Network Force/Torque Sensor System

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Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 17.5 A Word about Resolution ATI’s transducers have a three sensing beam configuration where the three beams are equally spaced around a central hub and attached to the outside wall of the transducer. This design transfers applied loads to multiple sensing beams and allows the transducer to increase its sensing range in a given axis if a counterpart axis has reduced (see 9620-05-Transducer Section—Installation and Operation Manual). The resolution of each transducer axis depends on how the applied load is spread among the sensing beams. The best resolution occurs in the scenario when the quantization of the gages is evenly distributed as load is applied. In the worst case scenario, the discrete value of all involved gages increases at the same time. The typical scenario will be somewhere between these two. F/T resolutions are specified as typical resolution, defined as the average of the worst and best case scenarios. Because both multi-gage effects can be modeled as a normal distribution, this value represents the most commonly perceived, average resolution. Although this misrepresents the actual performance of the transducers, it results in a close (and always conservative) estimate. 17.6 Connecting to Specific Industrial Robots Many industrial robots connect to the Net F/T over its EtherNet/IP connection. When connecting to the Net F/T using EtherNet/IP, the Net F/T’s EtherNet/IP protocol must be enabled and its DeviceNet protocol must be disabled (by enabling CAN bus protocol). This can be done on the Net F/T’s Communications page (comm.htm). Figure 17.1—Enabling EtherNet/IP on the Communications Page (comm.htm) The following information will be necessary to configure the connection to the Net F/T: Table 17.1—Net F/T EtherNet/IP Configuration Information Item Decimal Value Hexadecimal Value Vendor Code 555 0x022B Product Type 0 0x0 Product Code 1 0x1 Major Revision 1 0x1 Minor Revision 20 0x14 Configuration Instance 128 0x80 Target to Originator (input) Instance 100 0x64 Originator to Target (output) Instance 102 0x66 Input Size (bytes) 28 0x1C Output Size (byte) I/O Output is unused 0 0x0 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 - 98
Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 17.6.1 ABB Robotics ABB robot controller firmware versions 5.14 and later support EtherNet/IP connections to the Net F/T. 17.6.2 Denso Robotics Denso RC7 robot controllers with EtherNet/IP support connections to the Net F/T. 17.6.3 Fanuc Robotics Fanuc robot controllers with an EtherNet/IP scanner installed can communicate with the Net F/T. Details about the Fanuc EtherNet/IP scanner can be found in the Fanuc manual FANUC Robotics SYSTEM R-30iA EtherNet/IP Setup and Operations Manual MAROCENTET04081E REV B Version 7.40. Fanuc R30iA robot controller configuration. See Section 4.2.4—Advanced EtherNet/IP Scanner Configuration in the Fanuc manual for additional information: • Set the robot as the EtherNet/IP scanner (Client). • In the robot controller’s scan list, set the Connection Type for the Net F/T to Input- Only. • For TCP communications, set the Transport Type to UNICAST in order to use the Socket Messaging. For UDP communications, set the robot controller’s Transport Type to MULTICAST. • If the controller’s word size is set to 16-BIT WORDS, then set the input size to 14 or for 8-BIT BYTES, then set the input size to 28. Pages 4–7 and 4–8 of the Fanuc manual discuss input and output sizes and how to set 8-bit or 16-bit words. • The Output Run/Idle header must be turned off (set to Heartbeat). Figure 17.2—Example Configuration Settings Some Karel programming is because the Fanuc robot controller does not support the following types of data: • DINT (Double Integer) 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 - 99
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