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ATI Technologies Axia80-M8 User Manual

ATI Technologies Axia80-M8
94 pages
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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-M8 Specifications

General IconGeneral
BrandATI Technologies
ModelAxia80-M8
CategoryAccessories
LanguageEnglish

Summary

Safety

Explanation of Notifications

Explains DANGER, WARNING, CAUTION, NOTICE symbols used in manual.

General Safety Guidelines

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

Safety Precautions

Lists cautions for sensor modification, probing, overloading, IP64 seal contact, and impacts.

Product Overview

Overview of Axia Models

Summarizes Axia sensor models, part numbers, identifying grooves, and materials.

Installation

Interface Plates

Discusses mounting requirements, interface plates, and correct installation of sensor and tooling.

Routing the Cable

Covers cable routing, bending radius considerations, and proper restraint for dynamic applications.

Installing the Sensor to the Robot

Provides steps and torque values for mounting the sensor to the robot arm and interface plate.

Pin Assignment for the Ethernet and Power Connection

Details pin assignments for M8 and M12 connectors, including wire colors and signals.

Accuracy Check Procedure

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

Operation

Sensor Environment

Advises on protecting the sensor from moisture and extreme electromagnetic fields.

LED Outputs

Explains the meanings of the Link/Activity, Diagnostic, and Status LEDs on the sensor.

Sample Rate

Details available sample rates and the relationship between sample rate and data rate.

Low-Pass Filter

Describes the low-pass filter settings and provides attenuation curves for different sample rates.

Bias

Explains how to use the bias function to eliminate effects of gravity or other acting forces.

Tool Transformation

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

Status Code

Lists status codes as a bitmap, explaining bit meanings and error indications.

Diagnostic Monitoring

Covers system health indicators and status messages monitored during operation.

Connecting Through Ethernet

IP Address Configuration for Ethernet

Describes methods for setting the sensor's IP address, static or via DHCP.

Connecting To the ATI Webpages Using a Windows Computer

Provides step-by-step instructions for connecting to the sensor's web pages via a Windows computer.

Finding the Ethernet Axia Sensor on a Network

Explains how to use the discovery tool to locate the sensor's IP and MAC addresses on the network.

Configuring the Sensor with the Ethernet Axia Web Pages

Welcome Page (index.htm)

Provides an overview of the sensor's main functions and system status.

Snapshot Page (rundata.htm)

Displays current sensor loading conditions, including force/torque data in user units and counts.

ADC Settings Page (setting.htm)

Allows selection of calibration, ADC sampling frequency, filter cutoff, and software bias values.

F/T Configurations Page (config.htm)

Allows selection of active calibration, tool transformation settings, and viewing sensor details.

Communication Page (comm.htm)

Lets the user view and edit Ethernet networking options like IP address and DHCP settings.

System Information Page (manuf.htm)

Provides a summary of the sensor's current state and hardware diagnostics for troubleshooting.

Java® Demo Application

Starting the Demo

Guides on downloading and launching the Java demo application for viewing F/T data.

Collecting Data with the Demo

Details the steps for collecting and saving F/T data from the demo application.

Console Interface Through Telnet

Setting-Up Communications

Instructions for establishing a console connection using Telnet/PuTTY to the sensor.

Console Commands

Lists and describes console commands for viewing status, parameters, and adjusting settings.

Common Gateway Interface (CGI)

URL Syntax Construction

Defines the syntax for constructing URLs to send commands and variables to the sensor.

CGI Variable: Settings (setting.cgi)

Details variables for global settings like ADC rate, filter selection, and bias.

CGI Variable: Configurations (config.cgi)

Explains variables for setting calibration and tool transformation parameters.

TCP Interface

Command Codes

Lists command codes used for TCP interface communication with the sensor.

Write Tool Transform Command

Details the command for writing tool transformation parameters to the sensor.

System Settings XML Pages

System and Configuration Information (netftapi2.xml)

Explains how to retrieve system setup and active configuration via XML.

Calibration Information (netftcalapi.xml)

Describes how to retrieve specific calibration information using XML.

UDP Interface Using RDT

RDT Protocol

Explains the Raw Data Transfer (RDT) protocol for fast data collection via UDP.

Calculating F/T Values for RDT

Explains how to convert RDT count values to real force/torque values.

Maintenance

Periodic Inspection

Guidelines for routine inspection of the sensor and its cabling.

Periodic Calibrating

Requirements for periodic sensor calibration to maintain traceability to national standards.

Troubleshooting

Errors Powering Up

Lists symptoms and causes for powering up errors, focusing on LED status.

Errors with Communications

Addresses common communication issues, including IP address assignment and network discovery.

Errors with the Java® Demo

Lists symptoms and resolutions for errors encountered when using the Java demo application.

Errors with Force and Torque Readings

Covers common issues affecting force/torque readings like noise, drift, and hysteresis.

Reducing Noise

Discusses methods to reduce noise, including mechanical vibration and electrical interference.

Specifications

Environmental Conditions

Specifies the operating and storage temperature and humidity ranges for the sensor.

Electrical Specifications

Details the power supply requirements and consumption for the sensor.

Calibration Ranges

Lists the force and torque calibration ranges available for different Axia models.

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