Robotiq FT 300 User Manual
Robotiq FT 300 Force Torque Sensor
Original Notice
© 2018 Robotic Inc.
Instruction Manual
robotiq.com | leanrobotics.org
1. General Presentation 9
1.1. Main features 10
1.1.1. FT 300 Force Torque Sensor 10
1.1.2. Force Copilot 12
2. Safety 13
2.1. Warning 14
2.2. Intended Use 15
3. Installation 16
3.1. Scope of Delivery 16
3.1.1. Options 16
3.2. Environmental and Operating Conditions 17
3
3.3. Mechanical Connections 17
3.4. Power Supply Specifications 19
3.5. Wiring 20
3.5.1. Wiring with USB to RS485 Converter 21
3.5.2. Wiring with RS232 to RS485 Converter 22
3.6. Installation for Universal Robots 23
3.6.1. Force Copilot URCap Package 24
Installation 24
Calibration Procedure 28
Calibration Procedure with Universal Robots 29
Calibration Procedure for the Visual Demo Software (PC) 33
Payload/CoG 34
ActiveDrive Toolbar Installation 35
Firmware upgrade 36
Uninstalling the URCap Package 37
License Agreement 38
3.6.2. UR Package without URCaps 42
Driver Package Installation 42
Calibration 42
Testing the software package 43
Removing the Package 43
FT300 Force Torque Sensor - Instruction Manual
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3.7. Status LED 44
4. Software 45
4.1. Control with Universal Robots 46
4.1.1. ActiveDrive Toolbar 47
Overview 47
Toolbar collapsed 47
Toolbar expanded 47
ActiveDrive modes expanded 47
Features 48
Error Messages Overview 50
4.1.2. Using the force and torque values 52
4.1.3. Path Recording 54
Overview 55
Features* 57
4.1.4. Insertion nodes 58
Child nodes 59
Features (Spiral) 60
Features (Rotational) 61
Features (Linear) 62
4.1.5. Find Surface node 63
4.1.6. Using the Force Torque Sensor's Data in Force Nodes 66
4.1.7. Force ControlNode 66
Overview 66
Features 68
Reference frame 68
Parameters 69
Test 72
4.1.8. Multipoint Path Node 73
How to set up a Multipoint Path 74
Step 1 74
Step 2 75
4.2. Development Package 77
4.2.1. Distribution License 77
FT300 Force Torque Sensor - Instruction Manual
4.2.2. Linux 79
Package Files – Description 79
Procedure to Compile and Test the Provided Source Code 79
Adapt to a User Application 80
4.2.3. Windows 81
Package Files – Description 81
Procedure to Compile and Test the Provided Source Code 81
Adapt to a User Application 82
4.3. Visual Demo Software 83
4.3.1. Software Package Installation 83
4.4. Serial Communication 85
4.4.1. Modbus RTU 85
Connection Setup 86
5
Read Holding Register (FC03) 88
4.4.2. Data Stream 89
Preset Multiple Registers (FC16) 89
5. Specifications 91
5.1. Technical Dimensions 91
5.1.1. Tool Side Bolt Pattern 92
5.2. Mechanical Specifications 93
5.2.1. Moment of Inertia and Center of Mass 94
5.2.2. Overload Capacity 95
5.3. Signal Specifications 96
5.4. Electrical Ratings 98
5.5. Couplings 99
5.5.1. Blank Coupling 100
6. Maintenance 101
6.1. Maintenance Intervals 101
7. Spare Parts, Kits and Accessories 102
8. Troubleshooting 103
8.1. General troubleshooting 103
8.1.1. An offset has appeared in the Sensor data 103
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8.1.2. Procedure to determine if the Sensor is functional 103
8.2. Troubleshooting on Universal Robots 104
8.2.1. ActiveDrive Toolbar troubleshooting – Error messages overview 104
8.2.2. Monitoring the Sensor state 105
8.3. Troubleshooting on other platforms 107
8.3.1. USB converter detected as a mouse by Windows 107
8.3.2. Data frequency under 100 Hz in Windows 107
8.3.3. In Linux, the serial port cannot be opened 107
9. Warranty 109
9.1. Exclusions 110
10. Contact 111
Appendix A – Translation of Original EC Declaration of Incorporation 113
Appendix B – Applied Standards 114
FT300 Force Torque Sensor - Instruction Manual
Revisions
Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in
specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this
manual online at: support.robotiq.com.
Revision 2018/10/09
Major update:all reference to the software compatible with UR(URCap)have been renamed Force Copilot
Updated Sofware section to include the Multipoint Path node and rename the FTMode node to Force Control node
Revision 2018/06/18
Updated Software (subsections 4.1.2 and 4.1.5) to include Robotiq FTMode node and corresponding script functions
Revision 2018/03/26
Removed all references to FT 150 Force Torque Sensor
Revision 2018/02/13
Removed reference to ROSpackage (section 4.3)
7
Revision 2017/12/11
Updated control with Universal Robots (section 4.1 and subsections)
Revision 2017/10/30
Updated mechanical specifications (section 5.2)
Updated signal specifications (section 5.3)
Revision 2016/11/18
Updated FT 150 signal specifications (section 5.3)
Updated installation for Universal Robots (section 3.8 and sub sections)
Updated Control with Universal Robots (section 4.1 and sub sections)
Revision 2016/04/26
Update for ActiveDrive toolbar, added calibration instructions
Revision 2016/01/18
Update for FT 300
Revision 2014/09/08
Official release
FT300 Force Torque Sensor - Instruction Manual
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Copyright
© 2016, 2018 Robotiq Inc. All rights reserved.
This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by
international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent
from Robotiq. Under copyright law, copying includes translation into another language or format.
Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed
by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after
the edition date.
The information contained in this document is subject to change without notice.
FT300 Force Torque Sensor - Instruction Manual
1. General Presentation
The terms ''Sensor'', ''Robotiq Sensor'', ''Force Sensor'', ''Torque Sensor'', ''FT300 Force Torque Sensor'' used in the following
manual refer to the Robotiq Force Torque Sensor FT 300 unless specified. The Robotiq FT300 Force Torque Sensor is a robotic
peripheral designed for force and torque data acquisition.
The term "Force Copilot" used in the following manual refer to the Robotiq Force Copilot unless otherwise specified. The Robotiq
Force Copilot is a software package designed for using the force and torque values read by a force torque sensor in the framework
of robotic applications. The software interface provides force and torque feedback that can be used for robot hand guiding, force
control processes, assembly tasks, product testing,etc.
Info
The following manual uses the metric system, unless specified, all dimensions are in millimeters.
Info
The following section presents the key features of the Sensor and must not be considered as being related to Sensor
operation, each feature is detailed in the appropriate section of the manual. Safety guidelines must be read and
understood before any operation is attempted with theSensor.
9
Fig. 1.1: General presentation of the Robotiq Force Torque Sensors with main features.
FT300 Force Torque Sensor - Instruction Manual
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1.1. Main features
1.1.1. FT 300 Force Torque Sensor
l The end-of-arm tool contact surface (in green) is the only point of contact allowed between the Sensor and the tool to ensure cor-
rect force and torquefeedback.
l The robot contact surface (in blue) is the only contact point allowed between the Sensor and the robot for fastening the sensor to
the robot. Note that the inside ring must not touch the robot.
Info
Details on the bolt pattern and indexing pin for the tool side and the robot side can be found in the Specifications
section.
l The screw positioning for the coupling and the robot mountings are shown in orange. See the Spare Parts section for a list of
available Couplings.
l M12 connector (pigtail or mounted) allows for both power and data transfer for the Sensor.
l Status LED provides visual information on the status of the Sensor, see Section 3.7 for details.
Fig. 1.2: FT300 Force Torque Sensor force and torque diagrams.
FT300 Force Torque Sensor - Instruction Manual
The figure above represents the various force and torques that the FT300 Force Torque Sensor can measure. Reference frame is
centered on the Sensor as shown above and visual inscriptions are also represented on it.
l The Z axis passes through the center of the depression with positive direction in the tool direction.
l The X axis traces a symmetric line centered on the connector;the positive direction points the opposite way away from the con-
nector.
l The Y axis uses the right hand thumb rule according to X-Z.
11
Fig. 1.3: FT300 Force Torque Sensor options.
The figure above represents various options available. They can be found in the Spare Parts, Kits and Accessories section.
l Couplings are meant to install the FT300 Force Torque Sensor on various robot models, see available models.
l Sensor Cable is used for power and communications with the FT300 Force Torque Sensor and is available in different lengths.
l Mechanical Protector is meant to protect the cable connector from collisions that can occur when operating the robot (especially
useful when in teach mode).
l Tool Plate is not shown, but might be required when certain end-of-arm tools are mounted on the FT300 Force Torque Sensor.
Info
Please refer to the Installation section for details on the installation of various options.
Several software packages are provided and detailed in the Software section of this manual.
Tip
It is important to understand that the FT300 Force Torque Sensor can be used either as a Modbus RTU slave or as a
streaming device. When use as a slave unit you will send status requests (read function) to get the force & moment
values, while when in data stream mode the Sensor will continuously stream data without responding to a master
request.Please refer to the Serial Communication section for details.
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1.1.2. Force Copilot
Force Copilot is the Robotiq software product that unlocks force control features and functionalities.
The Force Copilot software is used for the implementation of a force torque sensor's operational commands in a user interface.
FT300 Force Torque Sensor - Instruction Manual
2. Safety
Warning
The operator must have read and understood all the instructions in this manual before handling the Robotiq Force
Torque Sensor and using Force Copilot.
Info
The term "operator" refers to anyone responsible for:
Any of the following operations with the FT300 and the associated robot or tools:
l Installation
l Control
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l Maintenance
l Inspection
l Decommissioning
Any of the following usage of Force Copilot and the associated operational commands:
l Installation
l Control
l Calibration
l Programming
This documentation explains the various components of the Force Torque Sensor, as well as general operations regarding the
whole life-cycle of the product from installation to operation and decommissioning.
The drawings and photos in this documentation are representative examples and differences may exist between them and the
delivered product.
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2.1. Warning
Info
Any use of Force Copilot and/or the Force Torque Sensor in noncompliance of these warnings is inappropriate and may
cause injury or damage.
Warning
A force torque sensor used in human-robot collaboration must not be considered a complete safety measure, additional
dedicated safety device(s) must be considered. Sensor failure can occur and result in danger for workers or machinery.
See local or international safety measure for human-robot collaboration.
Warning
l The Sensor needs to be properly secured before operating the robot.
l Do not install or operate a Sensor that is damaged or lacking parts.
l Never supply the Sensor with an alternative current source.
l Make sure all cord sets are always secured at both ends, at the Sensor and at the robot.
l Always meet the recommended keying for electrical connections.
l Make sure no one is in the robot and/or Sensor path before initializing the robot's routine.
l Always meet the Sensor payload specifications.
l All local safety measures and/or laws on robot operation must be applied to the Sensor.
l Any use of the Sensor in noncompliance with these warnings is inappropriate and may cause injury or damage.
FT300 Force Torque Sensor - Instruction Manual
2.2. Intended Use
The Sensor is designed for data acquisition (force and torque sensing) for an end-of-arm tool on a robot.
The Sensor is intended for installation on a robot or other automated machinery or equipment.
The software is used for the implementation of a force torque sensor's operational commands in a user interface.
Info
Always comply with local and/or national laws, regulations and directives on automation safety and general machine
safety.
The unit may be used only within the range of its technical specifications. Any other use of the product is deemed improper and
unintended use. Robotiq will not be liable for any damages resulting from any improper or unintended use.
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FT300 Force Torque Sensor - Instruction Manual
3. Installation
Warning
Be sure to read and understand the safety instructions related to the Robotiq Force Torque Sensor prior to installation.
3.1. Scope of Delivery
Standard delivery for an FT Sensor kit:
FTS-300-KIT-001
Robotiq Force Torque Sensor FT 300 unit
1 m pigtail cable (CBL-COM-2068-01)
10 m Robotiq Device Cable (CBL-COM-2065-10-HF)
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USB Signal Converter (ACC-ADT-USB-RS485)
3.1.1. Options
l Couplings
Info
Coupling is mandatory for the FT 300.
l Adapter plates
l Tool plates
l Different cable lengths
Info
The following are not included in delivery unless specified in the purchase:
l Options such as couplings and adapters for mounting on divers industrial robots.
l Hardware required for options; accessories or fixtures for the FT Sensor unless specified.
l Power supply units, power supply wiring or fuses.
Please refer to the Spare Parts, Kits and Accessories section for a list of available parts.
FT300 Force Torque Sensor - Instruction Manual
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3.2. Environmental and Operating Conditions
The FT300 Force Torque Sensor is designed for industrial applications. Always respect the following specified storage, transport
and operating environmentalconditions:
CONDITION VALUE
Minimum storage/transit
temperature
Maximum storage/transit
temperature
-25°C
70°C
Minimum operating temperature 15°C
Maximum operating temperature 35°C
Humidity (non-condensing) 20-80% RH
Vibration (storage / transit) 5G
Vibration (operating) 2G
l Free from dust, soot or water
l Free from corrosive liquids or gases
Other
l Free from explosive liquids or gases
l Free from powerful
electromagneticinterference
3.3. Mechanical Connections
You must use a coupling to attach the Sensor to a robot. Be sure to use the coupling related to your robot model. Our couplings
are listed according to ISO 9409-1 and this covers most bolt patterns. If there is no coupling for your robot, you can modify a blank
coupling or Robotiq can create a custom version for you. Some couplings may require an additional adapter plate. To create your
own coupling or adapter plate you can refer to the Technical Dimensions section. To see available couplings and adapter plates
and for details, refer to the Spare Parts, Kits and Accessories section.
Info
The FT 300 coupling is mandatory, you can customize yours from a blank provided by Robotiq.
Here are the steps to follow for the installation of the Sensor (see figure below). Note that all screws must be locked in place using
medium strength threadlocker, such as Loctite 248 or a similar product.
1. Align the indexing dowel pin between the coupling and the robot (usually press fitted to the robot).
2. Screw the coupling to the robot with the robot mounting screws (with lock washers if provided) and threadlocker.
3. Align the Sensor indexing dowel pins (prefixed to the Sensor) to the coupling.
4. Screw the Sensor to the coupling using the coupling mounting screws (with lock washers if provided) and threadlocker.
FT300 Force Torque Sensor - Instruction Manual
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Fig. 3.1: Attaching the FT 300 sensor to a robot arm using the mandatory coupling.
FT300 Force Torque Sensor - Instruction Manual
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3.4. Power Supply Specifications
The Sensor needs to be supplied by a DC voltage source. This power supply is not included with the Sensor.
POWER SUPPLY SPECIFICATIONS VALUE
Output voltage 5 to 24 V DC
Max power consumption 2 W
Overcurrent 1 A Fuse (Phoenix #0916604 (UT6-TMC M 1A))
Overvoltage protection
Info
Robotiq recommends the use of the following power supply:
TDK-Lambda DPP Series, 15W Single Output DIN Rail Mount Power Supply, DPP15-24
Warning
Maximum output voltage tolerance is 10%, exceeding this
limit, 26.4 V DC could damage the Sensor.
FT300 Force Torque Sensor - Instruction Manual
3.5. Wiring
Power and communications are established with the FT300 Force Torque Sensor via a single device cable. The FT 300 has a pigtail
cable.
The figure below represents the FT300 Force Torque Sensor receptacle (Sensor side) and connector (cable side) with associated
pinout. The M12 - 5 pin A-coded connector is used in accordance with IEC 61076-2-101.
Warning
Use proper cabling management. Be sure to have enough forgiveness in the cabling to allow movement of the Gripper
along all axes without pulling out the connectors. Always protect the controller side of the cable connection with a strain
relief cable clamp.
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Fig. 3.2: Pinout of the Robotiq Force Torque Sensor FT 300 and color code for the respective cable type.
Info
Power pins 2 & 3 are connected to the specified power supply.
Info
RS-485 signal pins 1, 4 & 5 are connected directly, to a RS-485 / USB converter or to a RS-485 / RS-232 converter.
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3.5.1. Wiring with USB to RS485 Converter
When using a RS485 to USB converter (refer to the Spare Parts, Kits and Accessories section), the wiring must respect the figure
below and subsequent directions. GND / 0V is wired to Sensor pin #1 as stated in the Wiring section.
The converter will provide you with a standard USB 2.0 male A connector.
Fig. 3.3: Wiring diagram for the RS485 to USB converter
Warning
Power is not delivered via the USB, do not plug 24V into the USB.
FT300 Force Torque Sensor - Instruction Manual
3.5.2. Wiring with RS232 to RS485 Converter
When using a RS232 to RS485 converter (refer to the Spare Parts, Kits and Accessories section), the wiring must respect the figure
below.
Warning
Do not wire converter pin #3 (5V) on the RS485.
The 24V power supply is NOT supplied via the converter.
The converted side will provide you with a standard DB - 9 female connector with signaling as shown in the figure below.
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Fig. 3.4: Wiring diagram for RS232 to RS485 converter.
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3.6. Installation for Universal Robots
The table below shows which Robotiq software to use with your version of Universal Robots’ controller. If you are using a CB3 or
CB3.1 controller, it is recommended to use the Force Copilot URCaps Package.
Robotiq Software Universal Robots' controller version
CB1 CB2 CB3 CB3.1
Legacy Driver Package (DFU-1.1.15)
Incompatible
Compatible Compatible Compatible
(includes Gripper toolbar)
ActiveDrive Toolbar (ADU-1.0.1)
FT300 Force Torque Sensor URCap Package
up to 1.1.1 (includes ActiveDrive toolbar)
Force Copilot URCap Package (includes
ActiveDrive toolbar)
Incompatible
Compatible Compatible Compatible
Incompatible Incompatible
Incompatible Incompatible
Compatible Compatible
Incompatible
Compatible
Refer to the appropriate section depending on your controller version:
l The Force Copilot URCap Package section covers the installation of the Force Copilot URCap Package.
l The UR Package without URCaps section goes through the software installation procedures when not using URCaps.
Info
The robot's PolyScope version must be 3.5 and higher in order to install and use the URCap.
Prior to any software installation, connect the white, green and bare wires to the Robotiq RS-485 signal converter (ACC-ADTRS485-USB) as shown in the figure below. Also connect the red (24V) and black (0V) wires in the controller according to the figure
below.
Fig. 3.5: Force Torque Sensor wiring to Universal Robots’ controller.
FT300 Force Torque Sensor - Instruction Manual
Info
Prior to use over Universal Robots, adjust the payload and the center of gravity from the Installation tab (refer to the
Moment of Inertia and Center of Mass section).
3.6.1. Force Copilot URCap Package
Info
The robot's PolyScope version must be 3.5 and higher in order to install and use the URCap.
Installation
Follow this procedure to install the Force Copilot URCap Package.
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l Browse to support.robotiq.com
l Select Force Copilot
l Download UCS-X.X.X.urcap
l Decompress the file on the USB license dongle
l Insert the USBlicense dongle in the robot teach pendant,
robot controller, or USBhub connected to the robot controller
Caution
Make sure that the license dongle stays
connected to the robot.
l Make sure that your PolyScope version is up-to-date and
that your Universal Robots controller is compatible with
the Force Copilot URCap package. Refer to the Control
with Universal Robots section for the UR controller compatibility.
l Go to support.robotiq.com and click on the product page
of the FT300 Sensor.
l Download the Robotiq_Force_Copilot-X.X.X.urcap file on
a blank USB stick.
l Insert the USB stick in the UR teach pendant or controller.
l Go to Setup Robot.
l Tap URCaps Setup.
FT300 Force Torque Sensor - Instruction Manual
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Tip
Go to the PolyScope home page and tap the About button. A window containing the Universal Robots software version
will pop up.
l Tap the plus button (+) to add the Sensor’s URCaps
package.
l Open Robotiq_Force_Copilot-X.X.X.urcap.
FT300 Force Torque Sensor - Instruction Manual
l Restart PolyScope to complete the URCap install-
ation.By doing so, you accept the License Agreement
that is detailed in the URCap Information text box (see
below for the LicenseAgreement).
l When PolyScope reopens, the ActiveDrive toolbar will
appear on thescreen.
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If the Force Torque Sensor is mounted on the robot for the first time, the calibration must be performed. Refer to the Calibration
Procedure with Universal Robots section for the calibration procedure.
Warning
FT300 Force Torque Sensor - Instruction Manual
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The sensor must be recalibrated after each uninstall / install on the robot. Mounting screws will induce internal stress that
needs to be compensated for. Not doing so will significantly affect the sensor signal.
FT300 Force Torque Sensor - Instruction Manual
Calibration Procedure
The sensor outputs the force and moment data according to a reference, i.e. a zero value. In order to compensate for any deviation
of this reference, Robotiq provides a feature which allows the sensor to automatically compute and compensate the installation
offset, the weight of the tool and its center ofmass.
Warning
The sensor must be re-calibrated after each uninstall / install on the robot. Mounting screws will induce internal stress
that needs to be compensated for. Not doing so will significantly affect the sensor signal.
The procedure requires moving the robot arm in three configurations for which each orientation of the tool is different. Using an
internal accelerometer, the sensor is then able to associate the measurements corresponding to the tool alone for each orientation.
After the procedure is completed, the sensor will output the force and moment values measured without the effect of the weight of
the tool and the installation offset.
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FT300 Force Torque Sensor - Instruction Manual
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Calibration Procedure with Universal Robots
Info
You need the Universal Robots software package installed first.Please refer to the Installation for Universal Robots
section for the package download and installation.
1
On the teach pendant, tap the Installation button in the ribbon at the top of the screen.
2
Select URCaps in the navigation pane on the left of the screen.
3
Tap the Force Copilot button.
4
Select the Calibration tab
1
From the PolyScope home page, tap Program Robot.
2
Go to the Installation tab and tap FTSensor in the left pane. The FTSensor's Dashboard will be displayed. Tap the Calibration tab.
FT300 Force Torque Sensor - Instruction Manual
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FT300 Force Torque Sensor - Instruction Manual
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