the Robot ..................11 Pin and Wire Assignments for Connectors ................
  • Page 38 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Bias Command: “bias” ....................... 33 5.4.1 Secondary Bias Commands: “on”, “off”, “[values]” ............33 Peak Command: “peak” ......................33 5.5.1 Peak Command in Counts: “peak C” ................34 5.5.2 Peak Reset Command: “peak reset” ................34 Save All Command: “saveall” ....................34 Set Command: “set”...
  • Page 39 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Troubleshoot ........................... 50 LED Errors ........................... 51 Basic Guidance for Troubleshooting ..................52 Reducing Noise ........................... 56 8.3.1 Mechanical Vibration ......................56 8.3.2 Electrical Interference ....................... 56 9. Specifications ......................... 57 9.1 Electrical Specifications ......................

  • Page 40: Glossary

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Glossary Term Definitions 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 41 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Term Definitions When an external object such as customer tooling or utilities contacts a sensor’s Mechanical Coupling surface between the sensor’s mounting side and tool side. Not applicable. Non-Volatile Memory. Storage of information or device memory that can be retrieved even after the device goes through a power cycle (turned off and then back on).

  • Page 42: Safety

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 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 43: Safety Precautions

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 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 44: Product Overview

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 2. Product Overview The RS422 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 RS422 serial communication interface.

  • Page 45: Installation

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 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 46: Axia F/T Sensor

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 3.2.1 Axia F/T Sensor Signals and corresponding pin numbers for the Axia models are listed in the following sections. 3.2.1.1 Axia80 and Axia90 Pin Assignment for the 8-pin M8 Male Sensor Connector Table 3.2—Axia80 and Axia90 Sensor Connector, M8, 8-pin, Male Connector Schematic Pin Number...

  • Page 47: Axia80 And Axia90 Sensor Cable (P/N 9105-C-Zc27-Zc28)

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 3.2.2 Axia80 and Axia90 Sensor Cable (P/N 9105-C-ZC27-ZC28) Table 3.4—ZC27 Connector, M8, 8-pin, Female Connector Schematic Pin Number Signal Clock Sync Ground V - / Ground Tx - Rx + Tx + Clock Sync Rx - Shell...

  • Page 48: Axia130 Sensor Cable (P/N 9105-C-Zc28-Zc28)

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 3.2.3 Axia130 Sensor Cable (P/N 9105-C-ZC28-ZC28) Table 3.6—ZC28 Connector, M12, 8-pin, Female Connector Schematic Pin Number Signal Clock Sync Ground V - / Ground Tx - Rx + Tx + Clock Sync Rx - Shell Shield...

  • Page 49: Set-Up Of The Rs422 Communication Interface

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 3.3 Set-up of the RS422 Communication Interface The RS422 Axia sensor is a serial device that is used programmatically with the user’s application. When the sensor is attached via cable to the customer’s device such as a personal computer or robot, the computer assigns the sensor a COM port.
  • Page 50 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5. Set the configuration: Under Connection type: select the radio button for Serial. Figure 3.2—Set the Connection Type to Serial In the Serial Line field, enter the assigned COM port from step 3. In the Speed field, enter the default baud rate of 115200 or the baud rate to which the user has set the RS422 Axia sensor.
  • Page 51 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 After a terminal window opens, the user can then start entering commands. Section 5—RS422 Commands Section 6—RS422 Axia Sensor After a command is entered from “Robot Mode”, press the (enter) key to send the command. NOTICE: Commands which are entered are not case sensitive.

  • Page 52: Operation

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 4. Operation For general operation information about the sensor, refer to the appropriate sensor manual in Table 2.1. 4.1 Clock Sync Functionality Clock sync functionality activates when the user applies a rising edge of at least 5 V to the conductors (refer Section 3.2—Pin and Wire Assignments for Connectors).

  • Page 53: Led Self-Test Sequence

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 4.2 LED Self-Test Sequence The RS422 Axia sensor has three LEDs: Sensor Status, Link/Activity, and Diag. When the user applies power, the sensor completes a self-test, during which the LEDs under firmware control turn-on individually. Table 4.1—LED Self-Test Sequence Sequence State...

  • Page 54: Led Normal Operation

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 4.3 LED Normal Operation 4.3.1 Sensor Status LED One LED signals the health status of the sensor as follows: Table 4.2—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 55: Sample Rate

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 4.4 Sample Rate The power-on default sample rate is the rate the 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 56 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Figure 4.3—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...
  • Page 57 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Figure 4.5—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...
  • Page 58 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Figure 4.7—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...

  • Page 59: Status Code

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 4.6 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 RS422 commands (refer to Section 5.3.4—How to Interpret the Output from “!”...

  • Page 60: Status Code: Force/Torque Out Of Range Or Sensing Range Exceeded

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 4.6.1 Status Code: Force/Torque Out of Range or Sensing Range Exceeded Bit 30 in Table 4.7 is set when an F/T load is outside the sensor’s detection capability. Bit 30 is set when either of the following conditions are TRUE: • The total percentage of the calibrated range used by F and T...
  • Page 61 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 The F equation simplifies as follows: Because the F equation simplified to TRUE, bit 30 in Table 4.7 is set. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • www.ati-ia.com...

  • Page 62: Rs422 Commands

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5. RS422 Commands These commands can be used to view the status, parameters, and adjust settings of the sensor. For setting up a console, refer to Section 3.3—Set-up of the RS422 Communication Interface.

  • Page 63: Reset Sensor Command: "Reset

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5.2 Reset Sensor Command: “reset” The “reset” command resets the MCU. “reset” command example format (the response varies per configuration of the system): reset user: response: BL4I0+I1+C= ======================================================================== RESET due to: SoftwareReset I2C EEPROM verified 0.000 N 0.000 N...
  • Page 64 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Table 5.1—Secondary “S” or “C” Commands Secondary Command Category Notes Specifier Gage values are printed in counts only. Gage number(s) As many as all gage numbers can be reported or as few as a single gage number.

  • Page 65: Examples Of Secondary Commands (Specifiers)

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5.3.3 Examples of Secondary Commands (Specifiers) The following are examples of an “S” or “C” command with specifiers: 1. C XTY is interpreted as: user: C XTY response: 0.001 N 0.0009 Nm The C is a command for reporting continuous lines of data. The X specifies printing F , because force is the default.

  • Page 66: How To Interpret The Output From "!" Specifier

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5.3.4 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 4.7. Refer to the following table for an example of bit patterns: Table 5.2—Bit Pattern Examples Simple Description...

  • Page 67: Bias Command: "Bias

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5.4 Bias Command: “bias” The “bias” command reports the current bias status of the sensor. “bias” command format: bias user: BIAS OFF response: In this case, the command reports the status that the bias feature is off. 5.4.1 Secondary Bias Commands: “on”, “off”, “[values]”...

  • Page 68: Peak Command In Counts: "Peak C

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5.5.1 Peak Command in Counts: “peak C” The “peak c” command reports the highest and lowest of F in counts that occurred for a run-time and for all-time. The peak reset command resets the run-time peaks only. All time peaks are largest values seen while the sensor was powered on and operating.

  • Page 69: Set Command: "Set

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5.7 Set Command: “set” The “set” command reports all settings. Note that “CAL” is synonymous for “set”, but in this manual, the command is referenced to as “set”. Many settings are read-only fields that are configured onto the sensor Table 5.3.
  • Page 70 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Table 5.3—“set” Fields User Description Example Field Long Name Read/ (and if applicable, Type Contents Write Secondary Commands Force units, secondary commands: 0 = Lbf forceUnits Force Units 1 = N 2 = Klbf 3 = kN 4 = Kg 8-bit...
  • Page 71 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Table 5.3—“set” Fields User Description Example Field Long Name Read/ (and if applicable, Type Contents Write Secondary Commands The RDT transmission Read rate in units of Hz. rdtRate The RDT transmission Write rate must be 1 to the adcRate.
  • Page 72 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Table 5.3—“set” Fields User Description Example Field Long Name Read/ (and if applicable, Type Contents Write Secondary Commands UART baud rate. Must be in range from 300 Read baud to 3M baud. 115200 baud Any baud rate change...

  • Page 73: Calibration Commands

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5.8 Calibration Commands 5.8.1 Calibration Range Command: “ set calib” The user can set the calibration range or index number, where: 0 = calibration range 0. 1 = calibration range 1. The calibration ranges for the sensor are listed in more detail in the specific ATI sensor manual that is listed in Table 2.1.

  • Page 74: Example Of Switching Between Calibration Ranges

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5.8.3 Example of Switching Between Calibration Ranges To safely switch between calibration ranges, use the following procedure as a guide: 1. Read the name of the current active calibration: >set partNum Field Value ----- -----...

  • Page 75: Baud Rate Command: "Set Baud

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5.9 Baud Rate Command: “set baud” The user can set the baud rate of the sensor. The baud rate must be a value from 300 to 3000000. “set baud” read and write command format: set baud user: Field...

  • Page 76: Simmulated Error Command: "Simerr

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5.10 Simmulated Error Command: “simerr” The “simerr” command refers to bit 28 from Table 4.7. The command can be issued to view status of bit 28 or turn bit 28 on or off. The simulated error command is useful for customers, who need to test their error- handling routines.

  • Page 77: Status Command: "Status

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 5.12 Status Command: “status” If there could be an underlying problem within the sensor hardware, the “status” command can be used to retrieve detailed information or for the user to send the information to ATI for troubleshooting. “status”...

  • Page 78: Rs422 Axia Sensor "Robot Mode

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 6. RS422 Axia Sensor “Robot Mode” “Robot mode” is not required to communicate with all robots, but it presents the data in a useful format for certain robot integrations. When in “robot mode” the RS422 Axia sensor is able to complete these following actions: •...

  • Page 79: Print And Stop A Continuous Output Or High Speed Streaming Of Ft Values: "S" And "E" Command

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 6.3 Print and Stop a Continuous Output or High Speed Streaming of FT Values: “S” and “E” command To receive a continuous output or start high speed streaming of FT values in each axis, type the character “s”.

  • Page 80: How To Interpret Robot Mode Readings

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 6.5 How to Interpret Robot Mode Readings The following is an example of how to interpret “robot mode” FT readings into decimal values. The “P” counts per force and counts per torque command and “R” single FT reading command have the following outputs: P = 15.2588, 15.2588, 15.2588, 15.2588, 15.2588, 15.2588 R = 1FFFF00000023000000000000...

  • Page 81: Set The Adc Sample Rate: "A" Command

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 6.6.2 Set the ADC Sample Rate: “A” command The ADC sample rate that is set for the sensor must match the same sample rate set on the console; refer to Figure 5.1. Type the character “A”...

  • Page 82: Pseudocode Example

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 7. Pseudocode Example The following pseudocode provides a general idea of how to communicate with a sensor over a terminal interface from a user’s custom software. 7.1 Assumed Functions For Pseudocode To use the example pseudocode, the user must already have the following functions. These functions are dependent on the user’s specific programming language and environment.

  • Page 83: Pseudocode To Read Tool Transform Distance Units

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 7.3 Pseudocode to Read Tool Transform Distance Units The command “C !FXYZTXYZ” instructs the sensor to begin streaming, with each sample include: • the status code (the “!” specifier) • the three force axes(“FXYZ”) • the three torque axes (“TXYZ”) Example record: 00000000...

  • Page 84: Troubleshoot

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 8. Troubleshoot This section includes answers to some issues that might arise when using RS422 with the ATI F/T Axia sensor. For more troubleshooting guidance, refer to the appropriate sensor manual in Table 2.1.

  • Page 85: Led Errors

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 8.1 LED Errors Solution: Symptom: Status LED stays red Check the sensor cable connections. after the (20) second power up phase. Verify the sensor cable is not damaged. There may be an internal error in the sensor.

  • Page 86: Basic Guidance For Troubleshooting

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 8.2 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. Cause: Noise can be caused by mechanical vibrations and electrical Symptom: Noise —...
  • Page 87 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Symptom: Hysteresis — Cause: Mechanical coupling or internal failure can cause Hysteresis which when the sensor is outside of the sensor’s specified and acceptable measurement uncertainty (error) range. is loaded from a zeroed or biased Solution: Verify the sensor is properly installed, fasteners are...
  • Page 88 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Symptom: The sensor is Cause: The sensor has insufficient power supply. not responsive. Solution: Verify the power supply meets the requirements listed in Section 9—Specifications. Verify the cables are not damaged and are properly routed per the Installation Section in the applicable ATI manual in Table...
  • Page 89 Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 Symptom: The sensor Cause: The sensor may have been overloaded beyond its calibration does not report limits. For calibration limits, refer to the applicable ATI manual listed in Table 2.1. accurate F/T data. Solution: Check the status code.

  • Page 90: Reducing Noise

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 8.3 Reducing Noise 8.3.1 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 91: Specifications

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 9. Specifications 9.1 Electrical Specifications Table 9.1—Power Supply Voltage Power Consumption Power Source Minimum Nominal Maximum Maximum DC Power 12 V 24 V 30 V 1.5 W Notes: The power supply input is reverse polarity protected. If the power and ground to the power supply inputs are plugged in reverse, then the reverse polarity protection stops the incorrectly wired supply input from damaging or powering on the sensor.

  • Page 92: Cable Specifications

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 9.2 Cable Specifications 9.2.1 P/N 9105-C-ZC27-ZC28 Table 9.2—9105-C-ZC27-ZC28 M8, 8-pin, Female Connector to M12 A-Coded, 8-pin, Male Connector Parameter Value Voltage Rating > 30 V Current Rating > 0.25 A IP Rating IP67 Operating Temperature Range (Min-Max) -5°C to 70°C Note:...

  • Page 93: Terms And Conditions Of Sale

    Manual, F/T Sensor, RS422 Axia Document #9620-05-C-RS422 Axia-03 10. 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.
  • Page 94 Fax: +1.919.772.8259 Application Engineering Tel: +1.919.772.0115, Extension 511 Fax: +1.919.772.8259 E-mail: ft.support@novanta.com 24/7 Support: +1 855 ATI-IA 00 (+1 855-284-4200) Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com...

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