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
87
14.5 Errors with Force and Torque Readings
Incorrect data from the sensor’s strain gages can cause errors in force/torque readings. Listed in the
following table are the basic conditions of incorrect data. Use this table to troubleshoot a problem. In most
cases, problems can be better identied while looking at the raw strain gage data, displayed on the Snapshot
page. See Section6.2—SnapshotPage(rundata.htm) for more details.
Table 14.5—Errors with Force and Torque Readings
Symptom Cause and Resolution
The sensor is not streaming
measurement data to the
customer devices.
Verify the sensor is correctly installed. Ensure the robot mounting and
tool adapter plates are installed on the proper side of the sensor. Refer
to Section 3—Installation for more information.
Either the “Force/Torque Out of
Range” or the “Gage Out Range”
bit is set (refer to Section 4.8—
Status Code),
The sensor is reporting that it is no longer within the calibrated range
and may experience inaccuracy and reduced life.
The “Broken Gage Bit” is set (refer
to Section 4.8—Status Code).
An electrical failure has potentially occurred inside the sensor. The
sensor must be returned to ATI for diagnosis.
Noise
Jumpsinforcetorquedatareadings(withthesensorunloaded)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 Axia sensor has little
to no noise superimposed. The sensor should be grounded through
installation construction. See Section 14.6—Reducing Noise.
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
causedbymechanicalcoupling(explainedinDriftsection)orinternal
failure.
14.6 Reducing Noise
14.6.1 Mechanical Vibration
In many cases, perceived noise is actually a real uctuation of force and/or torque, caused by
vibrations in the tooling or the robot arm. The Ethernet Axia sensor offers digital low-pass lters
that can dampen frequencies above a certain threshold. If digital low-pass lters are insufcient, a
digital lter may be added to the application software.
14.6.2 Electrical Interference
To reduce the effects of electrical noise on the sensor, do the following:
• If interference by motors or other noise-generating equipment is observed, check the sensor’s
ground connections.
• If sufcient grounding is not possible or does not reduce noise, consider using the sensor’s
digital low-pass lters.
• Verify the power supply is Class 1, which has an earth ground connection.
To Next Page
Loading...
Need help?
General
