Network Force/Torque Sensor System

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Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 MAC ID Terms Maximum Single-Axis Overload MAP Measurement Uncertainty Net Box Node Address ODVA Overload PoE Point of Origin PROFINET Quantization RDT Resolution Saturation <strong>Sensor</strong> <strong>System</strong> TAP TCP Thresholding Tool Transformation Transducer Txy UDP Definitions Media Access Code Identifier (MAC ID) is a unique number that is user assigned to each DeviceNet device on a DeviceNet network. Also called Node Address. The largest amount of pure load (not compound loading) that the transducer can withstand without damage. The Mounting Adapter Plate (MAP) is the transducer plate that attaches to the fixed surface or robot arm. The maximum expected error in measurements, as specified on the calibration certificate. The component that contains the power supply and network interfaces of the Net F/T system. See MAC ID. ODVA (Open DeviceNet Vendors Association, Inc.) is an organization that defines DeviceNet, EtherNet/IP, and other industrial networks. ATI Industrial Automation is a member of ODVA. ODVA is a registered trademark of Open DeviceNet Vendors Association, Inc. The condition where more load is applied to the transducer than it can measure. This will result in saturation. Power-over-Ethernet, or PoE, is a method of delivering electrical power to a PoE-compatible Ethernet device through the Ethernet cable. This simplifies installation of the Ethernet device since a separate power supply is not needed. The Net F/T system is PoE compatible. The location on the transducer from which all forces and torques are measured. Also known as the Coordinate Frame. An Ethernet-based fieldbus used in factory automation. The process of converting a continuously variable transducer signal into discrete digital values. Usually used when describing the change from one digital value to the next increment. Raw Data Transfer (RDT) is a fast and simple Net F/T protocol for control and data transfer via UDP. The smallest change in load that can be measured. This is usually much smaller than accuracy. The condition where the transducer has a load outside of its sensing range. The assembly consisting of all components from the transducer to the Net Box. Tool Adapter Plate (TAP) is the transducer surface that attaches to the load to be measured. Transmission Control Protocol (TCP) is a low-level method of transmitting data over Ethernet. TCP provides a slower, more reliable delivery of data than UDP. A Net F/T function that performs a simple arithmetic comparison of a user-defined threshold to the loading on a transducer axis. A method of mathematically shifting the measurement coordinate system to translate the point of origin and/or rotate its axes. Transducer is the component that converts the sensed load into electrical signals. The resultant torque vector comprised of components Tx and Ty. UDP (User Datagram Protocol) is a low-level method of transmitting data over Ethernet. While UDP is faster than TCP, unlike TCP lost UDP data is not resent. 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 - 10
Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 1. Safety 1.1 General The customer should verify that the transducer selected is rated for maximum loads and moments expected during operation. Refer to transducer specifications in F/T Transducer Manual (9620-05- Transducer Section—Installation and Operation Manual) or contact ATI Industrial Automation for assistance. Particular attention should be paid to dynamic loads caused by robot acceleration and deceleration. These forces can be many times the value of static forces in high acceleration or deceleration situations. 1.2 Explanation of Notifications The notifications included here are specific to the product(s) covered by this manual. It is expected that the user heed all notifications from the robot manufacturer and/or the manufacturers of other components used in the installation. or 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. ATTENTION, NOTE, or NOTICE: Notification of specific information or instructions about maintaining, operating, installation, or setup of the product that if not followed could result in damage to equipment. The notification can emphasize but is not limited to specific grease types, good operating practices, or maintenance tips. 1.3 Precautions CAUTION: Do not remove any fasteners or disassemble transducers without a removable adapter plate, these include Nono, Mini, IP-rated, and some Omega transducers. This will cause irreparable damage to the transducer and void the warranty. Leave all fasteners in place and do not disassemble the transducer. CAUTION: Do not probe any opening in the transducer. Touching internal electronics or instrumentation could damage the transducer and void the warranty. CAUTION: Do not exceed the transducer’s overload ratings. Smaller Nano and Mini transducers can easily be irreparably damaged by apply small loads using tools (moment arm increases applied loads) when mounting the transducer. Always monitor the transducer using the demo application for gage saturation errors during installation. 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 - 11
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Network Force/Torque Sensor System

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