Axia80 Techman F/T Sensor Manual · 2019-04-12 · 5. Computer and software information. (operating system, PC type, drivers, application software, and other relevant information

Engineered Products for Robotic ProductivityPinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: +1-919.772.0115 • Fax: +1-919.772.8259 • www.ati-ia.com

Axia80 Techman® (TM) F/T Sensor Manual

Document #: 9610-05-1038

www.ati-ia.com

Manual, F/T Sensor, Axia80 Techman Robot (TM)Document #9610-05-1038-05

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com2

ForewordInformation contained in this document is the property of ATI Industrial Automation, Inc. and shall not be reproduced in whole or in part without prior written approval of ATI Industrial Automation, Inc. The information herein is subject to change without notice and should not be construed as a commitment on ATI Industrial Automation, Inc. This manual is periodically revised to reflect and incorporate changes made to the F/T system.

ATI Industrial Automation, Inc. assumes no responsibility for any errors or omissions in this document.

Copyright © (2019) by ATI Industrial Automation, Inc., Apex, North Carolina USA. All Rights Reserved. Published in the USA.

In consideration that ATI Industrial Automation, Inc. (ATI) products are intended for use with robotic and/or automated machines, ATI does not recommend the use of its products for applications wherein failure or malfunction of an ATI component or system threatens life or makes injury probable. Anyone who uses or incorporates ATI components within any potentially life threatening system must obtain ATI’s prior consent based upon assurance to ATI that a malfunction of ATI’s component does not pose direct or indirect threat of injury or death, and (even if such consent is given) shall indemnify ATI from any claim, loss, liability, and related expenses arising from any injury or death resulting from use of ATI components.

All trademarks belong to their respective owners. Windows is registered trademarks of Microsoft Corporation.

Note

Please read the manual before calling customer service. Before calling, have the following information available:

1. Serial number (e.g., FT01234)

2. Sensor model (e.g., Axia)

3. Calibration (e.g., US-15-50, SI-65-6, etc.)

4. Accurate and complete description of the question or problem

5. Computer and software information. (operating system, PC type, drivers, application software, and other relevant information about the application’s configuration)

If possible, be near the F/T system when calling.

For additional information or to speak with a customer service representative, please contact ATI at:ATI Industrial Automation 1031 Goodworth Drive Apex, NC 27539 USA www.ati-ia.com Tel: +1.919.772.0115 Fax: +1.919.772.8259 Application Engineering Tel: +1.919.772.0115, Extension 511 Fax: +1.919.772.8259 E-mail: [email protected]

http://www.ati-ia.com

Manual, FT Sensor, Axia80 TechMan Robot (TM)Document #9610-05-1038-05


Table of ContentsForeword .......................................................................................................................................... 2Glossary ........................................................................................................................................... 41. Safety ......................................................................................................................................... 5

1.1 ExplanationofNotifications ......................................................................................................... 5

1.2 General Safety Guidelines ............................................................................................................ 5

2. Overview ................................................................................................................................... 62.1 TM Kit, Part Number 9105-TM-Axia80 .......................................................................................... 6

2.1.1 Unpacking the TM Kit ......................................................................................................... 7

2.1.2 Installing the EtherCAT Axia Sensor ................................................................................... 7

3. TMFlow software ...................................................................................................................... 84. Troubleshooting ....................................................................................................................... 95. Drawings ................................................................................................................................. 106. Terms and Conditions of Sale ............................................................................................... 15

http://www.ati-ia.com/



GlossaryTerm Definition

Algorithm A process or set of rules the robot uses to provide force feedback to control the robot motion.

ATI EtherCAT Axia80 F/T Sensor or Axia 80 An ATI F/T sensor that uses EtherCAT protocol.

ATI EtherCAT F/T Sensor An ATI EtherCAT F/T sensor that is not an Axia80.DoF Degrees of Freedom. See Six Degrees of Freedom.EtherCAT An industrial automation fieldbus.Force The push or pull exerted on an object.F/T Force/Torque.

F/T Sensor The device that converts mechanical forces and torques into electrical signals.

Interface Plate

A separate plate that attaches the sensor to another surface. Interface plates are often used if the bolt pattern on the MAP or TAP doesn’t match the bolt pattern on the robot arm or customer tooling. The interface plate has (2) bolt patterns on either side of the plate. One side is for the MAP or TAP. The other side is for the robot arm or customer tooling.

Mounting Adapter Plate | MAP The surface of the sensor that attaches to a fixed surface like an interface plate or robot arm.

Plug-in Technology A customized program that when downloaded and installed on to a host device adds a specific feature to an existing computer program.

P/N Part numberSix Degrees of Freedom Fx \ Fy \ Fz \ Tx \ Ty \ Tz

Torque The measurement of force exerted on an object causing it to rotate.

TMFlow softwareA TM software program that enables the TM robot to bypass data from an internal sensor on the robot to use data from an ATI F/T sensor for force feedback control.

TM A collaborative robot manufactured and distributed by the company, Techman Robots (TM).

TM KitA packaged option that includes the EtherCAT Axia F/T sensor, interface plate, EtherCAT and power cables, mounting hardware, and downloadable TMFlow software.

Tool Adapter Plate | TAP The surface of the sensor that attaches to a fixed surface like an interface plate or the customer tooling.




1. SafetyThe safety section describes general safety guidelines to be followed with this product, explanations of the notifications found in this manual, and safety precautions that apply to the product. Product specific notifications are imbedded within the sections of this manual (where they apply).

1.1 ExplanationofNotificationsThese notifications are used in all of ATI manuals and are not specific to this product. The user should heed all notifications from the robot manufacturer and/or the manufacturers of other components used in the installation.

DANGER: Notification of information or instructions that if not followed will result in death or serious injury. The notification provides information about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.

WARNING: Notification of information or instructions that if not followed could result in death or serious injury. The notification provides information about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.

CAUTION: Notification of information or instructions that if not followed could result in moderate injury or will cause damage to equipment. The notification provides information about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.

NOTICE: Notification of specific information or instructions about maintaining, operating, installing, or setting up the product that if not followed could result in damage to equipment. The notification can emphasize, but is not limited to: specific grease types, best operating practices, and maintenance tips.

1.2 General Safety GuidelinesThe customer should verify that the sensor selected is rated for maximum loads and torques expected during operation. Because static forces are less than the dynamic forces from the acceleration or declaration of the robot, be aware of the dynamic loads caused by the robot.




2. OverviewThis manual explains how to install an ATI EtherCAT Axia80 Force/Torque (F/T) sensor onto a Techman (TM) robot and the TMFlow software that is used for integration.

F/T sensors convert sensed loads from forces and torques into electrical signals. The F/T sensor provides data to the robot. This data is the six DoF (degrees of freedom): Fx \ Fy \ Fz \ Tx \ Ty \ Tz . TM robots have algorithms to use force feedback to control the robot motion. The Techman TMFlow software provides a way to input data from an ATI sensor into those algorithms by using plug-in technology.

For more information on TM robots and the TM user interface refer to www.tm-robot.com. For more information on the ATI F/T EtherCAT sensors, refer to the 9610-05-EtherCAT Axia manual for the Axia80.

2.1 TM Kit, Part Number 9105-TM-Axia80ATI supplies a kit that is compatible with a TM robot.

Table 2.1—TM Kit 9105-TM-Axia80 (Figure 2.1)Item P/N QuantityEtherCAT Axia F/T Sensor1 9105-ECAT-Axia80-M20

1

Mounting Interface Plate Assembly 9105-IP-2126

Tool Interface Plate Assembly 9105-IP-2191

Ethernet and Power Cable Kit 9105-CKIT-ZC22-ZC28-4

Split Power and RJ45 Ethernet Cable: 8-pin M12 connector that splits to a RJ45 EtherCAT connection and an unterminated end for power

9105-C-ZC28-U-RJ45S-4

Notes:1. For information about the EtherCAT Axia F/T sensor, refer to the 9610-05-EtherCAT Axia manual.

The 9610-05-EtherCAT Axia manual includes mechanical and electrical specifications.

Cable kit (ATI P/N 9105-CKIT-ZC22-ZC28-4) includes the following:• (1) EtherCAT and power cable (ATI P/N 9105-C-ZC22-ZC28-4) with a 6-pin connector and 8-pin

M12 connector

• (1) L-bracket kit (ATI P/N 9005-05-1076) for cable routing

• (1) P-clip kit and (6) cable straps for cable routing (ATI P/N 9005-05-1077)Mounting interface plate assembly (ATI P/N 9105-IP-2126) includes the following:

• Mounting interface plate (ATI P/N 3700-05-2126)

• (6) M5-0.8 x 12 mm socket head cap screws (ATI P/N 3500-1064012-15) for mounting the sensor to the interface plate

• (4) M6-1 x 18 mm socket head cap screws (ATI P/N 3500-1066018-15) for mounting the interface plate to the robot

• (1) 4 mm low profile hex key, (ATI P/N 3810-05-2182).Tool interface plate assembly (ATI P/N 9105-IP-2191) includes the following:

• Tool interface plate (ATI P/N 3700-05-2191)

• (6) M5-0.8 x 12 mm socket head cap screws (ATI P/N 3500-1064012-15) for mounting the sensor to the interface plate


https://www.universal-robots.com/support/

http://www.tm-robot.com

https://www.ati-ia.com/app_content/Documents/9610-05-Axia80%20EtherCAT.pdf





Figure 2.1—TM Kit, Part Number 9105-TM-Axia80

(1) M3 Dowel Pin

(1) M4 Dowel Pin

M6 Dowel Pin

(4) M6 Mounting Fasteners

Mounting Interface Plate(ATI P/N 9105-IP-2126)

(2) M4 Dowel Pin

(6) M5 Mounting Fastener

Power and EtherCAT Cable(ATI P/N 9105-C-ZC22-ZC28-4)

EtherCAT Axia Sensor(ATI P/N 9105-ECAT-Axia80-M20)

Power and EtherCAT Cable to the customer's application(ATI P/N 9105-C-ZC28-U-RJ45S-4)Tool Interface Plate

(ATI P/N 9105-IP-2191)

(6) M5 Mounting Fastener

P-clip Kit(cable straps not shown)

L-bracket Kit (not shown)

2.1.1 Unpacking the TM KitAfter receiving the TM Kit, complete the following actions:

• Check the shipping container and components for damage that may have occurred during shipping. Report damage to ATI Industrial Automation.

• Verify the components from the packing list are included in the TM Kit.

• For standard components included in the TM Kit, refer to Section 2.1—TM Kit, Part Number 9105-TM-Axia80.

2.1.2 Installing the EtherCAT Axia SensorFor mechanical installation, cable routing, wiring information for the connectors, and electrical specifications, refer to the 9610-05-EtherCAT Axia manual.





3. TMFlow softwareTMFlow is compatible with ATI EtherCAT Axia F/T sensor. To understand how to apply the Axia F/T sensor with the TM robot, refer to the Software Manual-TMFlow, Chapter 14: Force Related Node that is available from TM.

NOTICE: The TMFlow software version is compatible with SW 1.68 and onwards.

An example of an ATI sensor added to an application through the TMFlow Software interface is in the following figure.

Figure 3.1—TMFlow Software




4. TroubleshootingCustomer service is available to users who have problems or questions addressed in the manuals.

Note

Please read the manual before calling customer service. Before calling, have the following information available:

1. Serial number (e.g., FT01234)

2. Sensor model (e.g., EtherCAT Axia80)

3. Calibration (e.g., US-15-50, SI-65-6, etc.)

4. Accurate and complete description of the question or problem

5. Computer and software information (operating system, PC type, drivers, application software, and other relevant information about the application’s configuration)

If possible, be near the F/T system when calling.

For additional information or to speak with a customer service representative, please contact ATI at:ATI Industrial Automation 1031 Goodworth Drive Apex, NC 27539 USA www.ati-ia.com Tel: +1.919.772.0115 Fax: +1.919.772.8259 Application Engineering Tel: +1.919.772.0115, Extension 511 Fax: +1.919.772.8259 E-mail: [email protected]




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.919.7

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59

www

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.com

ISO

9001

Reg

ister

ed C

ompa

ny

Axia

80 F

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enso

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TM

Rob

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6. Terms and Conditions of SaleThe following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and Conditions, which are on file at ATI and available upon request.

ATI warrants to Purchaser that force torque sensor products purchased hereunder will be free from defects in material and workmanship under normal use for a period of one (1) year from the date of shipment. The warranty period for repairs made under a RMA shall be for the duration of the original warranty, or ninety (90) days from the date of repaired product shipment, whichever is longer. ATI will have no liability under this warranty unless: (a) ATI is given written notice of the claimed defect and a description thereof with thirty (30) days after Purchaser discovers the defect and in any event, not later than the last day of the warranty period and (b) the defective item is received by ATI not later than (10) days after the last day of the warranty period. ATI’s entire liability and Purchaser’s sole remedy under this warranty is limited to repair or replacement, at ATI’s election, of the defective part or item or, at ATI’s election, refund of the price paid for the item. The foregoing warranty does not apply to any defect or failure resulting from improper installation, operation, maintenance, or repair by anyone other than ATI.

ATI will in no event be liable for incidental, consequential, or special damages of any kind, even if ATI has been advised of the possibility of such damages. ATI’s aggregate liability will in no event exceed the amount paid by the purchaser for the item which is the subject of claim or dispute. ATI will have no liability of any kind for failure of any equipment or other items not supplied by ATI.

No action against ATI, regardless of form, arising out of or in any way connected with products or services supplied hereunder, may be brought more than one year after the cause of action accrued.

No representation or agreement varying or extending the warranty and limitation of remedy provisions contained herein is authorized by ATI, and may not be relied upon as having been authorized by ATI, unless in writing and signed by an executive officer of ATI.

Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software, and other technology made or developed by ATI in the course of providing products and services hereunder, and all rights therein under any patent, copyright, or other law protecting intellectual property, shall be and remain ATI’s property. The sale of products or services hereunder does not convey any expressed or implied license under any patent, copyright, or other intellectual property right owned or controlled by ATI, whether relating to the products sold or any other matter, except for the license expressly granted below.

In the course of supplying products and services hereunder, ATI may provide or disclose to Purchaser confidential and proprietary information of ATI relating to the design, operation, or other aspects of ATI’s products. As between ATI and Purchaser, ownership of such information, including without limitation any computer software provided to Purchaser by ATI, shall remain in ATI and such information is licensed to Purchaser only for Purchaser’s use in operating the products supplied by ATI hereunder in Purchaser’s internal business operations.

Without ATI’s prior written permission, Purchaser will not use such information for any other purpose of provide or otherwise make such information available to any third party. Purchaser agrees to take all reasonable precautions to prevent any unauthorized use or disclosure of such information.

Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is in the public domain when received from ATI, (b) is thereafter published or otherwise enters the public domain through no fault of Purchaser, (c) is in Purchaser’s possession prior to receipt from ATI, (d) is lawfully obtained by Purchaser from a third party entitled to disclose it, or (f) is required to be disclosed by judicial order or other governmental authority, provided that, with respect to such to maintain the confidentiality of such information.
