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ATI Technologies Axia80-M8 User Manual
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Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive •
Apex, NC 27539 • T
el: +1.919.772.01
15 • Fax: +1.919.772.8259 • www
.ati-ia.com
Ethernet
Axia F/T Sensor
Manual
Document #: 9610-05-Ethernet
Axia
2
Table of Contents
Foreword
2
Statement of Compliance
4
Table of Contents
5
Glossary
9
1 Safety
11
Explanation of Notifications
11
General Safety Guidelines
12
Safety Precautions
12
2 Product Overview
13
Overview of Axia Models
14
3 Installation
15
Interface Plates
15
Routing the Cable
17
Installing the Sensor to the Robot
20
Removing the Sensor from the Robot
21
Pin Assignment for the Ethernet and Power Connection
22
Pin Assignment : 6-Pin Male M8 ZC22 Sensor Connector
22
Pin Assignment : 8-Pin Male M12 ZC28 Connector
22
Pin Assignment for Cable P/N 9105-C-ZC28-U-RJ45S-X
23
Branch 1, Unterminated End for Power Connection
23
Branch 2, RJ45 Connection for Ethernet
23
Accuracy Check Procedure
24
4 Operation
26
Sensor Environment
26
LED Outputs
26
Self-Test LED Sequence
26
L/A Led
26
Diag Led
27
Sensor Status LED
27
Sample Rate
27
Sample Rate Versus Data Rate
27
Converting Counts Per Force/Torque to F/T Values
27
Low-Pass Filter
28
Document #9610-05-Ethernet Axia-08
28
Bias
31
Tool Transformation
31
Avoid Overloading the Sensor During Tool Transformation
33
Example of Tool Transformation Functionality through Telnet
33
Example of Tool Transformation Functionality through CGI
34
Example of Tool Transformation Functionality through TCP
34
Status Code
35
Status Code: Sensing Range Exceeded
35
How to Interpret Hexadecimal Output for the Status Code
37
Diagnostic Monitoring
38
5 Connecting through Ethernet
39
IP Address Configuration for Ethernet
39
Connecting to the ATI Webpages Using a Windows Computer
40
Finding the Ethernet Axia Sensor on a Network
43
6 Configuring The Sensor With The Ethernet Axia Web
45
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 Item
53
7 Java Demo Application
54
Starting the Demo
54
Data Display with the Demo
56
Collecting Data with the Demo
56
Demo CSV File Format
58
The Errors Field Display of the Demo
60
Developing a Customized Java
60
Application
60
8 Console Interface through Telnet
61
Setting-Up Communications
61
Console Commands
62
Secondary Commands for the Query "C" or "S" Command
64
Examples of Secondary Commands (Specifiers)
65
Console "CAL" | "SET" Command Fields and Values
66
Document #9610-05-Ethernet Axia-08
66
9 Common Gateway Interface (CGI)
71
URL Syntax Construction
71
Assigning a New Values to a Variable
71
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 Interface
75
Command Codes
75
Read F/T Command
75
Read F/T Response
75
Read Calibration Info Command
76
Read Calibration Info Response
76
Write Tool Transform Command
77
Write Monitor Condition Command
77
Write Response
77
11 System Settings XML
78
System And Configuration Information (Netftapi2.Xml)
78
Calibration Information (Netftcalapi.xml)
80
12 UDP Interface Using RDT
81
RDT Protocol
81
RDT Request for Records Structure
82
RDT Records Sent Structure
82
Calculating F/T Values for RDT
83
Multiple Clients
83
Notes on UDP and RDT Mode
83
Example Code
83
13 Maintenance
84
Periodic Inspection
84
Periodic Calibrating
84
14 Troubleshooting
84
Errors Powering up
85
Errors with Communications
85
Errors with the Java
86
Demo
86
Errors with Ethernet Axia Webpages
86
Errors with Force and Torque Readings
87
Document #9610-05-Ethernet Axia-08
87
Reducing Noise
87
Mechanical Vibration
87
Electrical Interference
87
Detecting Sensitivity Changes
88
Improving Ethernet Throughput
88
Direct Connection between Axia Ethernet and Host
88
Choice of Operating System
88
Increasing Operating System Performance
88
Avoid Logging the Host to a Company Network
89
Use a Dedicated Network
89
15 Specifications
89
Environmental Conditions
89
Electrical Specifications
89
Calibration Ranges
89
16 Drawings
90
Axia80 Force/Torque Sensor 9230-05-1543
90
Cable, Axia Sensor to 8-Pin M12, 3M, 9105-C-ZC22-ZC28-4
92
Cable, 8-Pin M12 Split to Shielded RJ45 and Unterminated Power, Ground, Shield, 4 M
93
9105-C-Zc28-U-Rj45S-4
93
17 Terms and Conditions of Sale
94
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ATI Technologies Axia80-M8 Specifications
General
Brand
ATI Technologies
Model
Axia80-M8
Category
Accessories
Language
English
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