ATI Technologies Axia80 User Manual

Manual, Axia80 EtherCAT F/T Sensor

Document #: 9610-05-Axia80 EtherCAT

Engineered Products for Robotic Productivity

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]

Manual, F/T Sensor, Axia80 EtherCAT
Document #9610-05-Axia80 EtherCAT-09

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 of ATI Industrial Automation, Inc. This manual is

periodically revised to reect 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 © 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 an 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. EtherCAT® is a registered trademark and patented technology, licensed
by Beckhoff Automation GmbH, Germany.

Note
Please read the manual before calling customer service. Before calling, have the following

information available:

1. Serial number (e.g., FT01234)

2. Transducer model (e.g., Axia80, etc.)

3. Calibration (e.g., US-120-95, etc.)

4. Accurate and complete description of the question or problem

5. Computer and software information. Operating system, PC type, drivers, application

software, and other relevant information about your conguration.

If possible, be near the F/T system when calling.

How to Reach Us

Sale, Service and Information about ATI products:

A TI Industrial Automation

1031 Goodworth Drive
Apex, NC 27539 USA

www.ati-ia.com

Tel: [phone]
Fax: [phone]

E-mail: [e-mail]

Technical support and questions:

Application Engineering

Tel: [phone], Option 2, Option 2
Fax: [phone]

E-mail: [e-mail]

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]

2

Manual, F/T Sensor, Axia80 EtherCAT

Document #9610-05-Axia80 EtherCAT-09

Table of Contents

Foreword .......................................................................................................................................... 2

Glossary

........................................................................................................................................... 5

1. Safety ......................................................................................................................................... 7

1.1 ExplanationofNotications .........................................................................................................7

1.2 General Safety Guidelines ............................................................................................................7

1.3 Safety Precautions ........................................................................................................................8

2. Product Overview ..................................................................................................................... 9

2.1 LED Self-Test Sequence and Functions ....................................................................................10

2.1.1 LED Self-Test Sequence .................................................................................................. 10

2.1.2 EtherCAT Link/Activity LED ..............................................................................................10

2.1.3 Run LED ...........................................................................................................................10

2.1.4 Sensor Status LED ...........................................................................................................10

3. Installation ...............................................................................................................................11

3.1 Adapter Plates ............................................................................................................................. 11

3.2 Routing the Cable ........................................................................................................................13

3.3 Installing the Sensor to the Robot .............................................................................................14

3.4 Removing the Sensor from the Robot .......................................................................................15

3.5 Pin Assignment for the EtherCAT and Power Connection ...................................................... 16

3.5.1 Pin Assignment for the 6-pin M8 Male Connector on the Sensor .....................................16

3.5.2 Pin Assignment for the 8-Pin M12 Male Connector

on Cable P/N 9105-C-ZC22-ZC26-X ................................................................................16

3.5.3 Pin Assignment for Cable P/N 9105-C-ZC26-U-RJ45S-X, Branch 1, Unterminated End for

Power Connection ............................................................................................................17

3.5.4 Pin Assignment for Cable P/N 9105-C-ZC26-U-RJ45S-X, Branch 2, RJ45 Connection ..17

3.6 Accuracy Check Procedure ........................................................................................................18

4. Operation ................................................................................................................................ 19

4.1 Sensor Environment ...................................................................................................................19

4.2 Sample Rate .................................................................................................................................19

4.3 Low-pass Filter ............................................................................................................................19

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]

3

Manual, F/T Sensor, Axia80 EtherCAT
Document #9610-05-Axia80 EtherCAT-09

5. EtherCAT Bus Interface ......................................................................................................... 22

5.1 PDO Interface ...............................................................................................................................22

5.2 EtherCAT Dictionary Objects (SDO Data) ................................................................................22

5.2.1 Object 0x2021: Calibration ...............................................................................................22

5.2.2 Object 0x2080: Diagnostic Readings ...............................................................................24

5.2.3 Object 0x2090: Version ....................................................................................................25

5.2.4 Object 0x6000: Reading Data ..........................................................................................25

5.2.5 Object 0x6010: Status Code ............................................................................................26

5.2.6 Object 0x6020: Sample Counter ......................................................................................27

5.2.7 Object 0x6030: Gage Data ...............................................................................................27

5.2.8 Object 0x7010: Control Codes .........................................................................................28

5.3 Establishing Communication with the Axia80 EtherCAT Sensor ........................................... 29

6. Maintenance ............................................................................................................................ 29

6.1 Periodic Inspection .....................................................................................................................29

6.2 Periodic Calibrating ....................................................................................................................29

7. Troubleshooting .......................................... ........................................................................... 30

7.1 Errors with Force and Torque Readings ...................................................................................30

8. Specications ......................................................................................................................... 31

8.1 Storage and Operating Conditions ............................................................................................31

8.2 ElectricalSpecications .............................................................................................................31

8.3 Calibration Ranges ......................................................................................................................31

9. Drawings ................................................................................................................................. 32

10. Terms and Conditions of Sale ............................................................................................... 33

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]

4

Manual, F/T Sensor, Axia80 EtherCAT

Document #9610-05-Axia80 EtherCAT-09

Glossary

Term Denition

Accuracy See Measurement Uncertainty.
ADC Analog-to-digital converter.

Calibration

Calibration Certicate

CoE

Compound Loading Any load that is not purely in one axis.
Coordinate Frame See point of origin.
DINT A 32-bit data type representing a signed integer.
DoF Degrees of freedom. See six degrees of freedom.
EtherCAT An industrial automation eldbus.

FoE
Force The push or pull exerted on an object.

FS Full-Scale.
F/T Force/Torque.
F/T Transducer The device that converts force and torque into an electrical signal.
Fxy The resultant force vector comprised of components Fx and Fy.

Full-Scale Error

Hysteresis
IP60 Ingress protection rating “60” designates protection against dust.

ISR Interrupt service routine.
MAP

MAX. Single-Axis Overload

Measurement Uncertainty
Moment An object that receives a torque has a moment applied to that object.
Offset Compensation

Overload

PDO

The act of measuring a transducer’s raw response to loads and
creating data used in converting the response to forces and torques.

A statement that says the equipment measures correctly. These
statements mean the equipment has been tested against national
standards. The statements are produced as a result of calibration or
re-calibration.

CANopen over EtherCAT is the preferred embedded protocol for

conguring EtherCAT devices. Used within SDO to encode the
conguration data.

File access over EtherCAT, the preferred embedded protocol for

uploading new rmware to EtherCAT devices.

A measurement of sensing error. For example, if the calibrated
measurement range of a sensor is 100 Newtons and the sensor is
accurate to within 1 Newton, that sensor will have a Full-Scale Error of
1% (1% = 0.01 = 1 N / 100 N).

A source of measurement error caused by the residual effects of
previously applied loads.

The Mounting Adapter Plate (MAP) is the transducer plate that attaches

to the xed surface or robot arm.

The largest amount of load in a single axis (all other axes are unloaded)
that the transducer can withstand without damage.

The maximum expected error in measurements, as specied on the
calibration certicate.

Correction of errors that change the zero point of a transducer’s
readings.

The condition where more load is applied to the transducer. This will
result in saturation.

Process Data Object, a protocol for reading and writing real-time
process information cyclically.

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]

5

Manual, F/T Sensor, Axia80 EtherCAT
Document #9610-05-Axia80 EtherCAT-09

Term Denition

Point of Origin The point from which the transducer measures all forces and torques.

The way the continuously variable transducer signal is converted into

Quantization

discrete digital values. Usually used when describing the change from
one digital value to the next.

RAM Random access memory.

Torque applied that does not result in movement. For example, if a user

Reaction Torque

twists a screw or bolt but the fastener does not move. ATI transducers
sense reaction torque.

The periodic verication of measurement equipment, like transducers,

Re-Calibration

calipers, and voltmeters, to prove it still measures correctly. The
equipment may be adjusted if it doesn’t measure correctly.

Resolution

The smallest change in load that can be measured. This is usually
much smaller than accuracy.

Torque resulting in something moving. Generally this refers to the

Rotary Torque

torque on things like drive shafts. ATI transducers cannot sense
rotational torque.

Saturation

SDO

The condition where the transducer has a load or signal outside its
sensing range.

Service Data Object, a protocol for reading and writing conguration

information acyclically.
Six Degrees of Freedom Fx, Fy, Fz, Tx, Ty , and Tz.
SG Strain Gage.
STRING(8) A data type representing (8) characters, using (8) bytes.
STRING(30) A data type representing (30) characters, using (30) bytes.

TAP

Tool Adapter Plate (TAP) is the transducer surface that attaches to the

load to be measured.
Torque The measurement of force exerted on an object causing it to rotate.

Transducer

Transducer is the component that converts the sensed load into

electrical signals.
Txy The resultant torque vector comprised of components Tx and Ty.
UDINT A (32) bit data type representing an unsigned integer.
UINT A (16) bit data type representing an unsigned integer.
USINT An (8) bit data type representing an unsigned integer.

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]

6

Manual, F/T Sensor, Axia80 EtherCAT

Document #9610-05-Axia80 EtherCAT-09

1. Safety

The safety section describes general safety guidelines for the product(s), an explanation of the notications found
in this manual, and the safety precautions applicable to the product(s). More specic notications are embedded

within the sections of the manual where they apply.

1.1 ExplanationofNotications

The notications included here are specic to the product(s) covered by this manual. The user should heed
all notications from the robot manufacturer and/or the manufacturers of other components used in the

installation.

DANGER: Notication of information or instructions that if not followed will result in

death or serious injury. The notication provides information about the nature of the

hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.

WARNING: Notication of information or instructions that if not followed could result

in death or serious injury. The notication provides information about the nature of the

hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.

CAUTION: Notication of information or instructions that if not followed could result in

moderate injury or cause damage to equipment. The notication provides information

about the nature of the hazardous situation, the consequences of not avoiding the
hazard, and the method for avoiding the situation.

NOTICE: Notication of specic information or instructions about maintaining, operating,

installation, or setup of the product that if not followed could result in damage to equipment. The

notication can emphasize but is not limited to specic grease types, good operating practices,

or maintenance tips.

1.2 General Safety Guidelines

The customer should verify that the transducer selected 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 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]

7

Manual, F/T Sensor, Axia80 EtherCAT
Document #9610-05-Axia80 EtherCAT-09

1.3 Safety Precautions

WARNING: Performing maintenance or repair on the sensor, while circuits (e.g. power,

water, and air) are energized could result in serious injury. Discharge and verify all
energized circuits are de-energized in accordance with the customer’s safety practices
and policies.

CAUTION: Modifying or disassembly of the sensor could cause damage and void the
warranty. Use the supplied mounting adapter plate and the provided tool side mounting
bolt pattern to mount the sensor to the robot and customer tooling to the sensor. Refer
to Section 9—Drawings for more information.

CAUTION: Using fasteners that exceed the customer interface depth penetrates
the body of the sensor, damages the electronics, and voids the warranty. Refer to

Section 9—Drawings for more information.

CAUTION: Probing openings in the sensor causes damage to the instrumentation.
Avoid prying into openings of the transducer.

CAUTION: Do not overload the transducer. Exceeding the single-axis overload values
of the transducer, causes irreparable damage.

CAUTION: Do not contact the IP60 seal. Contacting the seal can cause the sensor to
malfunction.

CAUTION: The sensor should be protected from impact and shock loads that exceed
rated ranges during transport as the impacts can damage the sensor’s performance.
Refer to Section8—Specications for more information about rated ranges.

CAUTION: Avoid damage to the sensor from Electro-Static Discharge. Ensure proper
grounding procedures are followed when handling the sensor or cables connected to
the sensor. Failure to follow proper grounding procedures could damage the sensor.

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]

8

Manual, F/T Sensor, Axia80 EtherCAT

Document #9610-05-Axia80 EtherCAT-09

2. Product Overview

The Axia80 EtherCAT F/T sensor system measures (6) components of force and torque (Fx, Fy, Fz, Tx, Ty, Tz) and

streams data to customer devices that use EtherCAT eldbus. Refer to Section 5.1—PDO Interface.

The mounting side attaches to a mounting adapter plate, which mounts to the customer robot. The tool side attaches

to the customer tooling. Both the mounting and tool sides have a 71.12 mm bolt circle pattern with (6) M5 tapped

holes. Refer Section 9—Drawings for more information. The sensor is IP60 rated. A M8 6-pin male connector is for
power and EtherCAT. For the pin assignments, refer to Section 3.5—Pin Assignment for the EtherCAT and Power

Connection.

The Axia80 sensor provides the following features:

• Resolved force and torque data (refer to Section 5.1—PDO Interface)

• Set bias and clear bias

• Programmable low-pass ltering

• LED indicator for Run, EtherCAT Link, and Transducer Status. Refer to Section 2.1—LED Self-Test

Sequence and Functions for more information.

Figure 2.1—Axia80 EtherCAT F/T Sensor

6-Pin Male M8 Connector

for Power and

Communication

Dust Proof

Tool side

Tool side

(For Customer

Tooling)

Seal

Link/Activity LED

Sensor Status LED

Sensor Status LED

Run LED

Run LED

Mounting Side

Mounting Side

to Robot

to Robot

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]

9

Manual, F/T Sensor, Axia80 EtherCAT
Document #9610-05-Axia80 EtherCAT-09

2.1 LED Self-Test Sequence and Functions

The EtherCAT F/T provides (3) LEDs for EtherCAT Link, Run, and Sensor Status. When the user applies
power, the sensor completes a self-test, during which the LEDs under rmware control individually turn on.

2.1.1 LED Self-Test Sequence

When the user applies power to the sensor, the sensor completes a self-test, during which the LEDs
under rmware control individually turn on in the following sequence:

Sequence

Order

LED State Duration

1 Sensor Status Red
2 Run Red
3 EtherCAT Link/Activity Red
4 Sensor Status Green
5 EtherCAT Link/Activity Green

Note:

1. The Green Run LED is not tested in the self-test sequence.

2.1.2 EtherCAT Link/Activity LED

One LED signals link/activity on the EtherCAT port as follows:

Approximately one

second for each LED.

LED State Link Activity Condition

Off No No No EtherCAT connection.

Green Yes

Note:

1. This LED behavior is different from the standard EtherCAT device Link/Activity LED

behavior, which is a ashing green LED.

2.1.3 Run LED

One LED signals the communication status of the EtherCAT sensor interface as follows:

LED State Description

Off EtherCAT interface is in the state “INIT”.

Flashing green EtherCAT interface is in the state “Preoperational”.

Green EtherCAT interface is in the state “Operational”.

2.1.4 Sensor Status LED

One LED signals the health status of the sensor as follows:

LED State Description

Off No power.

Green

Flashing green

Amber Sensing range exceeded.

Red System error.

Normal operation.
The sensor’s electronics are functioning and communicating.

Power-up self testing.
At power-up, the sensor completes diagnostic testing to verify
internal electronics are functioning.

No

Yes

EtherCAT link/activity is detected.

1

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]

10