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ATI Technologies Axia80-M20 User Manual

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Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com
Ethernet Axia F/T Sensor
Manual
Document #: 9610-05-Ethernet Axia

Table of Contents

Questions and Answers:

ATI Technologies Axia80-M20 Specifications

General IconGeneral
BrandATI Technologies
ModelAxia80-M20
CategoryAccessories
LanguageEnglish

Summary

Safety

Explanation of Notifications

Defines DANGER, WARNING, CAUTION, and NOTICE notifications used in the manual.

General Safety Guidelines

Advises verifying sensor rating for expected loads and awareness of dynamic forces.

Safety Precautions

Warns against modification, probing openings, overloading, and contacting IP64 seals.

Installation

Interface Plates

Discusses sensor mounting, tool side attachment, and considerations for interface plates.

Routing the Cable

Provides guidance on routing the sensor cable, bending radius, and cable management techniques.

Installing the Sensor to the Robot

Details the process of attaching the sensor to the robot arm and mounting interface plate, including torque values.

Pin Assignment for the Ethernet and Power Connection

Explains the pin assignments for the sensor's M8 and M12 connectors and associated cables.

Accuracy Check Procedure

Outlines the steps for performing an initial and annual accuracy check of the sensor.

Operation

Sensor Environment

Advises on protecting the sensor from moisture, water, and electromagnetic fields to maintain IP64 rating.

Converting Counts Per Force/Torque to F/T Values

Details how to convert raw sensor counts into force and torque values using calibration factors.

Low-Pass Filter

Explains the low-pass filter settings, cutoff frequencies, and provides attenuation charts.

Tool Transformation

Explains how to measure forces and torques at a reference point other than the sensor's origin.

Status Code

Details the sensor's status code bitmap, describing various error conditions and their meanings.

Connecting Through Ethernet

IP Address Configuration for Ethernet

Explains methods for setting up IP addresses, including static and DHCP configurations.

Connecting To the ATI Webpages Using a Windows Computer

Provides step-by-step instructions for connecting to the sensor's web pages using Windows networking settings.

Configuring the Sensor with the Ethernet Axia Web Pages

F/T Configurations Page (config.htm)

Provides access to sensor serial number, calibration details, force/torque units, and tool transformation settings.

Communication Page (comm.htm)

Allows viewing and editing the system's Ethernet networking options, including IP settings and RDT.

Java® Demo Application

Console Interface Through Telnet

Console Commands

Console “CAL” | “SET” Command Fields and Values

Common Gateway Interface (CGI)

TCP Interface

UDP Interface Using RDT

Maintenance

Periodic Calibrating

Stresses the need for periodic calibration to maintain traceability and recommends annual accuracy checks.

Troubleshooting

Errors Powering Up

Lists symptoms related to powering up issues and their potential causes and resolutions.

Errors with Communications

Addresses common communication problems, such as IP address assignment and network detection.

Errors with Force and Torque Readings

Identifies common causes for incorrect force/torque readings, including data streaming, range errors, and noise.

Improving Ethernet Throughput

Offers tips to optimize network performance and prevent data loss, such as direct connections and OS optimization.

Specifications

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