Network Force/Torque Sensor System
Net F/T Manual - ATI Industrial Automation
Net F/T Manual - ATI Industrial Automation
Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
Net F/T Installation and Operation Manual<br />
Document: 9620-05-net ft-11<br />
18.3.4 Web Pages<br />
Question/Problem<br />
The Invalid Request page appears<br />
The HTTP 1.0 401 Error - Unauthorized page<br />
appears<br />
Answer/Solution<br />
One or more entries on the previous web page were invalid or out<br />
of range. Go back to the previous page and review the last entry.<br />
Make only one change at a time to make debugging easier.<br />
You tried to access one of the protected pages of the web server.<br />
These pages are reserved for ATI Industrial Automation<br />
maintenance.<br />
18.3.5 Errors with <strong>Force</strong> and <strong>Torque</strong> Readings<br />
Question/Problem<br />
Sat LED glows red (transducer saturation)<br />
Noise<br />
Drift<br />
Hysteresis<br />
Bad data from the transducer’s strain gages can cause errors in force/torque readings. These<br />
errors can result in problems with threshold monitoring, transducer biasing, and accuracy.<br />
Listed below are the basic conditions of bad data. Use this to troubleshoot your problem. In<br />
most cases, problems can be seen better while looking at the raw strain gage data, displayed on<br />
the Snapshot page. See Section 4.3—Snapshot Page (rundata.htm) for more details.<br />
18.3.6 Connection to Specific Equipment<br />
Answer/Solution<br />
Saturation occurs if the transducer is loaded beyond its maximum<br />
measurement range or in the event of an electrical failure within the<br />
system. The error status will stay on until the saturation error stops.<br />
When the data from a raw decimal strain gage reads the positive or<br />
negative maximums (nominally -32768 or +32767), that gage is<br />
saturated. This sets the saturation error bit in the system status<br />
code (see …) and causes the Sat LED to turn red.<br />
Jumps in raw strain gage readings (with transducer unloaded)<br />
greater than 80 counts is considered abnormal. Noise can be<br />
caused by mechanical vibrations and electrical disturbances,<br />
possibly from a poor ground. It can also indicate component failure<br />
within the system. See Section 15.2—Reducing Noise.<br />
After a load is removed or applied, the raw gage reading does not<br />
stabilize, but continues to increase or decrease. This may be<br />
observed more easily in resolved data mode using the bias<br />
command. Drift is caused by temperature change, mechanical<br />
coupling, or internal failure. Mechanical coupling is caused when a<br />
physical connection is made between the tool plate and the<br />
transducer body (i.e., filings between the tool adapter plate and the<br />
transducer body). Some mechanical coupling is common, such as<br />
hoses and wires attached to a tool.<br />
When the transducer is loaded and then unloaded, gage readings<br />
do not return quickly and completely to their original readings.<br />
Hysteresis is caused by mechanical coupling (explained in Drift<br />
section) or internal failure.<br />
Equipment Connection<br />
Fanuc robot controllers using EtherNet/IP<br />
Details<br />
Set robot controller connection type to Input Only and set the robot<br />
controller as the EtherNet/IP scanner (client). When using Socket<br />
Messaging, set the transport type to Multicast for UDP or Unicast<br />
for TCP.<br />
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<br />
B - 104
Change language