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Manual, F/T Sensor, Ethernet Axia

Document #9610-05-Ethernet Axia-09

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • www.ati-ia.com

Figure 5.5—Discovery Tool

NOTICE: In addition to the ATI website, ATI provides this discovery tool in a directory that is sent

totheuseruponreceiptofthesensor.Toaccessthetoolinthedirectory(9030-05-1026),open

thefolder“Utilities”,openthefolder“ATIDiscoveryTool”,andtheninstallthelenamed“setup”.

Main Page

Foreword2
Statement of Compliance4
- Table of Contents5
Glossary9
1 Safety11
- Explanation of Notifications11
- General Safety Guidelines12
- Safety Precautions12
2 Product Overview13
- Overview of Axia Models14
3 Installation15
- Interface Plates15
- Routing the Cable17
- Installing the Sensor to the Robot20
- Removing the Sensor from the Robot21
- Pin Assignment for the Ethernet and Power Connection22
- Accuracy Check Procedure24
4 Operation26
- Sensor Environment26
- LED Outputs26
- Sample Rate27
  - Sample Rate Versus Data Rate27
- Converting Counts Per Force/Torque to F/T Values27
- Low-Pass Filter28
- Document #9610-05-Ethernet Axia-0828
5 Connecting through Ethernet39
- IP Address Configuration for Ethernet39
- Connecting to the ATI Webpages Using a Windows Computer40
- Finding the Ethernet Axia Sensor on a Network43
6 Configuring The Sensor With The Ethernet Axia Web45
- Welcome Page (Index.htm)45
- Snapshot Page (Rundata.htm)46
- Demo Page (Demo.htm)47
- ADC Settings Page (Setting.htm)47
- Thresholding Page (Moncon.htm)48
- F/T Configurations Page (Config.htm)51
- Communication Page (Comm.htm)52
- System Information Page (Manuf.htm)53
- ATI Web Site Menu Item53
7 Java Demo Application54
- Starting the Demo54
- Data Display with the Demo56
- Collecting Data with the Demo56
- Demo CSV File Format58
- The Errors Field Display of the Demo60
- Developing a Customized Java60
  - Application60
8 Console Interface through Telnet61
- Setting-Up Communications61
- Console Commands62
- Secondary Commands for the Query "C" or "S" Command64
  - Examples of Secondary Commands (Specifiers)65
- Console "CAL" | "SET" Command Fields and Values66
- Document #9610-05-Ethernet Axia-0866
9 Common Gateway Interface (CGI)71
- URL Syntax Construction71
  - Assigning a New Values to a Variable71
- CGI Variable: Settings (Setting.cgi)72
- Thresholding CGI (Moncon.cgi)72
- CGI Variable: Configurations (Config.cgi)73
- CGI Variable: Communications (Comm.cgi)74
10 TCP Interface75
- Command Codes75
- Read F/T Command75
- Read F/T Response75
- Read Calibration Info Command76
- Read Calibration Info Response76
- Write Tool Transform Command77
- Write Monitor Condition Command77
- Write Response77
11 System Settings XML78
- System And Configuration Information (Netftapi2.Xml)78
- Calibration Information (Netftcalapi.xml)80
12 UDP Interface Using RDT81
- RDT Protocol81
  - RDT Request for Records Structure82
  - RDT Records Sent Structure82
- Calculating F/T Values for RDT83
- Multiple Clients83
- Notes on UDP and RDT Mode83
- Example Code83
13 Maintenance84
- Periodic Inspection84
- Periodic Calibrating84
14 Troubleshooting84
- Errors Powering up85
- Errors with Communications85
- Errors with the Java86
  - Demo86
- Errors with Ethernet Axia Webpages86
- Errors with Force and Torque Readings87
- Document #9610-05-Ethernet Axia-0887
15 Specifications89
- Environmental Conditions89
- Electrical Specifications89
- Calibration Ranges89
16 Drawings90
- Axia80 Force/Torque Sensor 9230-05-154390
- Cable, Axia Sensor to 8-Pin M12, 3M, 9105-C-ZC22-ZC28-492
- Cable, 8-Pin M12 Split to Shielded RJ45 and Unterminated Power, Ground, Shield, 4 M93
  - 9105-C-Zc28-U-Rj45S-493
17 Terms and Conditions of Sale94

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