Table of Contents
Troubleshooting
Related Manuals for Novanta ATI EtherCAT Sano
Summary of Contents for Novanta ATI EtherCAT Sano
- Page 1 EtherCAT Sano F/T Sensor Manual Document #: 9620-05-C-EtherCAT Sano Engineered Products for Robotic Productivity Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • +1 919-772-0115 • Fax: +1 919-772-8259 • www.ati-ia.com...
- Page 2 Be near the F/T system when calling (if possible). Please contact an ATI representative for assistance, if needed: Sale, Service and Information about ATI products: ATI Industrial Automation, a Novanta company 1031 Goodworth Drive Apex, NC 27539 USA Tel: +1 919-772-0115 • Fax: +1 919-772-8259 •...
-
Page 3: Table Of Contents
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 Table of Contents Glossary ............................C-5 Safety ............................C-7 1.1 Explanation of Notifications ..................... C-7 General Safety Guidelines ......................C-7 Safety Precautions ........................C-8 Product Overview ........................C-9 Installation ...........................C-10 Pin Assignment for the EtherCAT and Power Connection ..........C-10 Operation ..........................C-12 LED Self-Test Sequence ...................... - Page 4 Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5.2.13.1 Object 0x1000: Device Type ................. C-25 5.2.13.2 Object 0x1008: Device Name ............... C-25 5.2.13.3 Object 0x1018: Identity ................. C-26 5.2.13.4 Unused EtherCAT Objects ................C-27 5.2.14 How to Interpret Hexadecimal Output ................C-28 Establishing Communication with the EtherCAT Sano Sensor ..........
-
Page 5: Glossary
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 Glossary Definition Term Analog-to-digital converter. Bias may also be referred to as “zero out” or “tare” the sensor. Biasing is useful for eliminating the effects of gravity (tool weight) or other acting forces, as well as the effects of drift. - Page 6 Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 Definition Term Commonly referred to as “accuracy”, “measurement uncertainty” is the worst-case error between the measured value and the true load. The measurement uncertainty is specified as a percentage of the full-scale measurement range for a given sensor Measurement model and calibration size.
-
Page 7: Safety
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-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 8: Safety Precautions
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 1.3 Safety Precautions CAUTION: Modifying or disassembly of the sensor could cause damage and void the warranty. CAUTION: Probing openings in the sensor causes damage to the instrumentation. Avoid prying into openings of the sensor. CAUTION: Do not overload the sensor. -
Page 9: Product Overview
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 2. Product Overview The EtherCAT Sano Force/Torque (F/T) sensor is for use with surgical robotics and ideal for orthopedic applications such as hand-guided robotic navigation and force controlled cutting or drilling. The Sano measures six components of force and torque (F ). -
Page 10: Installation
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-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 11 Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 Customers can either use the (2) FFC connectors or the single SM connector. Signals and corresponding pin numbers are listed in the following table. Figure 3.1—Sano74 Sensor Connectors P6: 8-pin male SM connector Pin 1 P4: 6-pin male FFC connector Pin 1...
-
Page 12: Operation
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 4. Operation For general operation information about the sensor, also refer to the 9620-05-B-Sano74 manual. 4.1 LED Self-Test Sequence The EtherCAT Sano sensor has four LEDs: • (2) EtherCAT Link/Activity (L/A): L/A 0 and L/A 1 •... -
Page 13: Led Normal Operation
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 4.2 LED Normal Operation 4.2.1 Status LED One LED signals the health status of the sensor as follows: Table 4.2—Status LED LED Color State Description No power Electricity not supplied to the sensor. The sensor’s electronics are functioning and Green Normal operation... -
Page 14: F/T Sample Rate
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 4.3 F/T Sample Rate The user can set the sample rate to control how quickly the ADC is sampling gage data inside the sensor. Rounded and exact sample rates are in the following table. Table 4.5—Sample Rate Rounded Sample Rate 0.5 kHz... -
Page 15: Ethercat Bus Interface
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5. EtherCAT Bus Interface The EtherCAT bus interface enables users to perform the following actions: • Read the active calibration information, and serial number • Read the firmware version • Read F/T and IMU data •... -
Page 16: Object 0X2021: Calibration
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5.2.1 Object 0x2021: Calibration This read-only object contains information about the currently active calibration selected by the “Calibration Selection” field in Section 5.2.12—Object 0x7010: Control Codes. This object contains the following fields: Table 5.1—... - Page 17 Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 Table 5.1— Object Index (hex) 0x2021: Calibration Subindex Name Type Description 51. to 33 to 42 Reserved Reserved PeakLoadsPosFx PeakLoadsPosFy Peak Loads Positive. PeakLoadsPosFz DINT All-time peak positive F/T PeakLoadsPosTx loads in counts. PeakLoadsPosTy PeakLoadsPosTz PeakLoadsNegFx...
-
Page 18: Object 0X2060: Monitor Conditions
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5.2.2 Object 0x2060: Monitor Conditions This read and write object configures an axis, a threshold value, and a direction to continuously evaluate against the current F/T data. Enable and reset the Monitor Condition in Object 0x7010: Control Codes. -
Page 19: Object 0X2080: Diagnostic Readings
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5.2.4 Object 0x2080: Diagnostic Readings This read-only object provides diagnostic information. In this object, the following fields are available: Table 5.4—Object Index (hex) 0x2080: Diagnostic Readings Subindex Name Type Description The voltage of the external 0x01 Supply Voltage UINT16... -
Page 20: Object 0X2090: Version
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5.2.5 Object 0x2090: Version This read-only object provides firmware version information. In this object, the following fields are available: Table 5.6—Object Index (hex) 0x2090: Version Subindex Name Type Description 0x01 Major UINT16 Major Version 0x02 Minor... -
Page 21: Object 0X6010: Status Code
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5.2.7 Object 0x6010: Status Code This object contains a single DINT value (at subindex 0), with the following bitmap. For bit patterns, refer to Table 5.18. Object Index (hex) 0x6010: Status Code Table 5.8—... -
Page 22: Status Code: Force/Torque Out Of Range
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 Object Index (hex) 0x6010: Status Code Table 5.8— Status Description Error? Number This bit is set whenever a F/T sample exceeds the calibrated range or Force/Torque Out mathematically saturated. of Range This check occurs before digital filtering. Error This bit is set whenever any status code bit that indicates an error is set. -
Page 23: Object 0X6030: Gage Data
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5.2.9 Object 0x6030: Gage Data This read-only object reads the latest raw gage data. Table 5.10—Object Index (hex) 0x6030: Raw Unbiased Gage Data Subindex Name Type Description 0x01 Gage 0 0x02 Gage 1 0x03 Gage 2 DINT These fields contain the 32-bit gage data. -
Page 24: Object 0X7010: Control Codes
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5.2.12 Object 0x7010: Control Codes This object is mapped into the RxPDO for real-time control of the F/T system. This object contains the following fields: Table 5.13—Object Index (hex) 0x7010: Control Codes Subindex Name Type Description... -
Page 25: Ethercat Communication Objects
Type Description Value Value (hex) (decimal) The EtherCAT device category under UDINT which the ATI EtherCAT Sano is 0x00000192 categorized. 5.2.13.2 Object 0x1008: Device Name This read-only object describes the name of the device. The EtherCAT ® Technology Group defines the structure of this object but leaves it as optional. ATI programs in a default name, and this name may change. -
Page 26: Object 0X1018: Identity
Technology Group defines the structure of this object, ® ATI EtherCAT Sano sensor). The EtherCAT and ATI defines the values for each ATI product. ATI can provide support to users who want to change this field. Sometimes users may want to change this field so they can brand the ATI sensor as part of their system. -
Page 27: Unused Ethercat Objects
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5.2.13.4 Unused EtherCAT Objects Technology Group defines the structure of these object but leaves them as optional. ® The EtherCAT Currently, ATI does not use these fields. Instead, the information is included in Section 5.2—... -
Page 28: How To Interpret Hexadecimal Output
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5.2.14 How to Interpret Hexadecimal Output The end user converts hexadecimal outputs to a 32-bit binary number that correlates to a code in a dictionary object. An example of bit patterns are in the following table. Table 5.18—Bit Pattern Examples Status Bit Number... -
Page 29: Establishing Communication With The Ethercat Sano Sensor
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 5.3 Establishing Communication with the EtherCAT Sano Sensor The following steps guides the user through initializing communication between the EtherCAT Sano sensor and the customer’s EtherCAT master device. Always refer to the software manual for the EtherCAT master device for instructions best suited for the application. -
Page 30: Troubleshooting
1031 Goodworth Drive Apex, NC 27539 USA Tel: +1 919-772-0115 • Fax: +1 919-772-8259 • www.ati-ia.com Application Engineering E-mail: ft.support@novanta.com 24/7 Support: +1 855 ATI-IA 00 (+1 855-284-4200) 6.1 LED Errors Table 6.1—LED Errors Symptom Resolution Check the sensor cable connections. -
Page 31: Basic Guidance For Troubleshooting
If the sensor fails the accuracy check, return the sensor to ATI for inspection. Contact ATI at ati- rma-admin@novanta.com for a Returned Materials Authorization (RMA). Symptom: Drift — when the Cause: Some drift from a change in temperature is normal. Drift is observed F/T data continues more easily in the Z axis, compared to the X and Y axes. - Page 32 If the sensor fails the accuracy check, return the sensor to ATI for inspection. Contact ATI at ati- rma-admin@novanta.com for a Returned Materials Authorization (RMA). Symptom: Object Cause: The zero offsets of the IMU hardware are out of adjustment.
- Page 33 Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 Cause: The sensor has insufficient power supply. Symptom: The sensor and/or Verify the power supply meets the requirements listed in EtherCAT program Solution: is not responsive. Section 7—Specifications. Verify the cables are not damaged and are properly routed per the Installation Section in the 9620-05-B-Sano74 manual.
- Page 34 Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 Symptom: The sensor Cause: The sensor may have been overloaded beyond its calibration limits. For calibration limits, refer to the does not report 9620-05-B-Sano74 manual. accurate F/T data. Solution: Check the status code. Error bits related to overload are: 2, 26, 27, and 30.
-
Page 35: Reducing Noise
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 Normal. Bias the sensor to bring all the F/T values back to zero. Symptom: The initial F/T values are non- zero and no load is applied. 6.3 Reducing Noise 6.3.1 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. -
Page 36: Specifications
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 7. Specifications The requirements for the EtherCAT sensor interface are covered in the following sections. For ATI F/T sensor model specifications, refer to the 9620-05-B-Sano74 manual. 7.1 Electrical Specifications Table 7.1—Power Supply Voltage Power Source Minimum Nominal... -
Page 37: Terms And Conditions Of Sale
Manual, F/T Sensor, EtherCAT Sano Document #9620-05-C-EtherCAT Sano-03 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.
Need help?
Do you have a question about the ATI EtherCAT Sano and is the answer not in the manual?
Questions and answers