Novanta ATI Axia80 Manual de usuario

Engineered Products for Robotic Productivity

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Ethernet Axia Manual

Document #: 9620-05-C-Ethernet Axia

Manual, F/T Sensor, Ethernet Axia

Document #9620-05-C-Ethernet Axia-02

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Foreword

Information contained in this document is the property of ATI IndustrialAutomation, Inc. and shall not be reproduced in

whole or in part without prior written approval of ATI IndustrialAutomation, Inc. The information herein is subject to

change without notice and should not be construed as a commitment on the part of ATI IndustrialAutomation, Inc. This

manual is periodically revised to reect and incorporate changes made to the F/T system.

ATI IndustrialAutomation, Inc. assumes no responsibility for any errors or omissions in this document.

Published in the USA.

ATI F/T Sensing Systems are considered components/ semi-nished goods intended for use in larger system/

device/ nished good.

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 aATI

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®is a registered trademark 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. Sensor model (e.g., Axia90-M50)

3. Calibration (e.g., US-15-50, SI-65-6, etc.)

4. Accurate and complete description of the question or problem

• For the status code bit map; refer to Section 5.5—Status Code.

• For checking the system’s status, issue a “Status” command (refer to Table 8.1) or

view the System Information webpage (refer to Section 6.8—System Information

Page (manuf.htm)).

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

software, and other relevant information about the application’s conguration)

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:

ATI 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: [email protected]

24/7 Support: +1 855 ATI-IA 00 (+1 855-284-4200)

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Table of Contents

Glossary........................................................................................................................................C-7

1. Safety....................................................................................................................................C-10

1.1 ExplanationofNotications................................................................................................... C-10

1.2 General Safety Guidelines...................................................................................................... C-10

1.3 Safety Precautions...................................................................................................................C-11

2. Product Overview................................................................................................................C-12

3. Installation ...........................................................................................................................C-13

3.1 Installation of the Sensor to the Robot................................................................................. C-13

3.2 CableConguration ................................................................................................................ C-14

3.3 PinandWireAssignmentsforConnectors .......................................................................... C-14

3.3.1 Pin Assignment for theAxia F/T Sensor....................................................................... C-15

3.3.1.1 Axia80 6-Pin M8 Male Connector................................................................. C-15

3.3.1.2 Axia80 and Axia90 8-pin M8 Male Connector............................................... C-15

3.3.1.3 Axia130 8-pin M12 Male Connector ............................................................. C-15

3.3.2 Axia80 Sensor Cable (P/N 9105-C-ZC22-ZC28-X)...................................................... C-16

3.3.3 Axia80 and Axia90 Sensor Cable (P/N 9105-C-ZC27-ZC28-X)................................... C-16

3.3.4 Axia130 Sensor Cable (P/N 9105-C-ZC28-ZC28-X).................................................... C-17

3.3.5 Ethernet Cable (P/N 9105-C-ZC28-U-RJ45S-X).......................................................... C-18

4. ConnectingThroughEthernet ...........................................................................................C-19

4.1 IPAddressCongurationforEthernet.................................................................................. C-19

4.2 ConnectingTotheATIWebpagesUsingaWindowsComputer ......................................... C-20

4.3 FindingtheEthernetAxiaSensoronaNetwork .................................................................. C-23

5. Operation .............................................................................................................................C-25

5.1 LED Self-Test Sequence ......................................................................................................... C-25

5.2 LED Normal Operation............................................................................................................ C-26

5.2.1 Sensor Status LED....................................................................................................... C-26

5.2.2 Diag LED...................................................................................................................... C-26

5.2.3 Ethernet Link/Activity LED............................................................................................ C-26

5.3 Sample Rate............................................................................................................................. C-27

5.3.1 Sample Rate Versus Data Rate ................................................................................... C-27

5.4 Low-Pass Filter........................................................................................................................ C-27

5.5 Status Code ............................................................................................................................. C-31

5.5.1 Status Code: Sensing Range Exceeded...................................................................... C-32

6. ATIEthernetAxiaWebpagesInterface..............................................................................C-34

6.1 WelcomePage(index.htm)..................................................................................................... C-34

6.2 SnapshotPage(rundata.htm) ................................................................................................ C-35

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6.3 DemoPage(demo.htm) .......................................................................................................... C-36

6.4 ADCSettingsPage(setting.htm) ........................................................................................... C-36

6.5 ThresholdingPage(moncon.htm) ......................................................................................... C-37

6.6 F/T CongurationsPage(cong.htm) ................................................................................... C-41

6.7 CommunicationPage(comm.htm) ........................................................................................ C-42

6.8 SystemInformationPage(manuf.htm) ................................................................................. C-44

6.9 StatusLogPage(status.htm)................................................................................................. C-45

6.10 InterfaceExamplePage(examples.htm)............................................................................... C-46

6.11 ATI Website Menu Item ........................................................................................................... C-47

7. Java®Demo Application .....................................................................................................C-48

7.1 StartingtheDemo ................................................................................................................... C-48

7.2 Data Display with the Demo................................................................................................... C-50

7.3 CollectingDatawiththeDemo............................................................................................... C-50

7.4 Demo CSV File Format............................................................................................................ C-52

7.5 The Errors Field Display of the Demo................................................................................... C-54

7.6 DevelopingaCustomizedJava®Application........................................................................ C-54

8. ConsoleInterfaceThroughTelnet .....................................................................................C-55

8.1 SettingUpaConsoleInterfaceThroughTelnet ................................................................... C-55

8.2 Console Commands................................................................................................................ C-56

8.3 Console “CAL” | “SET” Command Fields and Values......................................................... C-58

8.4 Query Commands: “S” or “C” ............................................................................................... C-63

8.4.1 Converting Counts Per Force/Torque to FT Values...................................................... C-64

8.4.2 Secondary Commands for the Query “C” or “S” Command......................................... C-64

8.4.3 ExamplesofSecondaryCommands(Speciers)......................................................... C-65

8.4.4 HowtoInterprettheOutputfrom“!”Specier .............................................................. C-67

8.5 ExampleofToolTransformationFunctionalityThroughTelnet ......................................... C-68

9. CommonGatewayInterface(CGI) .....................................................................................C-70

9.1 URLSyntaxConstruction:.................................................................................................................. C-70

9.1.1 Assigning New Values to a Variable............................................................................. C-70

9.2 CGIVariable:Settings(setting.cgi) ....................................................................................... C-71

9.3 ThresholdingCGI(moncon.cgi)............................................................................................. C-71

9.4 CGIVariable:Congurations(cong.cgi) ............................................................................. C-72

9.4.1 Example of Tool Transformation Functionality Through CGI........................................ C-73

9.5 CGIVariable:Communications(comm.cgi).......................................................................... C-74

10. TCP Interface .......................................................................................................................C-75

10.1 Command Codes..................................................................................................................... C-75

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10.2 Read F/T Command................................................................................................................. C-75

10.3 Read F/T Response................................................................................................................. C-75

10.4 Read Calibration Info Command............................................................................................ C-76

10.5 Read Calibration Info Response............................................................................................ C-76

10.6 Write Tool Transform Command............................................................................................ C-77

10.7 Write Monitor Condition Command....................................................................................... C-77

10.8 Write Response ....................................................................................................................... C-77

11. XML Interface.......................................................................................................................C-78

11.1 SystemandCongurationInformation(netftapi2.xml) ....................................................... C-78

11.2 CalibrationInformation(netftcalapi.xml) .............................................................................. C-80

12. UDPInterfaceUsingRDT....................................................................................................C-81

12.1 RDT Protocol ........................................................................................................................... C-81

12.1.1 RDT Request For Records Structure ........................................................................... C-82

12.1.2 RDT Records Sent Structure........................................................................................ C-82

12.2 CalculatingF/TValuesforRDT .............................................................................................. C-83

12.3 Multiple Clients........................................................................................................................ C-83

12.4 NotesonUDPandRDTMode ................................................................................................ C-83

12.5 Example Code.......................................................................................................................... C-83

13. Troubleshoot........................................................................................................................C-84

13.1 LED Errors ............................................................................................................................... C-84

13.2 Ethernet Communication Questions and Errors.................................................................. C-85

13.3 EthernetAxiaWebpageErrors............................................................................................... C-86

13.4 Java®Demo Errors.................................................................................................................. C-86

13.5 BasicGuidanceforTroubleshooting .................................................................................... C-87

13.6 ReducingNoise ....................................................................................................................... C-92

13.6.1 Mechanical Vibration.................................................................................................... C-92

13.6.2 Electrical Interference................................................................................................... C-92

13.7 ImprovingEthernetThroughput ............................................................................................ C-92

13.7.1 Direct Connection between Axia Ethernet and Host .................................................... C-92

13.7.2 Choice of Operating System ........................................................................................ C-92

13.7.3 Increasing Operating System Performance ................................................................. C-92

13.7.4 Avoid Logging the Host to a Company Network........................................................... C-93

13.7.5 Use a Dedicated Network............................................................................................. C-93

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14. Specications ......................................................................................................................C-93

14.1 ElectricalSpecications ......................................................................................................... C-93

14.2 CableSpecications ............................................................................................................... C-93

14.2.1 P/N 9105-C-ZC22-ZC28-X........................................................................................... C-93

14.2.2 P/N 9105-C-ZC27-ZC28-X........................................................................................... C-93

14.2.3 P/N 9105-C-ZC28-ZC28-X........................................................................................... C-94

14.2.4 P/N 9105-C-ZC28-U-RJ45S-X ..................................................................................... C-94

15. Terms and Conditions of Sale............................................................................................C-95

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Glossary

Term Denitions

ActiveConguration Thecongurationthatthesystemiscurrentlyusing.

ADC Analog-to-digital converter

Bias

Biasingisusefulforeliminatingthee󰀨ectsofgravity(toolweight)orotheracting

forces. When the bias function is used, the software collects data for the forces and

torques that are currently acting on the sensor and use these readings as a reference

for future readings. Future readings will have this reference subtracted from them

before they are transmitted. Bias may also be referred to as “zero out” or “tare”

the sensor.

Calibration Denesaspecicmeasurementorsensingrangeforagivensensor.Calibrationis

also the act of measuring a transducer’s raw response to loads and creating data

used in converting the response to forces and torques.

CGI Common Gateway Interface (CGI) is the method of using web URLs to communicate

data and parameters back to a web device.

Complex Loading Any force or torque load that is not purely in one axis.

Conguration User-denedsettingsthatincludewhichforceandtorqueunitsarereportedand

which calibration is to be used.

Control Panel A feature on a personal computer operating system where a user can adjust

system settings.

Coordinate Frame See Sensor Reference Frame Origin.

Data Rate How fast data can be output over the network.

DHCP DynamicHostCongurationProtocol(DHCP)isanautomaticmethodforEthernet

equipment to obtain an IP address. The EthernetAxia system can obtain its IP

address using DHCP on networks that support this protocol.

DINT Signed double integer (32 bit)

ENABL Boolean that uses Enabled to represent 1 and Disabled to represent 0

Ethernet A family of computer networking technologies commonly used in local area networks.

Fieldbus A generic term referring to any one of a number of industrial computer networking

standards. Examples include: Ethernet, CAN, Modbus, and PROFINET.

FT or F/T Force and Torque.

Fxy The resultant force vector comprised of components Fxand Fy.

Force A force is a push or pull action on an object caused by an interaction with another

object. Force = mass X acceleration

HEXnHexadecimal number of nbits,prexedwith0x

HTTP GET Method Astandardandcommonmethodthatausercanrequestdatafromaspecied

resource such as a sensor. HTTP works as a request-response protocol between

client (web browser) and server (the sensor).

Hysteresis Asourceofmeasurementerrorcausedbytheresiduale󰀨ectsof

previously applied loads.

INT Signed integer (16 bit)

Interface Plate

A separate plate that attaches the sensor to another surface. Interface plates are

often used if the bolt pattern on the sensor doesn’t match the bolt pattern on the

robot arm or customer tooling. The interface plate has two bolt patterns, one on either

side of the plate. One side is for the sensor. The other side is for the robot arm or

customer tooling.

IP64 Ingress protection rating “64” designates protection against dust and splashing of

water. An IP64 rating does not guarantee protection when a user submerges a device

inwateroranytypeofuid.

IP67 Ingress protection rating “67” designates protection against dust and submersion

under 1 m of fresh water.

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Term Denitions

IPAddress An IP Address (Internet Protocol Address) is an electronic address assigned to an

Ethernet device so that it may send and receive Ethernet data. IP addresses may be

either manually selected by a user or automatically assigned by the DHCP protocol.

Java™ Java is a programming language often used for programs on webpages. The

Ethernet Axia demo is a Java application. Java is a registered trademark of Sun

Microsystems, Inc.

MAC Media Access Controller is the hardware that implements the lowest sub-layer of the

data link layer.

MAC Address MAC Addresses (Media Access Control Addresses) are the unique addresses

given to every Ethernet device when it is manufactured, to be used as an electronic

Ethernet serial number.

MAC ID MediaAccessCodeIdentier(MACID)isauniquenumberthatisuserassignedto

each device on an Ethernet network. Also called Node Address.

Measurement Uncertainty

Commonly referred to as “accuracy”, “measurement uncertainty” is the worst-

case error between the measured value and the true load. The measurement

uncertaintyisspeciedasapercentageofthefull-scalemeasurementrangefor

a given sensor model and calibration size. This value takes into account multiple

sourcesoferror.Thesensor’scalibrationcerticateliststhemeasurement

uncertainty percentage. For more information, refer to Section 2.2: Measurement

Uncertainty in the Frequently Asked Questions (FAQ) document located at:

https://www.ati-ia.com/library/documents/FT_FAQ.pdf.

Mechanical Coupling When an external object such as customer tooling or utilities contacts a sensor’s

surface between the sensor’s mounting side and tool side.

N/A Not Applicable

NVM Non-Volatile Memory. Storage of information or device memory that can be retrieved

even after the device goes through a power cycle.

Overload The condition where more load is applied to the sensor than the rated measurement

range that can be applied to the sensor. Overloads result in reduced accuracy and

potentially reduced sensor life.

Plug-in Technology A customized program that when downloaded and installed onto a host device adds

aspecicfeaturetoanexistingcomputerprogram.

P/N Part Number

Power Cycle When a user removes and then restores power to a device.

REAL Floating-point number (32 bit)

RDT The rate per second at which the sensor sends streaming RDT data to a

host. Raw Data Transfer (RDT) is a fast and simple Ethernet protocol for control and

data transfer via UDP.

RDTBu󰀨erSize

A mode where the sensor sends more than one data package per sample. Multiple

datapackagesarebu󰀨eredandsentinoneblock.Bu󰀨eringreducestheamountof

overheaddatasentfromthesensorandreducestheoverallnetworktra󰀩c.

Sensor Reference Frame Origin The point on the sensor from which all forces and torques are measured.

Sensor System (or

conguration)

The entire assembly consisting of a sensor body and a system interface to translate

forceandtorquesignalsintoaspeciccommunicationinterface/protocol.

Resolution The smallest change in load that can be measured.

Sample Rate How fast the ADCs are sampling inside the unit.

Sensor The component that converts a detected load into electrical signals.

SINT Signed short integer (8 bit)

STRINGnString of ncharacters

Status Bit A unit of computer data sent from the ATI F/T sensor.

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Term Denitions

TCP Transmission Control Protocol (TCP) is a low-level method of transmitting data over

Ethernet. TCP provides a slower, more reliable delivery of data than UDP.

Thresholding A software function of the sensor that performs a simple arithmetic comparison of a

user-denedthresholdtotheloadingonatransduceraxis.

Torque The application of a force through a lever or moment arm that causes something to

want to turn. For example, a user applies torque to a screw to make it turn.

Torque = force x moment arm length

Txy The resultant torque vector comprised of components Txand Ty.

UART Universal asynchronous receiver transmitter.

UDINT Unsigned double integer (32 bit)

UDP UDP (User Datagram Protocol) is a low-level method of transmitting data over

Ethernet. While UDP is faster than TCP, unlike TCP lost UDP data is not resent.

UINT Unsigned integer (16 bit)

USINT Unsigned short integer (8 bit)

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1. Safety

The safety section describes general safety guidelines to be followed with this product, explanations of the

notications found in this manual, and safety precautions that apply to the product. Product specic notications

are imbedded within the sections of this manual (where they apply).

1.1 ExplanationofNotications

These notications are used in all of ATI manuals and are not specic to this product. 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will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,

installing, or setting up 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,bestoperatingpractices,

and maintenance tips.

1.2 General Safety Guidelines

The customer should verify that the sensor is rated for the maximum load and torque 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.

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