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Installation and Operations Manual for Stand-alone F/T Sensor Systems Intelligent Multi-axis Force/Torque Sensor System Pinnacle Park, 1031 Goodworth Drive, Apex, NC 27502 USA ISO 9001 Registered Email: info@ati-ia.com www.ati-ia.com Tel: +1.919.772.0115 Fax: +1.919.772.8259 Manual PN 9610-05-1001-18 Firmware Version 5.0 Installation and Operations Manual for Stand-alone F/T Sensor Systems Intelligent Multi-axis Force/Torque Sensor System Pinnacle Park, 1031 Goodworth Drive, Apex, NC 27502 USA ISO 9001 Registered Email: info@ati-ia.com www.ati-ia.com Tel: +1.919.772.0115 Fax: +1.919.772.8259 Manual PN 9610-05-1001-17 Firmware Version 5.0 ii Information contained in this document is the property of ATI Industrial Automation, Inc. and shall not be reproduced in whole or in part without prior written approval of ATI Industrial Automation, Inc. The information herein is subject to change without notice and should not be construed as a commitment on ATI Industrial Automation, Inc. This manual is periodically revised to reflect and incorporate changes made to the F/T system. ATI Industrial Automation, Inc. assumes no responsibility for any errors or omissions in this document. Users' critical evaluation is welcome to assist in the preparation of future documentation (see the “What Do You Think” section at the end of this manual). Copyright Reserved. © July 2001 by ATI Industrial Automation, Inc., Apex, North Carolina. All Rights Published in the USA. First printing June 1991. FCC Compliance - Class B This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. CE Compliance This device complies with EMC Directive 89/336/EEC and FCC Title 47 CFR, Part 15 Subpart B and conforms to the following standards: ANSI C63.4:1992, CISPR 22: 1993, Amt. 1 ,2, EN 610004-2: 1995, EN 61000-4-3:1997, EN 61000-4-4:1995, EN 61000-4-5:1995, EN 61000-4-6:1996, EN 610004-8:1994, EN 61000-4-11:1995. ECC Compliance This device complies with Council Directive: 73/23/ECC and conforms to Cenelec Standard EN 60101-1: 1993. In consideration that ATI Industrial Automation, Inc. (ATI) products are intended for use with robotic and/or automated machines, ATI does not recommend the use of its products for applications wherein failure or malfunction of a ATI component or system threatens life or makes injury probable. Anyone who uses or incorporates ATI components within any potentially life threatening system must obtain ATI’s prior consent based upon assurance to ATI that a malfunction of ATI’s component does not pose direct or indirect threat of injury or death, and (even if such consent is given) shall indemnify ATI from any claim, loss, liability, and related expenses arising from any injury or death resulting from use of ATI components. ATI Industrial Automation iii Aside... Please read the manual before calling customer service. Before calling have the following information available: 1. Serial number. 2. Transducer model (e.g., Nano17, Gamma, Theta, etc.). 3. Calibration (e.g., US-15-50, SI-65-6, etc.) 4. Accurate and complete description of the question or problem. 5. Software revision. This is output in the power-on header message and can also be found on the microprocessor inside the F/T stand-alone controller. If possible be near the F/T system when calling. ATI Industrial Automation iv TABLE OF CONTENTS Section Page Getting Started 1.1 INTRODUCTION ...................................................................................................1-2 1.2 UNPACKING...........................................................................................................1-2 1.3 SYSTEM COMPONENTS DESCRIPTION .........................................................1-3 Transducer............................................................................................................1-3 Transducer Cable..................................................................................................1-4 F/T Controller........................................................................................................1-4 F/T Software ..........................................................................................................1-4 Interface Plates.....................................................................................................1-5 Optional Analog Output........................................................................................1-5 1.4 CONNECTING THE SYSTEM COMPONENTS ................................................1-5 Transducer Cable Interfacing ..............................................................................1-5 Serial Port Interfacing ..........................................................................................1-7 Using Hyper Terminal in Windows for Serial Communications ........................1-8 Power Cord Connection........................................................................................1-9 1.5 TESTING THE F/T SYSTEM.................................................................................1-9 Turning On the F/T Controller.............................................................................1-9 Warm Start, ^W....................................................................................................1-10 Reset Button.........................................................................................................1-10 Output ASCII Force Vector (Serial Port) and Biasing........................................1-10 Using the Zip Macro Start-up, ZC........................................................................1-11 Installation 2.1 INTRODUCTION ...................................................................................................2-2 2.2 ROUTING THE TRANSDUCER CABLE ............................................................2-2 2.3 MOUNTING THE TRANSDUCER ......................................................................2-3 Transducer Mounting Method I, Standard Mounting Adaptor..........................2-3 Transducer Mounting Method II, Mounting Ring-plug Adaptor.......................2-4 Transducer Mounting Method III, User-designed Interface .............................2-5 2.4 MOUNTING YOUR TOOL....................................................................................2-6 Tool Mounting Method I, Standard Tool Adaptor..............................................2-6 Tool Mounting Method II, Optional Tool Ring-plug Adaptor............................2-6 ATI Industrial Automation v How It Works 3.1 3.2 3.3 3.4 INTRODUCTION ...................................................................................................3-2 ELECTRONIC HARDWARE................................................................................3-2 SOFTWARE OUTLINE..........................................................................................3-3 MECHANICAL DESCRIPTION ...........................................................................3-3 Software 4.1 COMMAND OVERVIEW AND PROTOCOL.....................................................4-2 4.2 COMMUNICATION SETUP COMMANDS .......................................................4-5 Sensor Error..........................................................................................................4-5 Communication Data Mode (CD A, CD B).........................................................4-5 Communication Data Checksum (CD E, CD U)..................................................4-6 Communicate Data Type (CD D, CD H, CD R).................................................4-7 Communication Output Selection (CA b, CP a)...................................................4-8 Other Communication Setup Commands (CF d, CL b, CV h) ............................4-9 4.3 QUERY COMMANDS ...........................................................................................4-11 Query Data Request Commands (QR, ^T, ^N, QS) ..........................................4-11 Query Calibration Matrix (QC) ...........................................................................4-12 Query F/T Peaks (QP) ..........................................................................................4-12 4.4 SENSOR COMMANDS.........................................................................................4-13 Sensor Biasing (SB, SU, SZ) ................................................................................4-13 Optional Sensor Temperature Compensation (ST b) ..........................................4-14 Sensor Peaks (SP b, SC).......................................................................................4-16 Sensor Error Message (SM b).............................................................................4-17 Sensor Sampling Frequency (SF d) ......................................................................4-17 Sensor Averaging (SA d) ......................................................................................4-18 4.5 DISCRETE I/O COMMANDS ..............................................................................4-18 I/O Verification (ID, OD h) ..................................................................................4-18 Force Monitoring Commands (MC s, MD d, ML) .............................................4-20 4.6 TOOL FRAME COMMANDS ...............................................................................4-22 Tool Frame Selection, Listing and Deleting (TF d, TL, TD d) ...........................4-23 Tool Frame Construction (TC d, s, x, y, z, µ, ß, ø) ...............................................4-24 4.7 OTHER F/T COMMANDS ....................................................................................4-25 Zip Macro Create Start-up Buffer (ZC 0, "s")....................................................4-25 Warm Start (^W) ..................................................................................................4-26 Filter Clock (FC d) ................................................................................................4-26 XON and XOFF (^Q, ^S) .....................................................................................4-26 Store and Reload Run Memory (RS, RL)...........................................................4-27 ATI Industrial Automation vi Serial and Discrete I/O 5.1 SERIAL AND DISCRETE I/O PIN ASSIGNMENTS .........................................5-2 Serial I/O Pin-out ..................................................................................................5-2 Discrete I/O Pin-out ..............................................................................................5-3 5.2 SERIAL I/O DESCRIPTION .................................................................................5-4 5.3 DISCRETE I/O DESCRIPTION ............................................................................5-4 Typical Input and Output Connections ................................................................5-4 Monitor Conditions ...............................................................................................5-4 Discrete I/O Timing Diagram...............................................................................5-6 Health Line............................................................................................................5-7 Bias Line ...............................................................................................................5-8 5.4 SERIAL AND DISCRETE I/O ELECTRICAL CHARACTERISTICS ..............5-8 Serial I/O Electrical Characteristics ....................................................................5-8 Discrete I/O Electrical Characteristics................................................................5-8 Optional Analog Output 6.1 INTRODUCTION ...................................................................................................6-2 6.2 ANALOG OUTPUT DESCRIPTION.....................................................................6-2 Enabling Analog Output Updates.........................................................................6-2 Fast Output Mode .................................................................................................6-2 Analog Port Pin Assignments ...............................................................................6-3 Analog Outputs .....................................................................................................6-3 Analog Output Filtering ........................................................................................6-4 Changing Analog Output Filtering .......................................................................6-4 Troubleshooting Guide 7.1 INTRODUCTION ...................................................................................................7-2 7.2 QUESTIONS AND ANSWERS..............................................................................7-3 Communications ....................................................................................................7-3 Errors with force and torque readings .................................................................7-4 7.3 ERROR MESSAGES..............................................................................................7-5 Appendix A: F/T Specifications A.1 GENERAL SPECIFICATIONS.............................................................................A-3 Storage and Operating Temperatures .................................................................A-3 Input Filter Frequency Response.........................................................................A-3 A.2 TRANSDUCER AND CALIBRATION SPECIFICATIONS..............................A-3 ATI Industrial Automation vii Nano17 ..................................................................................................................A-4 Nano25 ..................................................................................................................A-5 Nano43 ..................................................................................................................A-6 Mini40 ...................................................................................................................A-7 Mini45 ...................................................................................................................A-8 Gamma ..................................................................................................................A-9 Delta ......................................................................................................................A-10 Theta......................................................................................................................A-11 Omega160 .............................................................................................................A-12 Omega190 .............................................................................................................A-13 A.3 COMPOUND LOADING RANGES OF F/T SENSORS.....................................A-14 Nano17 (US Calibration) ......................................................................................A-15 Nano17 (SI Calibration)........................................................................................A-16 Nano25 (US Calibration) ......................................................................................A-17 Nano25 (SI Calibration)........................................................................................A-18 Nano43 (US Calibration) ......................................................................................A-19 Nano43 (SI Calibration)........................................................................................A-20 Mini40 (US Calibration) .......................................................................................A-21 Mini40 (SI Calibration).........................................................................................A-22 Mini45 (US Calibration) .......................................................................................A-23 Mini45 (SI Calibration).........................................................................................A-24 Gamma (US Calibration) ......................................................................................A-25 Gamma (SI Calibration)........................................................................................A-26 Delta (US Calibration) ..........................................................................................A-27 Delta (SI Calibration) ...........................................................................................A-28 Theta (US Calibration)..........................................................................................A-29 Theta (SI Calibration) ...........................................................................................A-30 Omega160 (US Calibration) .................................................................................A-31 Omega160 (SI Calibration)...................................................................................A-32 Omega190 (US Calibration) .................................................................................A-33 Omega190 (SI Calibration)...................................................................................A-34 Appendix B: Mechanical Layout Nano17 Transducer with Tool and Mounting Adapter Plate ..............................B-2 Nano25 Transducer with Tool and Mounting Adapter Plate ..............................B-3 Nano43 Transducer with Tool and Mounting Adapter Plate ..............................B-4 Mini40 Transducer with Tool and Mounting Adapter Plate ...............................B-5 Mini45Transducer with Tool and Mounting Adapter Plate ................................B-6 Gamma Transducer with Tool and Mounting Adapter Plate..............................B-7 Delta Transducer with Tool and Mounting Adapter Plate..................................B-8 Theta Transducer with Tool and Mounting Adapter Plate .................................B-9 Omega160 Transducer with Tool and Mounting Adapter Plate .........................B-10 ATI Industrial Automation viii Omega190 Transducer with Tool and Mounting Adapter Plate .........................B-11 Gamma Mounting Adapter Plate .........................................................................B-12 Delta Mounting Adapter Plate .............................................................................B-13 Theta Mounting Adapter Plate ............................................................................B-14 Gamma and Delta Mounting Ring-plug Adapter................................................B-15 Gamma and Delta Tool Ring-plug Adapter.........................................................B-16 F/T Controller Chassis..........................................................................................B-17 Mux Box Chassis..................................................................................................B-18 Appendix C: Calibration Matrix and Additional Information Appendix D: Stand-alone Dual Gain Calibration Instructions What Do You Think? ATI Industrial Automation 1 Getting Started Section Page 1.1 INTRODUCTION ...................................................................................................1-2 1.2 UNPACKING...........................................................................................................1-2 1.3 SYSTEM COMPONENTS DESCRIPTION .........................................................1-3 Transducer............................................................................................................1-3 Transducer Cable..................................................................................................1-4 F/T Controller........................................................................................................1-4 F/T Commands ......................................................................................................1-4 Interface Plates.....................................................................................................1-5 Optional Analog Output........................................................................................1-5 1.4 CONNECTING THE SYSTEM COMPONENTS ................................................1-5 Transducer Cable Interfacing ..............................................................................1-6 Serial Port Interfacing ..........................................................................................1-7 Using Hyper Terminal in Windows for Serial Communications ........................1-8 Power Cord Connection........................................................................................1-9 1.5 TESTING THE F/T SYSTEM.................................................................................1-9 Turning On the F/T Controller.............................................................................1-9 Warm Start, ^W....................................................................................................1-10 Reset Button.........................................................................................................1-10 Output ASCII Force Vector (Serial Port) and Biasing........................................1-10 Using the Zip Macro Start-up, ZC........................................................................1-11 1-2 Getting Started 1.1 INTRODUCTION This section gives instructions for setting up the F/T system. Final installation is covered in Section 2. After setting up the system, a test is performed to check for problems. It is possible to start learning the commands described in Section 4 before starting the final installation. ! Warning... The Force/Torque sensor, the calibration matrix loaded into the stand-alone and the mux box, if applicable, have been assigned matching serial numbers when the system was calibrated. If these serial numbers assigned to your F/T system do not match, the Force / Torque data will be incorrect. Please do not mix the system components. 1.2 UNPACKING • Check the shipping container and components for damage due to shipping. Any damage should be reported to ATI Industrial Automation. • Check the packing list for omissions. • The following are standard components for an F/T system [see Figure 1.1]: - Transducer - Transducer cable (for 9105-T transducers) - Mux box (9105-TW transducers only) - Mux cable (for 9105-TW transducers only) - Stand-alone F/T controller - Power cord • The following are optional components: - Mounting ring-plug adaptor; replaces mounting adaptor on some models - Tool ring-plug adaptor; replaces tool adaptor on some models - Mux box; replaces electronics in transducer (for 9105-TW transducers) - Mux cable; used only with Mux box ATI Industrial Automation Getting Started 1-3 - Analog output card (installs in stand-alone F/T controller) - Serial software utilities for IBM PC compatible computers Aside... If your sensor has special features check Appendix C for additional information. ! Warning... The transducer is susceptible to damage from electrostatic discharge whenever it is not connected to the F/T system. Do not touch the electronics or the connector pins when handling the transducer. on-board electronics Connector pins Transducer Connector on Transducer 1.3 SYSTEM COMPONENTS DESCRIPTION Transducer The transducer is a compact, rugged, monolithic structure that converts force and torque into analog strain gage signals for the F/T controller. The transducer is commonly used as a wrist sensor mounted between a robot and a robot end-effector. Factory-installed overload pins give Delta and Theta transducers extra protection from damage due to inadvertent overloads. Figure 1.1 shows the transducer with a standard tool adaptor. • If your system has the Dual Gain Calibration Option see Appendix D for instructions on selecting the individual calibrations. For further information not in this section see: • Appendix A for specifications (i.e. resolution, weight). • Appendix B for mechanical drawings. • Section 2, Final Installation, for mounting and cable routing. ATI Industrial Automation 1-4 Getting Started Tool end Transducer Connector Port Overload pins Delta and Theta only Mounting end Figure 1.1 Transducer Aside... The transducer is designed to withstand extremely high overloading through its use of strong materials and quality silicon strain gages. The Nano, Mini and Omega models use a hardened stainless steel with twice the strength of titanium for overload protection while other transducers use mechanical overload pins to prevent damage. Transducer Cable The high-flex transducer cable is electrically shielded to protect transmission between the transducer (or mux box) and the F/T controller. The transducer or mux connector is molded to one end of the cable, and a 15-pin D-subminiature connector on the other end is for interfacing to the F/T controller [See Figure 1.2]. For further information not in this section see: • Section 2, Final Installation, for cable routing. Transducer Mux box or connector connector To Transducer or mux box 15 pin D-sub connector To F/T controller Figure 1.2 Transducer cable F/T Controller The primary function of the F/T controller is to convert strain gage data to Cartesian force/torque components. Communication can be done through the serial I/O, the discrete I/O, or the optional analog output. For further information not in this section see: • Section 3, How It Works, for the hardware flow chart. • Section 5 and 6 for the electrical specifications and the connector pin-outs. • Appendix B shows the mechanical dimensions of the controller chassis and mux box. F/T Commands ATI Industrial Automation Getting Started 1-5 The stand-alone controller allows the user to issue commands to control the F/T system. F/T commands are entered through the serial . For further information not in this section see: • Section 3, How It Works, for flowchart. • Section 4, Commands, for descriptions of the stand-alone controller commands. Interface Plates The transducer comes with a standard mounting adaptor to mechanically attach the transducer. The transducer also has a standard tool adaptor with an ISO 9409-1 ( for Gamma, Delta, and Theta models) interface for attaching your tool. The mounting adaptor consists of: • Mounting adaptor plate • Mounting screws For Gamma and Delta transducers the mounting adaptor can be replaced with the optional mounting ring-plug adaptor [see Figure 2.2] which consists of: • Mounting ring • Mounting plug • Mounting flange • Mounting screws For Gamma and Delta transducers the standard tool adaptor can be replaced with the optional tool ring-plug adaptor [see Figure 2.3] which consists of: • Tool ring • Tool plug • Tool flange • Tool screws For further information not in this section see: • Section 2, Installation • Appendix B, Mechanical Layout Optional Analog Output An optional analog option board is available with the F/T system. The analog port provides high speed analog output. For further information not in this section see: • Section 3, How It Works. • Section 6, Optional Analog Output 1.4 CONNECTING THE SYSTEM COMPONENTS ATI Industrial Automation 1-6 Getting Started Transducer Cable Interfacing The F/T normally uses a custom 12-pin transducer connector [see Figure 1.3], except for the Nano and Mini F/T which are hardwired. Insert the transducer connector as follows: • Lightly place the connector into port on the transducer. Do not push. • Line up the groove on the connector to the key in the port by rotating the connector while lightly forcing the connector into the port. When the groove lines up the connector will go noticeably deeper into the port. • Push the connector from the black rubber boot until it seats into the port with a click. This section fits into transducer Silver Metal Sleeve Silver Metal Sleeve Black Rubber Boot Black Rubber Boot Groove 29.5mm 32mm Straight Transducer Connector 18.5mm Right Angle Transducer Connector Figure 1.3 Transducer connector as straight or right angle Disconnect the transducer connector from the transducer port as follows: •Pull the silver metal sleeve on the transducer connector until the connector disconnects. ! Warning... • Cables on the Nano and Mini transducers are permanently attached to the transducer and can not be disconnected. Do not attempt to disassemble these transducers as damage will occur. • Larger transducers have removable cables. Do not attempt to disconnect these transducer cables by pulling on the cable itself or the black connector boot; this can damage your system. To disconnect these connectors, pull on the metal sleeve on the cable’s connector. Aside... Cables that mate with our transducers lock positively to the transducer to ensure the two stay mated even through the most rigorous of movements. The small, round cable connector has four spring latches that lock into a groove in the transducer connector. Connect the 15-pin D-subminiature connector [see Figure 1.2] to the transducer port on the F/T controller. Tighten the screws on the connector for positive locking if needed. ATI Industrial Automation Getting Started 1-7 Serial Port Interfacing The following instructions are for connecting a serial device (i.e. personal computer, Hyper Terminal in Windows Accessories, RS-232 terminal, etc.) to communicate with the F/T controller: • The user must provide the serial device. • The user must provide a serial port cable with a male 9-pin D-subminiature connector on one end for connecting to the F/T controller and a connector to mount to the serial device. • See Section 5 for the F/T Controller's serial port pin-out [see Tables 1.1 and 1.2 for connection information]. F/T Stand-alone Controller RS-232 port Equipment Connector Type Cable Connector Type Ground Signal F/T Transmit Signal F/T Receive Signal Male 9-pin D-Subminiature Female 9-pin D-Subminiature pin 5 pin 3 pin 2 9-pin Computer or Terminal RS-232 Port Male 9-pin D-Subminiature Female 9-pin D-Subminiature pin 5 pin 2 pin 3 Table 1.1 Serial port interfacing to a 9-pin RS-232 port F/T Stand-alone Controller RS-232 port Equipment Connector Type Cable Connector Type Male 9-pin D-Subminiature Female 9-pin D-Subminiature Ground Signal F/T Transmit Signal F/T Receive Signal pin 5 pin 3 pin 2 25-pin Computer or Terminal RS-232 Port Female 25-pin D-Subminiature Male 25-pin D-Subminiature pin 7 pin 3 pin 2 Table 1.2 Serial port interfacing to a 25-pin RS-232 port • Select the serial device attributes: 8-bit transmission with no parity and one stop bit. • Select baud rate on F/T controller [see Figure 1.4] to match the baud rate of the Serial Device. The baud rate is factory preset to 9600. ATI Industrial Automation 1-8 Getting Started Using Hyper Terminal in Windows 9X/NT/2000 for Serial Communications Hyper Terminal can be found in the Start menu under Programs / Accessories Communications. Note: If the program is not present you will need to install it from Windows setup. Hyper Terminal is located as a communications options. Start Hypertrm.exe to create a new connection, select which com port you are using. Ex. Connect using: Direct to Com 1. And set the Port Settings to the following values to communicate with the factory controller setup. • Bits per second : 9600 • Data bits : 8 • Parity : None • Stop bits : 1 • Flow control : Xon/Xoff ! Warning... Always turn off the power switch and unplug the F/T controller’s power cord before removing the F/T controller’s cover to prevent electrical shock. ! Warning... The F/T controller’s printed circuit board is susceptible to damage from static discharge. If possible, work at an anti-static workstation and ground yourself before touching the printed circuit board. ! Caution... The controller contains a lithium battery. The battery must be disposed of per local regulations. ATI Industrial Automation Getting Started 1-9 Top view of F/T Controller with cover removed Rear of controller F/T Controller PC board ! Components are not to scale and are shown for orientation. WARNING: DANGEROUS VOLTAGE Battery - + + 1 2 3 4 - BAUD RATES Voltage Selector Switch 1200 38.4K 19.2K 9600 1 1 115 2 OPEN 2 SERIAL NUMBER 3 3 4 4 Front of controller 2 3 Power between LEDs Switch Dot means down 9600 Default 1 Baud Rate Switch 1200 4 1 2 3 38.4K 19.2K 4 1 2 3 4 1 2 3 Open Position 4 Closed Position OPEN OPEN OPEN OPEN Either Figure 1.4 Location of the baud rate and voltage selector switches on F/T controller • • • • Power Cord Connection Verify that the voltage rating is correct for your facility. See label attached under power socket. If necessary change the F/T Controller's voltage input to either 115V or 230V [see Figure 1.8 for locating the voltage selector switch]. Turn off the power and disconnect the power cord from the F/T controller’s power socket before removing the cover. Turn the power switch to the off position. Plug the power cord into the F/T controller's power socket. Plug the power cord into a AC outlet. 1.5 TESTING THE F/T SYSTEM Turning On the F/T Controller • With the F/T system connected as described in Section 1.4, turn the power switch on. • The green power LED will turn on and glow green. ATI Industrial Automation 1-10 Getting Started • The red LED will blink on and off to verify that the diagnostic checks have passed. If the red LED stays on this signifies an error. • A header message will appear on the serial device [See Figure 1.5]. • A “>” prompt will appear after the header message. NOTE: Please see Appendix A of this manual for actual force, torque, and count values for your sensors calibration. There may be rounding in the Header message displayed for your system. Header Displays: 5, Actual: 4.8 See Appendix A of this manual for the actual counts for your system Indicates rated force and torque (F30/T100 means 30 lbs, 100 lb-in) Serial Number 3F indicates this system senses 6DOF: Fx, Fy , Fz, Tx, Ty , and Tz Stand-alone controller Firmware version F30/T100(40/40) SN FT0000-3F Version 5.00 Copyright(c) 1990, 1991, 1992 by Assurance Technologies, Inc. Garner, NC All Rights Reserved > System prompt Figure 1.5 Header message and prompt Aside... 1. 2. 3. 4.indicates a carriage return (enter) character. Commands entered by the user are displayed as bold. If you experience problems check your electrical connections (see Section 7, Troubleshooting Guide) and commands (see Section 4, Commands). Commands are not case sensitive so they may entered in upper- or lower-case. Warm Start, ^W • At the prompt type Control-W, ^W. • The F/T system is reset and the screen displays the header message and prompt. Reset Button • Push the reset button on the front panel. The button is recessed inside the F/T controller chassis. Use a small object to push the button. • The F/T system is reset and the screen displays the header message and prompt. Output ASCII Force Vector (Serial Port) and Biasing • At the prompt type CD A . This selects the ASCII format output. ATI Industrial Automation Getting Started 1-11 • At the prompt type CD R . This selects the resolved force/torque data for output instead of the strain gage data. • At the prompt type QS . Continuous output of the resolved data will begin scrolling across the screen. Touch the transducer front plate and note how the force/torque values change. See the transducer drawing in Appendix B, Mechanical Layout, for the sensor frame to locate the X, Y, and Z orientation on the transducer. • Type SB . The data will stop and the prompt will return. The resolved data has been biased. Repeat the command QS . The resolved force/torque data will read close to zero. • Type . The data will stop and the prompt will return. Using the Zip Macro Start-up, ZC • Type ZC 0, "CD A; CD R; QS" . This stores the commands within the double quote into the start-up macro. • Reset the system by any of the three methods shown (e.g. Control-W). • The commands execute at the end of the header message. • Type to halt the output. The prompt will return to the screen. • Type ZC 0, "" . This will clear the start-up macro. • Reset the F/T system. The header message will appear with the prompt and without any commands being executed. hhhh hhhh hhhh ATI Industrial Automation 1-12 Getting Started This page intentionally left blank. ATI Industrial Automation 2 Installation Section Page 2.1 INTRODUCTION ...................................................................................................2-2 2.2 ROUTING THE TRANSDUCER CABLE ............................................................2-2 2.3 MOUNTING THE TRANSDUCER ......................................................................2-3 Transducer Mounting Method I, Standard Mounting Adaptor..........................2-3 Transducer Mounting Method II, Mounting Ring-plug Adaptor.......................2-4 Transducer Mounting Method III, User-designed Interface .............................2-5 2.4 MOUNTING YOUR TOOL....................................................................................2-6 Tool Mounting Method I, Standard Tool Adaptor..............................................2-6 Tool Mounting Method II, Optional Tool Ring-plug Adaptor............................2-6 2-2 Installation 2.1 INTRODUCTION This section will assist the user in mounting the transducer, your tool, and the transducer cable. 2.2 ROUTING THE TRANSDUCER CABLE The transducer cable must be routed so that it is not stressed, pulled, kinked, cut, or otherwise damaged throughout the full range of motion. See Section 1.4 for the transducer cable interfacing. If the desired application results in the cable-rubbing then use a plastic spiral wrap for protection. ! Warning... When the cable is cycling below the minimum bending radius the cable may fail due to fatigue. A smaller radius can be used if it is not being cycled. Minimum cycled bending radius 40mm (at room temperature) The minimum cycled bending radius is different with significant temperature changes, increasing with lower temperature and decreasing for higher temperatures. ! Warning... Be careful not to crush the cable by over-tightening tie wraps or walking on the cable, since this may damage the cable. ATI Industrial Automation Installation 2-3 2.3 MOUNTING THE TRANSDUCER There are three different methods, I, II, and III, for mounting most F/T transducers. Mount the transducer to a structure with sufficient mechanical strength. Not doing so can lead to sub optimum performance. The Nano, Mini and Omega transducers have mounting and tool adaptors which cannot be removed, so only method III can be used. A detailed description is given on the following pages and a brief description is given below: Transducer Mounting Method I: Uses the standard mounting adaptor to attach the transducer. You must machine the bolt pattern of your device (i.e. robot) into the mounting adaptor. You will not be able to use the mounting adaptor alone if your device covers the mounting screws used to connect the transducer. If this is the case use either method II or method III instead. Transducer Mounting Method II: Uses the optional mounting ring-plug adaptor as a replacement for the standard mounting adaptor. You must machine the mounting plug to attach to your device. The mounting ring-plug adaptor has the benefit of allowing the transducer to be connected and disconnected by hand (disconnecting may require strap wrench). If the bolt pattern on your device can fit on the plug and you have access to the ring then the mounting ring-plug adaptor will work. If the bolt pattern is larger than the plug, use method III. Transducer Mounting Method III: Use your own interface plate to bolt directly to the transducer or (for the Nano, Mini or Omega models) the mounting adaptor. Use Appendix B, Mechanical Layout, for detailed mechanical drawings of the transducer and all interface plates. Detailed descriptions of each method are shown on the next two pages. Aside... Examine the sensor frame and cable routing section before modifying the mounting adaptor plates. The F/T system’s default sensor frame sets the transducer’s point of origin at the center of the mounting adaptor’s surface. See Appendix B, Mechanical Layout, for drawings showing the default point of origin. Transducer Mounting Method I, Standard Mounting Adaptor Use the mounting adaptor to attach the transducer as follows: • Ensure that you provide sufficient clearances between the mounted transducer and other fixtures, and that total stack height is acceptable. Also ensure that after the mounting adaptor is attached to the robot (or other device) you will have access to the mounting screws for attaching the transducer. ATI Industrial Automation 2-4 Installation • Machine the mounting adaptor plate for attaching to your robot (or other device). Mounting adaptor plate dimensions are shown in Appendix B, Mechanical Layout [see Figure 2.1]. All user-supplied screws must be flush with the inside of the mounting adaptor to ensure proper clearance for the electronics inside the transducer. • Attach the mounting adaptor to the robot (or other device). Attach the transducer to the mounting adaptor with the screws and dowel pin provided. Thread locker is recommended to prevent the screws from backing out due to vibration (e.g. Loctite thread locker No. 222). Robot (or other device) with threaded bolt circle Mounting screws provided Mounting adaptor plate User-machined counter sinks to match threaded bolt circle Mounting side Tool side User-supplied flat head screws Transducer Figure 2.1 Attaching the transducer with the mounting adaptor Transducer Mounting Method II, Mounting Ring-plug Adaptor • Ensure that you provide sufficient clearances between the mounted transducer and other fixtures, and that total stack height is acceptable. Also ensure that you will have room for tightening the mounting ring • Machine the mounting plug for attaching to your robot (or other device). Mounting plug dimensions are shown in Appendix B [see Figure 2.2]. • Attach the mounting plug, then attach the transducer to the mounting plug using the attached mounting ring and flange. ATI Industrial Automation Installation 2-5 Mounting plug to be machined Mounting flange plate Turn mounting ring this direction to loosen Mounting Ring Mounting side Tool side Transducer Figure 2.2 Using the mounting ring-plug adaptor Aside... How the ring/plug adaptor works: The flange plate is held to the transducer with screws and dowel pins. The plug mates to the flange plate with a center boss and a dowel pin. The plug also mates to the ring with matching threads. When the ring is turned the plug screws into the ring causing the plug to clamp to the flange plate. Aside... If the ring cannot be removed by hand, use a strap wrench to loosen it. A strap wrench can be purchased through a supply company such as McMaster-Carr (PN 5378A1). Transducer Mounting Method III, User-designed Interface The transducer can be mounted using the bolt pattern provided; see Appendix B, Mechanical Layout. ! Warning... Do not attempt to drill, tap, machine, or otherwise modify the transducer. This could damage the transducer and will void the warranty. Do not attempt to remove any part of Nano, Mini or Omega model transducers as damage will occur. ATI Industrial Automation 2-6 Installation 2.4 MOUNTING YOUR TOOL There are two methods for mounting your tool to most F/T transducers. Method II can only be used for the Gamma and Delta transducers. The two methods are described below: Tool Mounting Method I, Standard Tool Adaptor The tool adaptor is factory installed and the bolt circle is shown in Appendix B, Mechanical Layout. Most F/T tool adaptors follow the ISO 9409-1 mounting pattern. Machine your tool interface plate to attach to this bolt circle. Tool Mounting Method II, Optional Tool Ring-plug Adaptor • This method is similar to the optional mounting ring-plug adaptor. See Section 2.3, MOUNTING THE TRANSDUCER, Method II, Optional Mounting Ring-plug Adaptor for details. • Ensure that you provide sufficient clearances between the mounted transducer and other fixtures, and that total stack height is acceptable. Also ensure that you will have room for tightening the tool ring • Machine the tool plug for mounting to the end-effector. The dimensions of the tool plug are shown in Appendix B, Mechanical Layout [see Figure 2.3]. • Mount the tool plug to your tool. Then mount the transducer to the tool plug using the attached tool ring and tool flange. See the “Aside” notes in section 2.3 for how the ringplug adaptor works. The tool flange is not attached to the standard tool adaptor, but replaces it. Transducer Mounting side Tool side Turn tool ring this direction to loosen Tool plug to be machined Tool ring & tool flange factory installed Figure 2.3 Using the tool ring-plug adaptor ATI Industrial Automation Installation 2-7 ! Warning... Your tool may only touch the tool adaptor plate. If your tool touches any other part of the transducer it will not properly sense loads. hhhh hhhh hhhh ATI Industrial Automation 2-8 Installation This page intentionally left blank. ATI Industrial Automation 3 How It Works Section 3.1 3.2 3.3 3.4 Page INTRODUCTION ...................................................................................................3-2 ELECTRONIC HARDWARE................................................................................3-2 SOFTWARE OUTLINE..........................................................................................3-3 MECHANICAL DESCRIPTION ...........................................................................3-3 3-2 How It Works 3.1 INTRODUCTION This section provides a functional outline of the F/T system. The F/T system is broken into three areas; electrical, controlling software, and mechanical. A graphical representation of the electronics is presented in Section 3.2. A controlling software flow chart is shown in Section 3.3. A mechanical description is shown in Section 3.4. 3.2 ELECTRONIC HARDWARE Figure 3.1 Electronic hardware outline ATI Industrial Automation How It Works 3-3 3.3 SOFTWARE OUTLINE Figure 3.2 Controller flowchart 3.4 MECHANICAL DESCRIPTION The property of forces was first stated by Newton in his third law of motion: “To every action there is always opposed an equal reaction; or, the mutual action of two bodies upon each other are always equal, and directed to contrary parts.” The transducer reacts to applied forces and torques using Newton’s third law. ATI Industrial Automation 3-4 How It Works Figure 3.3 Applied force and torque vector on transducer The force applied to the transducer flexes three symmetrically placed beams using Hooke’s law: σ = E·ε σ = Stress applied to the beam (σ is proportional to force) Ε = Elasticity modulus of the beam ε = Strain applied to the beam Aside... The transducer is a monolithic structure. The beams are machined from a solid piece of metal. This decreases hysteresis and increases the strength and repeatability of the structure. Semiconductor strain gages are attached to the beams and are considered strain-sensitive resistors. The resistance of the strain gage changes as a function of the applied strain as follows: ∆R = Sa·Ro·ε ∆R = Change in resistance of strain gage Sa = Gage factor of strain gage Ro = Resistance of strain gage unstrained ε = Strain applied to strain gage The electronic hardware, described in Section 3.2, measures the change in resistance and the software, described in Section 3.3, converts this change to force and torque components. hhhh ATI Industrial Automation hhhh hhhh 4 Commands 4.1 COMMAND OVERVIEW AND PROTOCOL.................................................... 4-2 4.2 COMMUNICATION SETUP COMMANDS ...................................................... 4-5 Sensor Error......................................................................................................... 4-5 Communication Data Mode (CD A, CD B)........................................................ 4-5 Communication Data Checksum (CD E, CD U)................................................. 4-6 Communicate Data Type (CD D, CD H, CD R) ................................................ 4-7 Communication Output Selection (CA b, CP a) .................................................. 4-8 Other Communication Setup Commands (CF d, CL b, CV h)............................ 4-9 4.3 QUERY COMMANDS .......................................................................................... 4-11 Query Data Request Commands (QR, ^T, ^N, QS).......................................... 4-11 Query Calibration Matrix (QC)........................................................................... 4-12 Query F/T Peaks (QP) ......................................................................................... 4-12 4.4 SENSOR COMMANDS ........................................................................................ 4-13 Sensor Biasing (SB, SU, SZ)................................................................................ 4-13 Optional Sensor Temperature Compensation (ST b) ......................................... 4-14 Sensor Peaks (SP b, SC)...................................................................................... 4-16 Sensor Error Message (SM b)............................................................................ 4-17 Sensor Sampling Frequency (SF d) ..................................................................... 4-17 Sensor Averaging (SA d) ..................................................................................... 4-18 4.5 DISCRETE I/O COMMANDS.............................................................................. 4-18 I/O Verification (ID, OD h) ................................................................................. 4-18 Force Monitoring Commands (MC s, MD d, ML)............................................. 4-20 4.6 TOOL FRAME COMMANDS............................................................................... 4-22 Tool Frame Selection, Listing and Deleting (TF d, TL, TD d)........................... 4-23 Tool Frame Construction (TC d, s, x, y, z, µ, ß, ø)............................................... 4-24 4.7 OTHER F/T COMMANDS ................................................................................... 4-25 Zip Macro Create Start-up Buffer (ZC 0, "s")................................................... 4-25 Warm Start (^W).................................................................................................. 4-26 Filter Clock (FC d) ............................................................................................... 4-26 XON and XOFF (^Q, ^S) .................................................................................... 4-26 Store and Reload Run Memory (RS, RL).......................................................... 4-27 4-2 Commands 4.1 COMMAND OVERVIEW AND PROTOCOL The majority of commands consist of one to three ASCII characters. All commands can be in either upper or lower-case. Power-up or reset returns the F/T system to the default settings. Table 4.1 gives a brief review of all commands described in this manual. Table 4.2 reviews the nomenclature used in Table 4.1 and throughout this section. COMMUNICATION SETUP COMMANDS Communication Data Mode CD A Setup communication for ASCII output mode (Default). CD B Setup communication for Binary output mode. Communication Checksum CD E Enable a checksum at the end of binary communication. CD U Unable sending checksum at end of binary communication (Default). Communication Data Type CD D Setup communication for Decimal strain gage data output. CD H Setup communication for Hexadecimal strain gage data output. CD R Setup communication for Resolved force data output (Default). Other Communication Setup Commands CA b Communicate Analog: enabled (b=1) or disabled (b=0; Default). CF d Communicate Fast: level 1, 2 or 3 or disabled (d=0; Default). Speeds up output. CL b Enable Linefeed with (b=1; Default) or disable output (b=0). CV h Selects components of F/T values to be transmitted (Fx, Fy, Fz, Tx, Ty, Tz). QR ^T QS QC QP SB SU SZ ST b QUERY DATA REQUESTS Query F/T and Strain Gage Data Query output of one Record of data in pre-selected communication setup. Speeds up data output by minimizing handshaking; similar to QR. Query output of a Stream of data in pre-selected type and mode. Other Query Commands Query the Calibration matrix in hexadecimal format. Used for error checking. Query Peaks: show the maximum and minimum F/T values collected (see SP). SENSOR COMMANDS Sensor Bias Performs a Sensor Bias. Stores bias reading in a 3 level buffer. Performs a Sensor Unbias. Removes last bias command from buffer. Removes all previously stored biases from buffer. Table 4.1 Command overview (continued on next page) Optional Sensor Temperature Compensation Optional temperature compensation: enabled (b=1) or disabled (b=0; Default). ATI Industrial Automation Commands 4-3 SF d SA d Sensor Peaks (see QP command) Collects the max. and min. F/T values: start (b=1) or stop (b=0; Default). Clear max. and min. F/T values by loading 9999 & -9999 in min. & max. Other Sensor Commands Sensor Monitoring: disables (b=0) error message due to sensor error (saturation, disconnected transducer etc.) or enables error message (b=1; Default). Sensor sampling Frequency allows optimizing for faster output when using CF. Performs a moving average of d sensor data samples (d=0; Default). ID OD h I/O VERIFICATION Reads and displays the state of all discrete input lines. Sets the state of all discrete outputs as specified by hexadecimal number h. MC s MD d ML FORCE MONITOR COMMANDS Creates a force Monitor statement s. Deletes a force Monitor statement d. List all stored Force Monitor statements. TF d TL TD d TC d,s,x, y,z,µ,ß,ø TOOL FRAME COMMANDS Selects a calibration matrix from tool frame list (d=0, 1, 2 or 3). List available tool frames. Delete tool frame (d=1, 2 or 3). Constructs a new tool frame by changing the coordinate system (d=0..3; s=name; x, y, and z = translation; µ, ß, and ø = rotation). ^W FC d ^Q, ^S ZC 0, "s" RS RL MISCELLANEOUS COMMANDS Warm start. Performs a system reset and is identical to pressing the reset button. Sets the Filter Clock output (for Analog option). XON and XOFF. Creates a buffer of commands, s, that are executed at system power-up or reset. Save values from run memory into permanent memory. Reload values from permanent memory into run memory. SP b SC SM b Table 4.1 Command overview (continued from previous page) ATI Industrial Automation 4-4 Commands Format d h b s a ^ Decimal ASCII code 13 10 32 6 21 — — — — — — — Description Carriage Return Line Feed SPace ACKnowledge Negative AcKnowledgement Error flag, 0, 1, 2 or 3 see Section 4.2 Represents decimal number Represents hexadecimal digit (0 to F) Represents binary digit (0 or 1) Represents an alphanumeric string Represents an alphabetic character control character prefix Table 4.2 Nomenclature table When a command is received the F/T controller will respond with an (decimal 6) control character if the command is valid or a (decimal 21) control character if the command is not valid. If a is sent then an error message follows with two ’s and the system prompt “>”. If a valid command results in data being transmitted by the controller, the data is sent next. An “>” (system prompt) is sent showing that the command is complete. The control characters are normally not visible on a standard RS-232 terminal. Transmission of the may be suppressed by using the CL command described at the end of Section 4.2. Characters sent by the serial port are echoed back. Commands sent to the F/T system must be terminated by a . A should not be sent. Example — valid command: user: CD D response: CD D (First says command is valid > and second says the command has been implemented) Example — invalid command: user: XYZ response: XYZ E114 Illegal command > ATI Industrial Automation Commands 4-5 4.2 COMMUNICATION SETUP COMMANDS The F/T controller outputs three types of data through the RS-232 serial port: raw strain gage data in hexadecimal format, raw strain gage data in decimal integer format, and resolved force/torque data in decimal integer unit format. Data is available in either ASCII or binary format output mode. The length (in bytes) of an output record depends upon the type of data and the output mode. One “record” of data refers to a single set of strain gage readings or the resolved forces/torques. Also, “SG0” represents strain gage bridge 0, “SG1” represents strain gage bridge 1, etc. “Low” and “high” refer to low and high bytes of data. Resolved force/torque data is transmitted in decimal integer unit format. The value of one unit force or one unit torque varies depending upon the model and the calibration, see command CD R for further information. The Communication Data (CD) commands control the output data mode and type. The default at power-up or reset is ASCII output format and resolved force data output type. The mode or type of data may be changed by issuing the appropriate command. The new mode or type remains in effect until a different mode or type is selected or the system is reset. Sensor Error In the following command descriptions represents the sensor error flag set by the F/T controller. The flag can be a 0, 1, 2 or 3. The flag is normally 0 and is set to 1 if the forces on the system exceed the range (saturation). A flag value of 2 indicates that a transducer error has occurred such as a broken gage or disconnected transducer cable. A value of 3 indicates that saturation and transducer error have occurred simultaneously. When a sensor error occurs the following will occur: a) The health output line on the discrete I/O is turned off. b) The error LED on the controller front is turned on. c) Unless disabled the data output through the serial port produces an error message that will continue to repeat until the saturation and/or transducer error is stopped or the command “SM 0” is issued. d) The error flag, , is set to 1, 2 or 3. The flag is transmitted as an ASCII character or as a binary byte depending on the data mode selected. Communication Data Mode (CD A, CD B) Output can be in ASCII mode or binary mode. ASCII mode has the benefit of providing data in readable characters, but has a slower output rate due to the larger number of bytes in ATI Industrial Automation 4-6 Commands each record. Binary output has the benefit of faster output due to the smaller number of bytes needed to carry information, but cannot be read without further computation. The following commands select the data mode: • CD A Communicate Data ASCII Selects ASCII output mode; default. All data transmitted in response to data query commands will be in ASCII format. XON/XOFF software handshaking is supported. CD A command format: user: CD A response: CD A > • CD B Communicate Data Binary Selects binary output mode. All data transmitted in response to data query commands will be in binary format. XON/XOFF software handshaking is not supported. CD B command format: user: CD B response: CD B > ! Important... When the controller is in binary mode (CD B), all numerical output will be in binary. This includes not only output data, but error messages as well. In ASCII mode (CD A), all numeric output will be readable. Communication Data Checksum (CD E, CD U) You can append a checksum to the end of force/torque data or strain gage data being sent in binary mode (see commands CD B, CD D, CD H, and CD R). A checksum will allow you to check the data for transmission errors. Appending the checksum will slow data transmission slightly. • CD E Communicate Data checksum Enabled Appends checksum to end of strain gage or F/T binary record. The checksum is eight bits for serial output. The checksum is calculated by adding each value being sent, including the error byte (which is zero when no saturation or error is present), and dropping the most significant byte for the serial output; see the example below. The ASCII decimal data for the example is 1, 102, 14, 7723, 106, -158, -5138 where the error flag shows that the sensor is saturated. The prefix “0x” indicates a hexadecimal number. Serial output are converted to most and least significant bytes as follows: 7723 = 0x1E2B where 0x1E = 30 & 0x2B = 43 106 = 0x006A where 0x00 = 0 & 0x6A =106 -158 = 0xFF62 where 0xFF = 255 & 0x62 = 98 ATI Industrial Automation Commands 4-7 Serial F/T binary output: <1><0><102><0><14><30><43><0><106><255><98><235><238><98> 1+0+102+0+14+30+43+0+106+255+98+235+238 = 1122 = 0x0462 drop the most significant byte leaving 62 = 98 16 10 • CD U Communicate Data checksum Disabled (Un-enable) Stop sending the checksum. This command is the default. Communicate Data Type (CD D, CD H, CD R) Strain gage data or resolved force data can be selected for output. commands select the type of output: The following • CD D Communicate Data Decimal gage Selects raw decimal strain gage data for output. Six strain gage readings are output each having a value from -2048 to 2047. In some special cases the sensor has eight strain gage readings. The examples are given for six gages. CD D command format: user: CD D response: CD D > In ASCII mode one data record consists of 45 bytes for six strain gages with linefeeds enabled. The first byte is the error flag followed by a comma and the strain gage data which is right-justified in six fields of six bytes each, separated by commas. The final bytes are . The is not transmitted if it has been disabled by the CL command. In binary mode each record consists of 13 bytes for six strain gages and the checksum turned off (see CD U and CD E commands). The first byte is the error flag, followed by the six strain gage data values, which consist of two bytes with the high byte transmitted first. Data format of one raw strain gage record in ASCII and binary mode: ASCII: ,XXXXXX,XXXXXX,XXXXXX,XXXXXX,XXXXXX,XXXXXX SG0 SG1 SG2 SG3 SG4 SG5 Binary: • CD H Communicate Data Hex gage Selects raw hexadecimal strain gage data for output. Six strain gage readings are output. In some special cases the sensor may output eight strain gage readings. CD H command format: user: CD H response: CD H > ATI Industrial Automation 4-8 Commands Data format is similar to that of CD D except there on four bytes for each field instead of six. Aside... For some special systems (non-standard) the transducer has eight strain gages. If your transducer has eight strain gages adjust the examples for the extra two gages. • CD R Communicate Data Resolved Selects resolved force data for output; default. Force/torque output is in counts. Each count measurement value is shown in Appendix A, F/T Specifications. CD R command format: user: CD R response: CD R > Aside... Force and torque values are reported in counts. Counts are integers values set so one count is set near the ideal resolution of the F/T system. The use of integers, instead of real numbers, produces faster output. For example, a US-30-100 sensor has 40 counts per pound. A force output of 128 counts would indicate a load of 3.20 pounds. 3.20 pounds = 128 counts ÷ 40 counts/pound. In ASCII mode one data record consists of 45 bytes if the output consists of six force/torque components; see CV h command. The first byte is the error flag followed by a comma and the force/torque data in the order of Fx, Fy, Fz, Tx, Ty, Tz. The final bytes are . The is not transmitted if transmission has been disabled using the CL command. In binary mode each record consists of 13 bytes if the output consists of six force/torque components; see CV h command. The first byte is the error flag, followed by the six force/torque data values. Each value is two bytes with the high byte transmitted first. Data format of one resolved force record in ASCII and binary mode: ASCII: ,XXXXXX,XXXXXX,XXXXXX,XXXXXX,XXXXXX,XXXXXX Fx Fy Fz Tx Ty Tz Binary: Communication Output Selection (CA b) • CA b Communicate Analog ATI Industrial Automation Commands 4-9 Enables or disables the sending of force/torque or gage data to the analog port. The analog port is optional. The analog port can output data together with the serial port. When the analog port is disabled invalid data is sent. b = 0 stops sending updated force/torque or gage data to the analog port; default. b = 1 enable current force/torque data to be sent to the analog port. CA b command format: user: CA 1 response: CA 1 > If a value for b is omitted the system will indicate the current state of the analog output port. CA command format: user: CA response: CA Analog outputs enabled > Other Communication Setup Commands (CF d, CL b, CV h) • CF d Communicate Fast Streamlines processing of output data. Disabled by default. When CF is enabled communication data rates increase. The increase is accomplished by temporarily disabling certain software functions. The software is disabled in three levels as shown: d=0: Level 0. CF command is disabled and the software commands shown below are restored to their normal state. d=1: Level 1. Monitor conditions and sensor averaging (SA command) are disabled. d=2: Level 2. Sensor Biasing is disabled. If the system is currently biased then the system will revert to the original resolved force/torque output (unbiased). Level 1 is included in this level. d=3: Level 3. Saturation monitoring is disabled. If saturation occurs with this level enabled then no indication of saturation will occur. The error flag will not change from 0 to 1; however, the transducer error checking is still active (e.g. disconnected transducer cable) and will cause the error flag to change from 0 to 2. Level 1 and 2 are included in this level. CF d command format: user: CF 1 response: CF 1 > If a value for d is omitted the system will indicate the current state of the CF command. CF command format: user: CF ATI Industrial Automation 4-10 Commands response: CF Fast mode 1 enabled > • CL b Communicate Linefeed Enables or disables transmission of a linefeed, , character following every carriage return, , transmitted by the controller. Some serial devices output a for each received and it is suggested that the from the F/T controller be disabled to prevent two from appearing on the screen. b=0 disable linefeed transmission b=1 enable linefeed transmission; default CL b command format: user: CL 1 response: CL 1 (Line feed is now enabled) > If a value for b is omitted the system will indicate the current value of b. CL command format: user: CL response: CL Line feed enabled > • CV h Communicate Vector This command selects force/torque components for transmission, allowing you to simplify or speed up processing. The value h is a hexadecimal number where each bit represents a force or torque component. The value of h is determined as follows: (bits): 5 4 3 2 1 0 Component enabled: Tz Ty Tx Fz Fy Fx Example: CV 14 (Enables Ty and Fz) 14 hex = 00010100 binary (The 1 in the third and fifth position represent Fz and Ty) Attempting to enable a nonexistent component (with a system having fewer than 6 components) will generate an error. The system defaults to the factory settings. CV h command format: user: CV 14 response: CV 14 (Enables only Ty and Fz) > If a value for h is omitted the system will indicate the current value of h. CV command format: user: CV ATI Industrial Automation Commands 4-11 response: CV 14 > 4.3 QUERY COMMANDS Query Data Request Commands (QR, ^T, QS) • QR Query data Record Request output of one record of data in the preselected type and mode. See Section 4.3 Communication Setup Commands. QR command format: user: QR response: ( depends on communication setup; see Section > 4.2) • ^T Query data record Same as QR except only the record is echoed back. Used for fast data output. ^T command format: user: ^T response: • QS Query record Stream Request output of a stream of data records in the preselected type and mode. See Section 4.2 Communication Setup Commands. The stream may be interrupted by issuing any command or a . Output Format: user: QS response: < record 2> ··· < record n> user: response: (any input stops output) > (system prompt due to QS being terminated) > (system prompt due to typed in by user) ATI Industrial Automation 4-12 Commands System >CD A >CD R >QR 0, >CD D >QR 0, >CD R >QR 0, 0, > and user communications 89, 34, 76, -23, 98, -78 12, 56, 1000, 345, 0, -678 89, 89, 34, 34, 76, 76, -23, -23, 98, 98, -78 -78 Comments Select ASCII output Select resolved force output Request a single record ASCII resolved force output Select raw strain gage values Request a single record ASCII strain gage records Select resolved force output Request a single record ASCII resolved force output (user enters to halt output) System halts output, processes > Figure 4.2 Communication setup and query examples Query Calibration Matrix (QC) • QC Query Calibration matrix Request output of the calibration matrix for the current tool frame. Appendix C shows the calibration matrix that was loaded in your F/T controller at the factory. In the rare case that the calibration matrix has been corrupted this command allows you to check your current matrix against the one installed at the factory. This command outputs a calibration matrix record. Aside... When using the QC command to view your default calibration matrix, be sure that tool frame 0 is selected. See the TF (Tool Frame) command for details on selecting tool frames. QC command format: user: QC response: (See below) (system prompt) Calibration matrix record format example where XXXX represents the memory location and the numbers represent hexadecimal calibration values (see Appendix C for your actual matrix): > XXXX: 11111111 22222222 88888888 XXXX: 11111111 22222222 88888888 XXXX: 11111111 22222222 88888888 XXXX: 11111111 22222222 88888888 ATI Industrial Automation 33333333 44444444 55555555 66666666 77777777 33333333 44444444 55555555 66666666 77777777 33333333 44444444 55555555 66666666 77777777 33333333 44444444 55555555 66666666 77777777 Commands 4-13 Query F/T Peaks (QP) • QP Query Peaks Request output of maximum and minimum values of resolved force/torque data collected from SP command. The maximum values are preloaded with -9999 and the minimum values are preloaded with 9999. These preloaded values will be seen if the SP command was never enabled, after a hardware or software reset or after the SC command was issued. The QP command will not affect the collection of the maximum or minimum values while the SP command is enabled. QP command format: user: QP response: , , , , , , , , , ,