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FT-AXIA 80 EtherCat

SCHUNK FT-AXIA 80 EtherCat Assembly And Operating Manual

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Original manual
Assembly and operating manual
FT-AXIA 80 EtherCat
FT-Sensor
Imprint
2
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights re­served. Any reproduction, processing, distribution (making available to third parties), translation or other usage - even excerpts - of the manual is especially prohibited and re­quires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 1009369
Version: 02.00|08/01/2019|en
© SCHUNK GmbH & Co. KG All rights reserved.
Dear Customer, thank you for trusting our products and our family-owned company, the leading techno-
logy supplier of robots and production machines. Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution! Best regards, Your SCHUNK team
SCHUNK GmbH & Co. KG Spann- und Greiftechnik
Bahnhofstr. 106 – 134 D-74348 Lauffen/Neckar
Tel. +49-7133-103-0 Fax +49-7133-103-2399
info@de.schunk.com schunk.com
Table of contents
3
Table of contents
1 Safety ...................................................................................................................... 4
1.1 Explanation of Warnings ...................................................................................... 4
1.2 General Safety Guidelines ....................................................................................4
1.3 Safety Precautions................................................................................................ 5
2 Technical Data ......................................................................................................... 6
3 Product Overview .................................................................................................... 7
3.1 LED Self-Test Sequence and Functions ................................................................. 8
3.1.1 LED Self-Test Sequence ............................................................................8
3.1.2 EtherCAT Link/Activity LED ....................................................................... 8
3.1.3 Run LED..................................................................................................... 8
3.1.4 Sensor Status LED .....................................................................................9
4 Installation .............................................................................................................10
4.1 Adapter Plates .................................................................................................... 11
4.2 Routing the Cable ............................................................................................... 12
4.3 Installing the Sensor to the Robot ...................................................................... 14
4.4 Removing the Sensor from the Robot ................................................................ 15
4.5 Pin Assignment for the EtherCAT and Power Connection..................................15
5 Operation ...............................................................................................................16
5.1 Sensor Enviroment .............................................................................................16
5.2 Sample Rate........................................................................................................ 16
5.3 Low-pass Filter.................................................................................................... 17
6 EtherCAT Bus Interface ...........................................................................................19
6.1 PDO Interface .....................................................................................................19
6.2 EtherCAT Dictionary Objects (SDO Data)............................................................ 19
6.2.1 Object 0x2021: Calibration ..................................................................... 20
6.2.2 Object 0x2080: Diagnostic Readings ......................................................22
6.2.3 Object 0x2090: Version ..........................................................................23
6.2.4 Object 0x6000: Reading Data .................................................................23
6.2.5 Object 0x6010: Status Code ...................................................................24
6.2.6 Object 0x6020: Sample Counter.............................................................25
6.2.7 Object 0x7010: Control Codes ................................................................26
7 Maintenance ..........................................................................................................27
7.1 Periodic Inspection ............................................................................................. 27
7.2 Periodic Calibrating ............................................................................................ 27
8 Troubleshooting .....................................................................................................28
8.1 Errors with Force and Torque Readings ............................................................. 28
9 Drawings.................................................................................................................29
Glossar....................................................................................................................30
Safety
4
1 Safety
The safety section describes general safety guidelines to be fol­lowed with this product, explanation of the notification found in this manual, and safety precaution that apply to the product. More specific notification are imbedded within the sections of the manual where they apply.
1.1 Explanation of Warnings
The warnings included here are specific to the product(s) covered by this manual. It is expected that the user heed all warnings from the robot manufacturer and/or the manufacturers of other com­ponents used in the installation.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
NOTICE
Material damage!
Information about avoiding material damage.
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.
Safety
5
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.
NOTICE
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 Drawings
[}29] for more information.
NOTICE
Using fasteners that exceed the customer interface depth pen­etrates the body of the sensor, damages the electronics, and voids the warranty.
• Refer to Drawings
[}29] for more information.
NOTICE
Probing openings in the transducer causes damage to the instru­mentation.
• Avoid prying into openings of the transducer.
NOTICE
Exceeding the single-axis overload values of the transducer, causes irreparable damage.
• Do not overload the transducer.
Technical Data
6
2 Technical Data
Storage and Operating Conditions
Storage Temperature [°C] -20 to +85 Operating Temperature [°C] 0 to +65
Electrical Specifications
Power Source DC Power Voltage [V]
min. max.
12 30
Maximum Power Consumption [W] 1
The power supply input is protected from a reversed polarity circuit.
Measurement Ranges
Parameter Fxy [N] Fz [N] Txyz [Nm]
Measurement Range 0 200 360 8 Measurement Range 1 500 900 20
Each sensor is calibrated with these values.
Product Overview
7
3 Product Overview
M8, 6-pin, Male Connector for Power and EtherCat
Dust Proof
Seal
Tool side
(For Customer
Tooling)
Link/Activity EtherCAT LED
Run LED
Sensor Status LED
Mounting Side to robot
The sensor system measures six components of force and torque (Fx, Fy, Fz, Tx, Ty, Tz) and streams data to customer devices that use EtherCAT fieldbus.
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 six M5 tapped holes Drawings
[}29]. The sensor is IP64 rated. A M8 6-pin male connector is for power and EtherCAT. For the pin assignments Pin Assignment for the Ether-
CAT and Power Connection [}15].
The Axia80 sensor provides the following features:
• Resolved force and torque data
• Set bias and clear bias
• Programmable low-pass filtering
• LED indicator for Run, EtherCAT Link, and Transducer Status LED
Self-Test Sequence and Functions [}8].
Product Overview
8
3.1 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 firmware control individu­ally turn on.
3.1.1 LED Self-Test Sequence
When the user applies power to the sensor, the sensor completes a self-test, during which the LEDs under firmware control individu­ally turn on in the following sequence:
Sequence Order
LED State Duration
1 Sensor Status Red Approximately one
second for each LED.
2 Run Red 3 EtherCAT Link/Activity Red 4 Sensor Status Green 5 EtherCAT Link/Activity Green
The Green Run LED is not tested in the self-test sequence.
3.1.2 EtherCAT Link/Activity LED
One LED signals link/activity on the EtherCAT port as follows:
LED State Link Activity Condition
Off No No No Ethernet connection Green Yes No Ethernet link/activity is
detected.
Yes
1
1
This LED behavior is different from the standard EtherCAT device
Link/Activity LED behavior, which is a flashing green LED.
3.1.3 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”.
Product Overview
9
3.1.4 Sensor Status LED
One LED signals the health status of the sensor as follows:
LED State Description
Off No power. Green
Normal operation. The sensor’s electronics are func­tioning and communicating.
Flashing green
Power-up self testing. At power-up, the sensor com­pletes diagnostic testing to verify internal electronics are functioning.
Amber Sensing range exceeded. Red System error.
Installation
10
4 Installation
WARNING
Performing maintenance or repair on the sensor when circuits (e.g. 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.
NOTICE
Modification or disassembly of the sensor could cause damage and void the warranty. .
• Use the supplied mounting bolt pattern and the provided tool
side mounting bolt pattern to mount the sensor to the robot and customer tooling to the sensor Drawings
[}29]
NOTICE
Using fasteners that exceed the customer interface depth pen­etrates the body of the sensor, damages the electronics, and voids the warranty Drawings
[}29].
NOTICE
Fasteners may become loose and cause equipment damage
• Do not use fasteners with pre-applied adhesive more than once
• Always apply new thread locker when reusing fasteners.
NOTE
Depending on the maintenance or repair being performed, utilit­ies to the sensor may not need to be disconnected.
Installation
11
4.1 Adapter Plates
Locating Dowel *
Mounting Fasteners *
M5 Mounting Fasteners *
Robot Arm
Locating Boss
Mounting Adpater Plate *
Locating Dowel *
M5 Mounting Fasteners *
3 mm Locating Dowel Pin *
Locating Boss
Locating Dowel Pin *
Mounting Fasteners *
4 mm Locating Dowel Pin *
Tool Adapter Plate *
Axia80 EtherCAT Sensor
* Customer Supplied
The sensor’s mounting side attaches to the robot arm, and the sensor’s tool side attaches to the customer tooling. If adapter plate(s) are required to interface the sensor to the robot arm and customer tooling, SCHUNK can supply custom robot and tool ad­apter plates. Refer to Drawings
[}29] for technical information
on the sensor’s mounting features.
NOTE
The customer tool should only touch the tool adapter plate. If the customer tool touches any other part of the sensor, it will not properly sense loads.
NOTE
Because the mounting and tool sides of the sensor have identical bolt patterns, the robot mounting and tool adapter plates could be incorrectly installed, and as a result, the Axia80 sensor will not function properly.
Installation
12
If the customer chooses to design and build an adapter plate(s), the following points should be considered:
• The adapter plate(s) should include bolt holes for mounting
fasteners as well as dowel pin(s) and a boss for accurate posi­tioning to the robot or customer’s device.
• The thickness of the adapter plate(s) must provide sufficient
thread engagement for the mounting fasteners.
• The mounting fasteners should not extend through the sensor’s
housing or interfere with the internal electronics. Drawings [}29] for thread depth, mounting patterns, and other details.
• Do not use dowel pin(s) that exceed length requirements and pre-
vent the adapter plate(s) to mate flush with the robot and cus­tomer tooling. Fasteners that exceed length requirements crea`te a gap between the interfacing surfaces and cause damage.
• The adapter plate(s) must not distort from the maximum force
and torque values that can be applied to the sensor Link Tech­nische Daten.
• The adapter plate(s) must provide a flat and parallel mounting
surface for the sensor.
4.2 Routing the Cable
Sensor Cable (Customer Supplied)
Ether CAT Sensor
Robot Arm
Mounting Adapter Plate
Allow enough slack in the cable to allow full range of motion for the robot device
Restrain cable to keep repetitive motion from affectin the cable connection
The routing and bending radius of the cable depends upon the cus­tomer application. Unlike motionless applications, where the cable is in a static condition, dynamic applications subject the cable to a repetitive motion. For dynamic applications, restrain the cable at a distance that does not expose and damage the sensor’s cable con­nection from the robot’s repetitive motion.
NOTE
The maximum supported cable length is 25 m.
Installation
13
NOTICE
Subjecting the connector to the repetitive motion will cause damage to the connector.
• Restrain the cable close to the connector so that the repetitive
motion of the robot does not interfere with the cable connector.
• Do not subject the sensor’s cable connector to the repetitive
motion of the robot or other device.
NOTICE
Improper routing may cause poor functionality of critical elec­trical lines, injury to personnel, or damage to equipment. Dam­age to the sensor or cable from improper routing will void the warranty.
• The cable must withstand the repetitive motions of the robot
without failing. The electrical line, especially where attached to the sensor’s connector, must be routed to avoid stress fail­ure, sharp bends, or a disconnection from the equipment.
• If the application results in cable rubbing, use a loose, plastic
spiral wrap for protection.
NOTICE
A bend radius too small causes the cable to fail from fatigue of the robot’s repetitive motion.
• When routing cables do not bend less than the minimum
bending radius specified by the cable’s manufacturer.
NOTICE
Do not damage or crush the cable by over tightening tie wraps on the cable.
Installation
14
4.3 Installing the Sensor to the Robot
Tools required: 4 mm hex wrench, torque wrench Supplies required: Clean rag, Loctite 242® or fasteners with pre-ap­plied adhesive
Robot
Dowel Pin
(Customer Supplied)
M5 Socket Head
Cap Screw (6x)
Dowel Pin (2x)
Power and EtherCAT
Connection
Power and EtherCAT cable (Customer Supplied)
Mounting Side to Customer Tooling
Axia 80
Mounting Side to Robot or Interface Plate
Interface Plate (example)
Mounting Fasteners (Customer Supplied)
Ø To attach the mounting adapter plate to the robot, remove the
six M5 socket head cap screws that secure the adapter plate to the mounting side of the Axia80 sensor.
Ø Ensure the mounting surface of the mounting adapter plate and
robot are clean and free of debris.
Ø If applicable, secure the mounting adapter plate to the robot
arm with customer supplied fasteners and dowel pin.
Ø M5x 12 socket head cap screws class 12.9 (6x), with pre-applied
adhesive require no additional Loctite for initial installation. When reusing fasteners, always apply Loctite 242 to the M5 socket head cap screws.
Ø Using a 4 mm hex wrench, secure the sensor to the mounting
adapter plate with the six M5x 12 socket head cap screws, class
12.9. Tighten to 9 Nm.
Ø Once the sensor is installed on the robot, the customer tooling
or tool interface plate can be installed.
NOTICE!The tool must not touch any other part of the sensor except the tool side; otherwise, the sensor will not properly detect loads.
Ø Connect a power and EtherCAT cable from the sensor’s connec-
tion to the customer application.
Ø Properly restrain and route the power and EtherCAT cable Rout-
ing the Cable [}12].
Ø After installation is complete, the sensor is ready for normal op-
eration.
Installation
15
4.4 Removing the Sensor from the Robot
Tools required: 4 mm hex wrench
Ø Turn off all energized circuits (e.g. electrical). Ø Remove the power and EtherCAT cable from the sensor’s con-
nection.
Ø Supporting the customer tooling and/or interface plate, remove
the customer supplied screws that attach to the customer tool­ing to the sensor.
Ø Supporting the sensor, use a hex wrench to loosen the six M5
socket head cap screws that secure to the sensor to the mount­ing interface plate or robot.
Ø Remove the sensor.
4.5 Pin Assignment for the EtherCAT and Power Connection
Pin M8 Male Connector for Power and EtherCAT
Pin Number Signal
1 TX0+ 2 TX0­3 RX0+ 4 RX0­5 +24 V 6 Ground
The figure and table details show the sensor’s power and EtherCAT connector’s signals and corresponding pin numbers.
Operation
16
5 Operation
The following section provides information required when using software to operate the EtherCAT Sensor. Communicating with the EtherCAT sensor requires knowledge of EtherCAT standards and operation.
5.1 Sensor Enviroment
NOTICE
Damage to the outer jacketing of the transducer cable could en­able moisture or water to enter an otherwise sealed transducer.
• Ensure the cable jacketing is in good condition to prevent
transducer damage.
NOTE
Transducers may react to exceptionally strong and changing elec­tromagnetic fields, such as those produced by magnetic reson­ance imaging (MRI) machines.
To ensure proper operation, the IP64 rating of the transducer must match or exceed the transducer’s environment.
5.2 Sample Rate
The power-on default sample rate is 975 Hz. The “Sample Rate” field Object 0x7010: Control Codes
[}26] controls the current sample rate. The following table lists the rounded and exact sample rates.
Rounded Sample Rate 0.5 kHz 1 kHz 2 kHz 4 kHz Exact Sample Rate 487 Hz 975 Hz 1990 Hz 3900 Hz
Operation
17
5.3 Low-pass Filter
The power-on default selection is no filtering. The “Filter Selec­tion” field Object 0x7010: Control Codes
[}26]: Control Codes controls the current filter selection. The cutoff frequency (i.e. -3 dB frequency) is dependent on the sample rate selection, which is defined in Sample Rate
[}16]. The cutoff frequencies for the dif-
ferent sampling rates are listed in the following table and graphs:
Selected
Filter
-3dB Cutoff Frequency (in Hz)
at 0.5 kHz
Sample Rate
at 1 kHz Sample
Rate
at 2 kHz
Sample Rate
at 4 kHz Sample Rate
0 200 350 500 1000 1 58 115 235 460 2 22 45 90 180 3 10 21 43 84 4 5 10 20 40 5 2.5 5 10 20 6 1.3 3 5 10 7 0.6 1.2 2.4 4.7 8 0.3 0.7 1.4 2.7
Attenuation
Frequency
Filter Attenuation at 0.5 kHz Sample Rate
Operation
18
Attenuation
Frequency
Filter Attenuation at 1 kHz Sample Rate
Attenuation
Frequency
Filter Attenuation at 2 kHz Sample Rate
Attenuation
Frequency
Filter Attenuation at 4 kHz Sample Rate
EtherCAT Bus Interface
19
6 EtherCAT Bus Interface
The EtherCAT bus interface enables users to perform the following actions:
• Read the active calibration information matrix, serial number,
etc.
• Read the firmware revision
• Read force/torque data
• Read strain gage data and status information
• Set low-pass filter cutoff frequency
• Bias the transducer
• Change the sample rate
6.1 PDO Interface
The PDO interface exchanges data in real time with the F/T sensor.
• TxPDO Map / Output Data
The TxPDO combines Object 0x6000 : Reading Data
[}23], Ob-
ject 0x6010: Status Code [}24], andObject 0x6020: Sample Counter [}25].
• RxPDO Map / Input Data The RxPDO map consists of Object 0x7010: Control Codes [}26].
6.2 EtherCAT Dictionary Objects (SDO Data)
The SDO data configures the sensor and reads the manufacturing and calibration date. This section lists dictionary objects specific to the EtherCAT F/T sensor application; it does not list objects that are a required part of the EtherCAT standard.
EtherCAT Bus Interface
20
6.2.1 Object 0x2021: Calibration
This read-only object contains information about the currently act­ive calibration selected by the “Calibration Selection” field Object
0x7010: Control Codes [}26]. It contains the following fields:
Subindex Name Type Description
0x01 FT Serial STRING(8) The FT Serial Number, e.g.
“FT01234”.
0x02 Calibration Part
Number
STRING(30) The calibration part num-
ber e.g. “SI-120-95”. 0x03 Calibration Family STRING(8) Always reads “ECAT”. 0x04 Calibration Time STRING(30) The date the sensor was
calibrated. 0x05
through 0x2e
Reserved DINT Reserved.
0x2f Force Units USINT Value Unit
0 Lbf 1 N 2 Klbf 3 Kn 4 Kg
0x30 Torque Units USINT Value Unit
0 Lbf-in 1 Lbf-ft 2 N-m 3 N-mm 4 Kg-cm 5 kN-m
0x31 Max Fx Counts DINT The maximum rated value
for this axis, in counts.
0x32 Max Fy Counts 0x33 Max Fz Counts 0x34 Max Tx Counts 0x35 Max Ty Counts 0x36 Max Tz Counts 0x37 Counts Per Force DINT The calibration counts per
force unit. 0x38 Counts Per
Torque
DINT The calibration counts per
torque unit. 0x39
through 0x56
Reserved UINT Reserved.
EtherCAT Bus Interface
21
Subindex Name Type Description
0x57 PeakLoadsPosFx DINT Peak Loads Positive. All-
time peak positive force/
torque loads.
0x58 PeakLoadsPosFy 0x59 PeakLoadsPosFz 0x5a PeakLoadsPosTx 0x5b PeakLoadsPosTy 0x5c PeakLoadsPosTz 0x5d PeakLoadsNegFx DINT Peak Loads Negative. All-
time peak negative force/
torque loads.
0x5e PeakLoadsNegFy 0x5f PeakLoadsNegFz 0x60 PeakLoadsNegTx 0x61 PeakLoadsNegTy 0x62 PeakLoadsNegTz
0x63 through 0x7c
Reserved
EtherCAT Bus Interface
22
6.2.2 Object 0x2080: Diagnostic Readings
This read-only object provides firmware version information. The following fields are available in the version object:
Diagnostic Readings
Subindex Name Type Description
0x01 Supply Voltage UINT16 The voltage of the ex-
ternal power supply x
10.
0x02 Gage Temperature INT16 The transducer temper-
ature in °C x 10.
0x03 Status Message STRING(40) A priority status code
error message. Refer to the following Table
Errors in the Diagnostic Readings Status Message
Priority Text Error Messages
1 Supply voltage out of range. 2 Gage temperature out of range. 3 Calibration checksum error. 4 Gage(s) disconnected: <list> 5 Gage(s) out-of-range: <list> 6 Force/torque out of range. 7 Common error that could be (1) or more of the following:
• PHY issue.
• ADC write register verify error.
• MCU Parameters-RAM CRC error.
• I2C EEPROM verify error.
• MCU image 0 CRC error.
• MCU RAM error.
• MCU stack critically low error.
• MCU part number or version is incorrect.
• MCU watchdog reset.
• MCU registers error
• MCU program counter error.
• ADC no interrupt seen lately.
• MCU Stuck GPIO output bits 8 Simulated error. 9 Monitor condition 0.
10 Error (unspecified). 11 No status code errors.
EtherCAT Bus Interface
23
6.2.3 Object 0x2090: Version
This read-only object provides firmware version information. The following fields are available in the version object:
Subindex Name Type Description
0x01 Major UNIT Major Version 0x02 Minor UNIT Minor Version 0x03 Revision UNIT Revision 0x04 Boatloader
Version
UDINT Bootloader Version
6.2.4 Object 0x6000: Reading Data
This read-only object represents the current force/torque or gage data and is mapped into the TxPDO input data. The following fields are present in the reading data:
Subindex Name Type Description
0x01 Fx DINT These fields contain the 32-bit F/
T result data, in counts per unit.
0x02 Fy 0x03 Fz 0x04 Tx 0x05 Ty 0x06 Tz
EtherCAT Bus Interface
24
6.2.5 Object 0x6010: Status Code
This object contains a single DINT value (at subindex 0), with the following bitmap:
Bit Number
Description Indicates
an Error?
0 Gage Temperature Out of Range: This bit be-
comes active if the gage temperature is out­side the expected range of -5 to 70°C.
Yes
1 Supply Out of Range: This bit becomes active
if the external power supply voltage is out of the expected range. It remains high until the supply returns to the expected range.
Yes
2 Broken gage error. If any of the strain gages
or the wiring to the gages breaks, this error bit is set active. This bit remains set until a power cycle.
Yes
3 Busy Bit. The sensor is performing (1) or more
of the following activities that may temporar­ily affect the F/T data:
• Committing a change to Object 0x2021.
• Changing the filter time constant.
• Changing the calibration in use.
• Changing the ADC sampling rate.
• Writing to flash memory.
• Any ADC ISR overrun.
Yes
4 Reserved. No 5 Common error bit. This bit indicates that (1)
or more of the following errors has occurred:
• PHY issue
• ADC Write Register Verify error.
• MCU Parameters-RAM CRC error.
• I2C EEPROM Verify error.
• MCU Image 0 CRC error
• MCU RAM error.
• MCU Stack critically low error.
• MCU part number or version is incorrect.
• MCU Watchdog reset.
• MCU registers error.
• MCU Program Counter error.
• ADC No interrupt observed.
• MCU Stuck GPIO output bits.
Yes
6-15 Reserved. No
EtherCAT Bus Interface
25
Bit Number
Description Indicates
an Error?
16 Monitor condition 0 output. No
17-26 Reserved. No
27 Gage Out of Range. This bit is set whenever a
gage sample is outside of the range gageMin­Range to gageMaxRange. This bit stays high for 32 samples after the last such sample to allow time for the sample’s effect on the data to abate.
Yes
28 Simulated Error. This bit mirrors the “Simu-
lated Error Control” bit Object 0x7010: Con-
trol Codes [}26]. It can be used to test user
error handling.
Yes
29 Calibration checksum error: This bit is set if
the active calibration has an invalid checksum.
Yes
30 Sensing Range Exceeded1: This bit is set
whenever a F/T reading exceeds the calib­rated range. This check occurs before digital filtering.
Yes
31 Error: This bit is set whenever any status code
bit that indicates an error is set.
Yes
Note:
1. Sensing Range Exceeded is comparable to what previous F/T sensor manuals identified as saturation.
6.2.6 Object 0x6020: Sample Counter
This object contains a single 32-bit unsigned integer at subindex 0 that increases by one each time an F/T sample (one complete set of gage data) is read.
This number rolls over from 4 294 967 295 (232-1) to 0 without sig­nalling an error. The sample counter is reset to zero during power up.
EtherCAT Bus Interface
26
6.2.7 Object 0x7010: Control Codes
This object is mapped into the RxPDO for real-time control of the F/T system. It contains the following fields:
Subindex Name Type Description
0x01 Control 1 DINT Bit Function
0 1 = Set bias against current
load 0 = Use last set bias
1 Clear Monitor Condition 0
1 = clear 2 = leave alone
2 1 = clear bias
0 = leave bias unchanged
3 Reserved
4-7 The low-pass filter selection
0 = No filtering 1 - 8 = Low-pass Filter
[}17]
8-11 Active calibration
0 = Cal 0 1 = Cal 1 2 through 15 = Reserved.
12-15 Sample Rate
0 = 487 Hz 1 = 975 Hz 2 = 1990 Hz 3 = 3900 Hz
16-31 Reserved
0x02 Control 2 DINT Bit Function
0 Enable checking of Monitor
Condition 0
1-30 Reserved
31 Simulated Error Control
Maintenance
27
7 Maintenance
7.1 Periodic Inspection
With industrial-type applications that frequently move the sys­tem’s cabling, you should check the cable jacket for signs of wear. FT-AXIA 80 Ethernet is IP64 rated and must be kept free of mois­ture. Debris and dust should be kept from accumulating on or in the sensor.
7.2 Periodic Calibrating
Periodic calibration of the sensor and its electronics is required to maintain traceability to national standards. Follow applicable ISO-9000-type standards for calibration. SCHUNK recommends an­nual recalibrating, especially for applications that frequently cycle loads applied to the sensor.
Troubleshooting
28
8 Troubleshooting
The information in this section should answer many questions that might arise in the field. Customer service is available for problems or questions not addressed in the manuals.
8.1 Errors with Force and Torque Readings
Inaccurate data from the transducer’s strain gages can cause er­rors in force/torque readings. These errors can result in problems with transducer biasing and accuracy. Listed in the following table are the basic problems of inaccurate data.
Problem Solution
Noise Jumps in force torque data readings (with the sensor unloaded)
greater than 0.05% of full scale counts is abnormal. Noise can be caused by mechanical vibrations and electrical disturbances, pos­sibly from a poor ground. Noise can also indicate component fail­ure within the system. Make sure that the DC supply voltage for the Axia80 sensor has little to no noise superimposed. The sensor should be grounded through installation construction.
Drift After a load is removed or applied, the raw gage reading does not
stabilize but continues to increase or decrease. A shift in the raw gage reading is observed more easily in the resolved data mode using the bias command. Some drift from a change in temperat­ure or mechanical coupling is normal.Mechanical coupling occurs when a tool plate contacts the sensor body, for example, debris between the tool adapter plate and the sensor body or in applica­tions such as hoses and wires attached to a tool.
Hysteresis When the sensor is loaded and then unloaded, gage readings do
not return quickly and completely to their original readings. Hys­teresis is caused by mechanical coupling (explained in Drift sec­tion) or internal failure.
Sensor not streaming measurement data to the customer devices that use EtherCAT fieldbus.
Verify the sensor is correctly installed. Ensure the robot mounting and tool adapter plates are installed on the proper side of the sensor Installation
[}10].
Drawings
29
9 Drawings
Indicator LED
Location
2x 4 Slip Fit 8.5
Customer Interface
Note 3.
6x M5 x 0.8 Tap 8.5
Equally Spaced
Customer Inferface
(Note 3.)
Isometric View
Connector View
Note Key Orientation
Side View
Notes:
1. Material: Aluminum and Stainless Steel
2. Do not touch internal electronics or instrumentation. This could damage transducer and will void the warranty.
3. Do not exceed interface depth, may cause incorrect readings.
4. For best accuracy, transducer must be mounted to a surface rigid enough to support loads without deflection
5. Recessed cover plate surface is not structural. Mount transducer to a flat surface that makes contact around the perimeter.
Mounting Side
Mounting Side
Tool Side
Sensing Reference
Frame Origin
Sensing Reference
Frame Origin
4 Slip Fit 5.2
Customer Interface
(Note 3.)
Tool Side
3 Slip Fit 5.2
Customer Interface
(Note 3.)
6x M5x0.8 Tap 5.2
Equally Spaced
Customer Interface
(Note 3.)
Glossar
30
Glossar
Accuracy
See Measurement Uncertainty.
ADC
Analog-to-digital converter.
Calibration
The act of measuring a transducer’s raw response to loads and creating data used in converting the response to forces and torques.
CRC
Cyclic redundancy check.
DINT
A 32-bit data type representing a signed integer.
EEPROM
Electrically erasable programmable read-only memory.
EtherCAT
An industrial automation fieldbus.
F/T
Force/Torque.
Fxy
The resultant force vector comprised of components Fx and Fy.
GPIO
General-purpose input/output.
I2C
Inter-integrated circuit.
IP64
Ingress protection rating “64” desig­nates protection against dust and splashing water on all sides.
ISR
Interrupt service routine.
MAP
The Mounting Adapter Plate (MAP) is the transducer plate that attaches to the fixed surface or robot arm.
MAX. Single-Axis Overload
The largest amount of load in a single axis (all other axes are unloaded) that the transducer can withstand without damage.
MCU
Microcontroller unit.
Overload
The condition where more load is ap­plied to the transducer. This will result in saturation.
PDO
Process Data Object, a protocol for reading and writing real-time process information cyclically.
RAM
Random access memory.
Saturation
The condition where the transducer has a load or signal outside its sensing range.
Glossar
SDO
Service Data Object, a protocol for reading and writing configuration in­formation acyclically.
STRING(30)
A data type representing (30) charac­ters, using (30) bytes.
STRING(8)
A data type representing (8) charac­ters, using (8) bytes.
UINT
A (16) bit data type representing an un­signed integer.
USINT
An (8) bit data type representing an un­signed integer.
31
32
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