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9105-ECAT-Axia80-M20
ATI Technologies 9105-ECAT-Axia80-M20 Manuals
Manuals and User Guides for ATI Technologies 9105-ECAT-Axia80-M20. We have
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ATI Technologies 9105-ECAT-Axia80-M20 manual available for free PDF download: Manual
ATI Technologies 9105-ECAT-Axia80-M20 Manual (50 pages)
EtherCAT Axia F/T Sensor
Brand:
ATI Technologies
| Category:
Accessories
| Size: 2 MB
Table of Contents
Foreword
2
Statement of Compliance
4
Table of Contents
5
Glossary
7
1 Safety
9
Explanation of Notifications
9
General Safety Guidelines
9
Safety Precautions
10
2 Product Overview
11
Overview of Axia Models
12
3 Installation
13
Interface Plates
13
Routing the Cable
15
Installing the Sensor to the Robot
18
Removing the Sensor from the Robot
19
Pin Assignment for the Ethercat and Power Connection
20
Pin Assignment : 6-Pin Male M8 ZC22 Connector
20
Pin Assignment : 8-Pin Male M12 ZC28 Connector
20
Pin Assignment for Cable P/N 9105-C-ZC28-U-RJ45S-X
21
Branch 1, Unterminated End for Power Connection
21
Branch 2, RJ45 Connection for Ethercat
21
Accuracy Check Procedure
22
4 Operation
24
Sensor Environment
24
LED Self-Test Sequence and Functions
24
LED Self-Test Sequence
24
Ethercat Link/Activity LED
24
Run LED
24
Sensor Status LED
25
Sample Rate
25
Sample Rate Versus Data Rate
25
Low-Pass Filter
26
Tool Transformation
29
Avoid Overloading the Sensor During Tool Transformation
31
5 Ethercat Bus Interface
32
PDO Interface
32
Ethercat Dictionary Objects (SDO Data)
32
ATI Specific Area Objects
33
Object 0X2019: Product Description
33
Object 0X2020: Tool Transformation
34
Object 0X2021: Calibration
34
Object 0X2080: Diagnostic Readings
36
Object 0X2090: Version
37
Object 0X6000: Reading Data
37
Object 0X6010: Status Code
38
Status Code: Force/Torque out of Range
39
Object 0X6020: Sample Counter
40
Object 0X6030: Gage Data
40
Object 0X7010: Control Codes
41
Ethercat Communication Area Objects
42
Object 0X1000: Device Type
42
Object 0X1008: Device Name
42
Object 0X1018: Identity
43
Unused Ethercat Objects
44
How to Interpret Hexadecimal Output
45
Establishing Communication with the Ethercat Axia Sensor
46
6 Maintenance
46
Periodic Inspection
46
Periodic Calibrating
46
7 Troubleshooting
47
Errors with Force and Torque Readings
48
8 Specifications
49
Storage and Operating Conditions
49
Electrical Specifications
49
Calibration Ranges
49
9 Terms and Conditions of Sale
50
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