Network Force/Torque Sensor System

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Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 Tool Transform: Tool transform offsets are defined here. To keep the transducer’s point of origin at the factory-defined location these values need to be all zero. Descriptions of the values and the order in which the values are applied to the factory-defined point of origin are as follows: Table 4.10—Tool Transform Values and Execution Order Column Description Order Dx Distance to move X axis 1 Dy Distance to move Y axis 2 Dz Distance to move Z axis 3 Rx Rotation angle about X axis 4 Ry Rotation angle about Y axis 5 Rz Rotation angle about Z axis 6 Forces and torques are by default reported with respect to the factory point of origin 1 . The tool transformation function allows measurement of the forces and torques at some point other than the origin of the transducer. Tool transformations are particularly useful when this point is chosen as the point-of-contact between the robotic end-effector (tool) and the object being worked. A tool transformation can translate the reported origin a distance (Dx, Dy and Dz) from the factory origin and also rotate the reported origin (Rx, Ry and Rz) about the factory origin. A tool transformation allows a coordinate frame to be created that aligns resolved force/torque components with the natural axes of the task geometry. All transducer working specifications pertain to the factory pointof-origin only. This includes the transducer’s range, resolution, and accuracy. The transducer working specifications at a customer-applied point-of-origin will differ from those at the factory point of-origin. User-defined Field #1: User-defined Field #2: Defines a short note for this configuration. Defines a second short note for this configuration. 1 The factory point of origin places the X, Y, and Z axes as shown on the transducer drawings in the F/T Transducer Manual (9620-05- Transducer Section—Installation and Operation Manual). 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 - 44
Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 4.8 Communication Settings Page (comm.htm) This page allows you to view and set system networking options. Usually these settings are set once when the system is first installed and do not need to be changed later. For information on setting the system to work with your network refer to Section 3—Getting Started. Figure 4.14—Standard Net Box’s Communications Page NOTICE: The Ethernet Network Settings only applies to the standard Ethernet and EtherNet/IP interfaces included in all Net Boxes. The Ethernet Network Settings do not apply to the additional fieldbus interface included in fieldbus Net Boxes. 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 - 45
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