Network Force/Torque Sensor System

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Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 • EtherNet/IP data of 32 bits. Two words of 16 bits (high and low) will need to be combined to use 32 bits. • Two’s complement. 17.6.4 Kuka Robotics Kuka robots with the KUKA.ForceTorqueControl package connect to the Net F/T and provide the robot with real-time force control. 17.6.5 Motoman Robotics A Motoman robot controller with an EtherNet/IP add-on board is required for connections to the Net F/T. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com B - 100
Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 18. Troubleshooting 18.1 Introduction This section includes answers to some issues that might arise when setting up and using the Net F/T system. The question or problem is listed followed by its probable answer or solution. They are categorized for easy reference. The information in this section should answer many questions that might arise in the field. Customer service is available to users who have problems or questions addressed in the manuals. ATI Industrial Automation Attn: F/T Customer Service Pinnacle Park 1031 Goodworth Drive Apex, NC 27539 USA Phone: +1.919.772.0115 Fax: +1.919.772.8259 Email: ft_support@ati-ia.com NOTICE: Please read the F/T manuals before calling customer service. When calling, have the following information available: 6. Serial number(s). 7. Transducer type (e.g., Nano17, Gamma, Theta). 8. Calibration (e.g., US-15-50, SI-130-10). 9. An accurate and complete description of the question or problem. 10. All information that is displayed on Net F/T page System Info (manuf.htm). If possible, the F/T system should be accessible when talking with an ATI Industrial Automation customer service representative. 18.2 System Status Code The Net F/T performs many diagnostic checks during operation and reports results in a 32-bit system status code. Each F/T record includes this system status code. The bit patterns for all present error conditions are or’ed together to form the system status code. If any error condition is present then bit 31 of the system status code is set. Bit 16 is set if a threshold is latched. This bit does not indicate a system error. The system status code should be: 0x00000000 if no errors and no threshold statements are breached 0x80010000 if no errors and a threshold statement is breached. Any other code signals means there is a serious error. Table 16.1–System Status Code Bit Assignments describes possible errors and their bit assignments. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com B - 101
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