Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-08
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • www.ati-ia.com
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Table of Contents
Foreword .......................................................................................................................................... 2
Statement of Compliance ............................................................................................................... 4
Glossary ........................................................................................................................................... 9
1. Safety ........................................................................................................................................11
1.1 ExplanationofNotications ....................................................................................................... 11
1.2 General Safety Guidelines ..........................................................................................................12
1.3 Safety Precautions ......................................................................................................................12
2. Product Overview ................................................................................................................... 13
2.1 Overview of Axia Models ............................................................................................................ 14
3. Installation .............................................................................................................................. 15
3.1 Interface Plates ............................................................................................................................15
3.2 Routing the Cable ........................................................................................................................17
3.3 Installing the Sensor to the Robot .............................................................................................20
3.4 Removing the Sensor from the Robot .......................................................................................21
3.5 Pin Assignment for the Ethernet and Power Connection ........................................................ 22
3.5.1 Pin Assignment : 6-pin Male M8 ZC22 Sensor Connector ............................................... 22
3.5.2 Pin Assignment : 8-Pin Male M12 ZC28 Connector .........................................................22
3.5.3 Pin Assignment for Cable P/N 9105-C-ZC28-U-RJ45S-X ................................................ 23
3.5.3.1 Branch 1, Unterminated End for Power Connection .........................................23
3.5.3.2 Branch 2, RJ45 Connection for Ethernet .......................................................... 23
3.6 Accuracy Check Procedure ........................................................................................................24
4. Operation ................................................................................................................................ 26
4.1 Sensor Environment ...................................................................................................................26
4.2 LED Outputs ................................................................................................................................26
4.2.1 Self-Test LED Sequence ..................................................................................................26
4.2.2 L/A LED ............................................................................................................................26
4.2.3 DIAG LED .........................................................................................................................27
4.2.4 Sensor Status LED ...........................................................................................................27
4.3 Sample Rate .................................................................................................................................27
4.3.1 Sample Rate Versus Data Rate .......................................................................................27
4.4 Converting Counts Per Force/Torque to F/T Values ................................................................ 27
4.5 Low-Pass Filter ............................................................................................................................28
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