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Manual Addendum for the
9105-IF-OEMx DAQ Transducer Systems
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
Document #: 9610-05-1020
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Manual, Addendum for the 9105-IF-OEMx DAQ Transducers Systems
Document #9610-05-1020-06
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. This
manual is periodically revised to reect and incorporate changes made to the F/T system.
ATI Industrial Automation, Inc. assumes no responsibility for any errors or omissions in this document.
Copyright © (2019) by ATI Industrial Automation, Inc., Apex, North Carolina USA. All Rights Reserved.
Published in the USA.
In consideration that ATI Industrial Automation, Inc. (ATI) products are intended for use with robotic and/or automated
machines, ATI does not recommend the use of its products for applications wherein failure or malfunction of a ATI
component or system threatens life or makes injury probable. Anyone who uses or incorporates ATI components within
any potentially life threatening system must obtain ATI’s prior consent based upon assurance to ATI that a malfunction
of ATI’s component does not pose direct or indirect threat of injury or death, and (even if such consent is given) shall
indemnify ATI from any claim, loss, liability, and related expenses arising from any injury or death resulting from use of
ATI components.
All trademarks belong to their respective owners. Windows® and Excel® are registered trademarks of
Microsoft Corporation.
Note
Please read the manual before calling customer service, and have the following
information available:
1. Serial number (e.g., FT01234)
2. Transducer model (e.g., Axia, etc.)
3. Calibration (e.g., US-15-50, SI-65-6, etc.)
4. Accurate and complete description of the concern or question
5. Computer and software information, for example: operating system, PC type, drivers, and
application software
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:
A TI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
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@ati-ia.com
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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Manual, Addendum for the 9105-IF-OEMx DAQ Transducers Systems
Document #9610-05-1020-06
Table of Contents
Foreword .......................................................................................................................................... 2
1. Safety ......................................................................................................................................... 4
1.1 ExplanationofNotications .........................................................................................................4
1.2 General Safety Guidelines ............................................................................................................4
2. Overview ................................................................................................................................... 5
2.1 Installing an IF-OEM Board to a TW Transducer ........................................................................5
2.2 P7AConnectorforPowerInput:PinoutandElectricalSpecications ....................................5
2.3 P7B Connector for Signal Output ................................................................................................6
2.4 DB26 (9105-IF-OEM2) Connector Pinout .....................................................................................7
3. Converting Gages to F/T Measurements ............................................................................... 8
4. Drawing ..................................................................................................................................... 9
5. Terms and Conditions of Sale ............................................................................................... 10
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Manual, Addendum for the 9105-IF-OEMx DAQ Transducers Systems
Document #9610-05-1020-06
1. Safety
The safety section describes general safety guidelines to be followed with this product, explanations of the
notications found in this manual, and safety precautions that apply to the product. Product specic notications
are imbedded within the sections of this manual (where they apply).
1.1 ExplanationofNotications
These notications are used in all of ATI manuals and are not specic to this product. The user should heed
all notications from the robot manufacturer and/or the manufacturers of other components used in the
installation.
DANGER: Notication of information or instructions that if not followed will result in
death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
WARNING: Notication of information or instructions that if not followed could result
in death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
CAUTION: Notication of information or instructions that if not followed could result
in moderate injury or will cause damage to equipment. The notication provides
information about the nature of the hazardous situation, the consequences of not
avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notication of specic information or instructions about maintaining, operating,
installing, or setting up the product that if not followed could result in damage to equipment. The
notication can emphasize, but is not limited to: specic grease types, best operating practices,
and maintenance tips.
1.2 General Safety Guidelines
The customer should verify that the sensor is rated for maximum loads and torques expected during
operation. Because static forces are less than the dynamic forces from the acceleration or declaration of the
robot, be aware of the dynamic loads caused by the robot.
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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Manual, Addendum for the 9105-IF-OEMx DAQ Transducers Systems
Document #9610-05-1020-06
2. Overview
The IF-OEMx boards are external interface boards that are used with TW transducers. TW transducers do not
have integrated electronics for conditioning the transducer signal. The IF-OEMx transducer systems receive direct
power via a cable (ATI P/N 9105-C-MX-U-XX) connected to the P7A connector on the IF-OEMx board. The six
gage outputs are amplied on the IF-OEMx board. On this board, the P7B connector passes these outputs to the
DAQ device through the cable (ATI P/N 9105-C-MX-U-XX). Then these gage outputs are processed through the
UserAcess calibration matrix and become usable F/T measurements (refer to Section 3—Converting Gages to F/T
Measurements). For more information about standard DAQ transducer systems and the operational characteristics
of IF-OEMx transducer systems, refer to the 9620-05-DAQ manual.
2.1 Installing an IF-OEM Board to a TW Transducer
The -MX connector conguration on the sensor cable has six 3-pin Molex connectors. Each cable connector
is labeled P0 through P5 and corresponds to the six gage outputs from the sensor to the board. The IF-OEMx
board has six 3-pin Molex connectors that are labeled P0 through P5. Attach each cable connector to the
corresponding connector on the board. The following gure shows the connectors on a IF-OEMx board.
Figure 2.1—IF-OEMx Board
P0
P3
P2
P1
P7A
P4
P7B
P5
Pinout and specication information for the P7A and P7B connectors on 9105-IF-OEMx boards and for the
DB26 connector on the 9105-IF-OEM2 board are in the following sections.
2.2 P7AConnectorforPowerInput:PinoutandElectricalSpecications
To power the IF-OEMx board, supply ± 15 V to P7A connector.
Table 2.1—P7A Power Input Pinout
Pin Number Color Signal
1 Red + 15 VDC
2 Black Ground
3 Orange - 15 VDC
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Document #9610-05-1020-06
Electrical specication for the +/-15VDC P7A connector are in the following table:
Table 2.2—IF-OEM ±15VElectricalSpecications
Signal Minimum Typical Maximum Units
+ V
Power Input Voltage 13.0 15.0 17.0 V DC
ANA
- V
Power Input Voltage -17.0 -15.0 -13.0 V DC
ANA
+V
Power Input Current
ANA
-V
Power Input Current -45.0 mA
ANA
V
Power Input Noise 75.0 mV p-p
ANA
V
Power Input Regulation 0.5% N/A
ANA
N/A
NOTICE: Custom cables that mate to the P7A and P7B headers use Molex microminature
1.25 mm receptacles.
2.3 P7B Connector for Signal Output
P7B is the output for the six amplied signals that connect to the DAQ device. The signal output is in the
following table:
NOTICE: The T REF and T OUT signal is used only on custom sensors with a thermistor
installed. Standard sensors do not have a thermistor; do not connect these signals to
the DAQ device.
50.0 mA
Table 2.3—P7B Signal Output
Pin Number Color Signal Name Note
1 Brown/White G0 REF
2 Brown G0 OUT
3 Yellow/White G1 REF
4 Yellow G1 OUT
5 Green/White G2 REF
6 Green G2 OUT
7 Blue/White G3 REF
8 Blue G3 OUT
9 Violet/White G4 REF
10 Violet G4 OUT
11 Grey/White G5 REF
12 Grey G5 OUT
13 White/Black T REF
14 White T OUT
}Twisted Pair
}Twisted Pair
}Twisted Pair
}Twisted Pair
}Twisted Pair
}Twisted Pair
}Twisted Pair
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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Manual, Addendum for the 9105-IF-OEMx DAQ Transducers Systems
Document #9610-05-1020-06
2.4 DB26 (9105-IF-OEM2) Connector Pinout
The DB26 connector pinout for the 9105-IF-OEM2 is in the following table:
Table 2.4—DB26 Connector Pinout
Pin Number Signal Name
1 Ch7 OUT
2 +5 V
3 T OUT
4 Gage5 OUT
5 Gage4 OUT
6 Gage3 OUT
7 Gage2 OUT
8 Gage1 OUT
9 Gage0 OUT
11 DGND (ground)
12 THERMISTOR REF
13 Gage5 OUT
14 Gage4 OUT
15 Gage3 OUT
16 Gage2 OUT
17 Gage1 OUT
18 Gage0 OUT
19 DIO0
21 +15 VDC Input
22 AGND Input
23 -15 VDC Input
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Manual, Addendum for the 9105-IF-OEMx DAQ Transducers Systems
bST G0
FxG0
FxG1
FxG2
FxG3
FxG4
FxG5
Document #9610-05-1020-06
3. Converting Gages to F/T Measurements
After the IF-OEMx DAQ Transducer system is connected and powered, a UserAxis calibration matrix converts
the six amplied gage voltages (G0 through G5 to the DAQ device) into Force and Torque measurements. The
UserAxis 6x6 matrix can be found in the FTxxxxx.cal le, which can be downloaded from the ATI website:
https://www2.ati-ia.com/Library/Software/FTDigitaldownload/getcalles.aspx. The Runtime Matrix is shown in the
following gure.
NOTICE: If the DAQ device is a National Instruments
complete the following conversion.
Figure 3.1—Runtime Matrix
Determine Offset
Correction Voltage
Transducer
IF-OEMx
Board
STG0
Customer’s
Data Acquisition
System
Strain
6 gage output
voltages data
STG1
STG2
STG3
STG4
STG5
®
product, use the ATI DAQ Demo program to
bias0
bias1
bias2
bias3
bias4
bias5
Operations marked RED are to be performed
for each measurement sample.
Operations marked BLUE are to be performed
only once at the beginning of a measurement.
Bias Vector for
Offset Correction
bias0
bias1
bias2
bias3
bias4
bias5
bST G1
bST G2
bST G3
bST G4
bST G5
Gage
Data
FyG0
FzG0
Tx G0
Ty G0
TzG0
Calibration Matrix
Transducer
Calibration
File
The UserAxis 6x6 matrix is in the
FTxxxxx.cal file that matches the
sensor’s serial number. This is the
Runtime Matrix.
FyG1
FyG2
FyG3
FzG1
FzG2
FzG3
Tx G1
Tx G2
Tx G3
TzG1
Ty G2
Ty G3
TzG1
TzG2
TzG3
Runtime Matrix
calibration matrix
FyG4
FyG5
FzG4
FzG5
Tx G4
Tx G5
Ty G4
Ty G5
TzG4
TzG5
Working
bST G0
bST G1
bST G2
bST G3
bST G4
bST G5
Force and
Torque Data
(Fx Fy Fz Tx Ty Tz)
Note:Temperature compensation
is usually not required. Only older
models may need software
temperature compensation.
The user may load in the FTxxxxx.cal file into the DAQ Manual Calculations spreadsheet
and copy the working matrix from the spreadsheet to the Runtime Matrix.
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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Document #9610-05-1020-06
4. Drawing
Date
5/22/2013
02
REVISION
LTF
Initiator
Description
Updated labels for connectors P0-P5
02
Rev.
2.2 Max.
Bottom Side
Component Height
4.3 Max.
Top Side
Component Height
Note 2
A
Note 3
DETAIL A
SCALE 6 : 1
F/T Sensor
F/T Sensor
OEM Board
HTC Resistor Location
Vertical
Right Angle
Right Angle
1031 Goodworth Drive, Apex, NC 27539, USA
P0-P5 Header Type
Part Number
9105-IF-OEM8
9105-IF-OEM9
9105-IF-OEM10
1.6
NOTES: UNLESS OTHERWISE
ISO 9001 Registered Company
Fax: +1.919.772.8259 www.ati-ia.com
Tel: +1.919.772.0115 Email: info@ati-ia.com
MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
TITLE
SPECIFIED.
DO NOT SCALE DRAWING.
ALL DIMENSIONS ARE IN
MILLIMETERS.
9230-05-1417
DRAWING NUMBER
B
SIZE
2:1
SCALE
9105-IF-OEMx w/ IDAQ Board
1 1
SHEET OF
J. Walser 01/19/2012
P. Fusco 01/27/2012
110629-5
PROJECT #
DRAWN BY:
CHECKED BY:
3rd ANGLE PROJECTION
3.40 Thru
5.99 Plated Area
Equally Spaced
3X
Customer Interface
P1
P0
9105-IF-OEM9 Shown Above
P7A
P6
8.9
3X
No Parts Zone
58.5
P4
P7B
P7C
P2 P5
P3
9105-IF-OEM9 Shown Above
26.9
B.C.
Notes:
All connections to headers on PCB to be made using Molex 1.25mm pitch PicoBlade
Wire-To-Board connectors.
9105-IF-OEM8, 9105-IF-OEM10 to use 6X right angle Molex header P/N 53048-0310
at locations P0-P5.
9105-IF-OEM9 to use 6X vertical Molex header P/N 53047-0310 at locations P0-P5.
1.
2.
3.
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Document #9610-05-1020-06
5. 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 le 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. The warranty
period for repairs made under a RMA shall be for the duration of the original warranty, or ninety (90) days from
the date of repaired product shipment, whichever is longer. ATI will have no liability under this warranty unless:
(a) ATI is given written notice of the claimed defect and a description thereof with thirty (30) days after Purchaser
discovers the defect and in any event, not later than the last day of the warranty period and (b) the defective item
is received by ATI not later than (10) days after the last day of the warranty period. ATI’s entire liability and
Purchaser’s sole remedy under this warranty is limited to repair or replacement, at ATI’s election, of the defective
part or item or, at ATI’s election, refund of the price paid for the item. The foregoing warranty does not apply to any
defect or failure resulting from improper installation, operation, maintenance, or repair by anyone other than ATI.
ATI will in no event be liable for incidental, consequential, or special damages of any kind, even if ATI has been
advised of the possibility of such damages. ATI’s aggregate liability will in no event exceed the amount paid by the
purchaser for the item which is the subject of claim or dispute. ATI will have no liability of any kind for failure of
any equipment or other items not supplied by ATI.
No action against ATI, regardless of form, arising out of or in any way connected with products or services supplied
hereunder, may be brought more than one year after the cause of action accrued.
No representation or agreement varying or extending the warranty and limitation of remedy provisions contained
herein is authorized by ATI, and may not be relied upon as having been authorized by ATI, unless in writing and
signed by an executive ocer of ATI.
Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software, and other technology
made or developed by ATI in the course of providing products and services hereunder, and all rights therein under
any patent, copyright, or other law protecting intellectual property, shall be and remain ATI’s property. The sale
of products or services hereunder does not convey any expressed or implied license under any patent, copyright,
or other intellectual property right owned or controlled by ATI, whether relating to the products sold or any other
matter, except for the license expressly granted below.
In the course of supplying products and services hereunder, ATI may provide or disclose to Purchaser condential
and proprietary information of ATI relating to the design, operation, or other aspects of ATI’s products. As between
ATI and Purchaser, ownership of such information, including without limitation any computer software provided
to Purchaser by ATI, shall remain in ATI and such information is licensed to Purchaser only for Purchaser’s use in
operating the products supplied by ATI hereunder in Purchaser’s internal business operations.
Without ATI’s prior written permission, Purchaser will not use such information for any other purpose of provide or
otherwise make such information available to any third party. Purchaser agrees to take all reasonable precautions to
prevent any unauthorized use or disclosure of such information.
Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is in the public
domain when received from ATI, (b) is thereafter published or otherwise enters the public domain through no fault
of Purchaser, (c) is in Purchaser’s possession prior to receipt from ATI, (d) is lawfully obtained by Purchaser from a
third party entitled to disclose it, or (f) is required to be disclosed by judicial order or other governmental authority,
provided that, with respect to such to maintain the condentiality of such information.
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