ATI Technologies 9105-NET-axia80 User manual

Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel:[phone] • Fax:[phone] • www.ati-ia.com
Serial Axia F/T Sensor
Manual
Document #: 9610-05-Serial Axia

Manual, F/T Sensor, Serial Axia
Document #9610-05-Serial Axia-05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel:[phone] • Fax:[phone] • www.ati-ia.com
2
Foreword
Information contained in this document is the property of ATI IndustrialAutomation, Inc. and shall not be reproduced in
whole or in part without prior written approval of ATI IndustrialAutomation, Inc. The information herein is subject to
change without notice and should not be construed as a commitment on the part of ATI IndustrialAutomation, Inc. This
manual is periodically revised to reect and incorporate changes made to the F/T system.
ATI IndustrialAutomation, Inc. assumes no responsibility for any errors or omissions in this document.
Copyright © (2020) by ATI IndustrialAutomation, Inc., Apex, North Carolina USA. All Rights Reserved.
Published in the USA.
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 aATI
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.
All trademarks belong to their respective owners. Windows®is a registered trademark of Microsoft Corporation.
RoHS Compliance
This product conforms to EU Directive CE 2011/65/EU (RoHS).

Manual, F/T Sensor, Serial Axia
Document #9610-05-Serial Axia-05
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Note:
Please read the manual before calling customer service, and have the following
information available:
1. Serial number (e.g., FT01234)
2. Sensor model (e.g., Axia80, etc.)
3. Calibration (e.g., US-15-50, SI-65-6, etc.)
4. Accurate and complete description of the question or problem
• For the status code; refer to Section 4.8—Status Code.
• For the system’s response to the status command; refer to Section 5.13—Status
Command: “status”.
5. Computer and software information (operating system, PC type, drivers, application
software, and other relevant information about the application’s conguration)
Be near the F/T system when calling (if possible).
Please contact an ATI representative for assistance, if needed:
Sale, Service and Information about ATI products:
ATI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel: [phone]
Fax: [phone]
Application Engineering
Tel: [phone], Extension 511
Fax: [phone]
E-mail: [email protected]

Manual, F/T Sensor, Serial Axia
Document #9610-05-Serial Axia-05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel:[phone] • Fax:[phone] • www.ati-ia.com
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Statement of Compliance

Manual, F/T Sensor, Serial Axia
Document #9610-05-Serial Axia-05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel:[phone] • Fax:[phone] • www.ati-ia.com
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Table of Contents
Foreword.......................................................................................................................................... 2
Statement of Compliance ............................................................................................................... 4
Glossary........................................................................................................................................... 8
1. Safety....................................................................................................................................... 10
1.1 ExplanationofNotications.......................................................................................................10
1.2 General Safety Guidelines..........................................................................................................10
1.3 Safety Precautions...................................................................................................................... 11
2. Product Overview................................................................................................................... 12
2.1 Overview of Axia Models............................................................................................................13
2.2 Sync Functionality Overview .....................................................................................................14
3. Installation .............................................................................................................................. 15
3.1 Interface Plates............................................................................................................................15
3.2 Routing the Cable........................................................................................................................17
3.3 Installing the Sensor to the Robot.............................................................................................20
3.4 Removing the Sensor from the Robot.......................................................................................24
3.5 Pin and Wire Assignments for Serial and Power Connection.................................................25
3.5.1 Pin Assignment for the 6-pin M8 Male Connector on the Sensor.....................................25
3.5.2 Pin Assignment for Cable P/N 9105-CP-ZC38-U-1.8.......................................................25
3.6 Setting-Up Communications with the Serial Axia Sensor.......................................................26
3.7 Accuracy Check Procedure........................................................................................................29
4. Operation ................................................................................................................................ 31
4.1 Sensor Environment...................................................................................................................31
4.2 LED Outputs on the Serial Axia Sensor....................................................................................31
4.2.1 LED Self-Test Sequence..................................................................................................31
4.2.2 L/A LED............................................................................................................................31
4.2.3 DIAG LED.........................................................................................................................32
4.2.4 Sensor Status LED...........................................................................................................32
4.3 LED Outputs on the USB Cable, P/N 9105-C-ZC33-ZC34-XXX................................................32
4.4 Sample Rate.................................................................................................................................33
4.4.1 Sample Rate Versus Data Rate .......................................................................................33
4.5 Low-Pass Filter............................................................................................................................33
4.6 Bias...............................................................................................................................................36
4.7 Tool Transformation....................................................................................................................37
4.7.1 Avoid Overloading the Sensor During Tool Transformation..............................................39

Manual, F/T Sensor, Serial Axia
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4.7.2 Tool Transformation Functionality Through a Serial Interface..........................................39
4.8 Status Code .................................................................................................................................40
4.8.1 Status Code: Sensing Range Exceeded..........................................................................40
5. Serial Commands................................................................................................................... 42
5.1 Help Command: “h” or “?”.........................................................................................................42
5.2 Reset Sensor Command: “reset” ..............................................................................................43
5.3 Query Commands: “s” or “c” ....................................................................................................44
5.3.1 Converting Counts Per Force/Torque to FT Values..........................................................44
5.3.2 Secondary Commands for the Query “c” or “s” Command...............................................44
5.3.3 ExamplesofSecondaryCommands(Speciers).............................................................46
5.3.4 HowtoInterprettheOutputfrom“!”Specier ..................................................................47
5.4 Bias Command: “bias”...............................................................................................................48
5.4.1 SecondaryBiasCommands:“on”,“o󰀨”,“[values]” ...........................................................48
5.5 Peak Command: “peak” .............................................................................................................48
5.6 Peak Reset Command: “peak reset”.........................................................................................49
5.7 Save All Command: “saveall”....................................................................................................49
5.8 Set Command: “set”...................................................................................................................49
5.9 Write “set” Commands...............................................................................................................53
5.9.1 Message Command: “set msg”........................................................................................53
5.9.2 RDT Sample Rate Command: “set rdtRate”.....................................................................53
5.9.3 ADC Sample Rate Command: “set adcRate”...................................................................53
5.9.4 FilteringLevelCommand:“setlTc” ................................................................................54
5.9.5 Calibration Range Command: “ set calib” ........................................................................54
5.9.6 Sensor Location Command: “set location”.......................................................................54
5.9.7 Tool Transform Distance Units Command: “set ttdu”........................................................55
5.9.8 Tool Transform Angle Units Command: “set ttau”.............................................................55
5.9.9 Tool Transform Distances Command: “set ttdx”, “set ttdy”, “set ttdz”...............................55
5.9.10 Tool Transform Rotation Angles Command: “set ttrx”, “set ttry”, “set ttrz”........................56
5.9.11 Baud Rate Command: “set baud”.....................................................................................56
5.10 Simmulated Error Command: “simerr”.....................................................................................57
5.11 View Calibration Command: “view”..........................................................................................57
5.12 Diagnostic Status Command: “diag” ........................................................................................58
5.13 Status Command: “status” ........................................................................................................59

Manual, F/T Sensor, Serial Axia
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6. Serial Axia Sensor “Robot Mode”......................................................................................... 60
6.1 Enter and Exit “Robot Mode”: “m” command..........................................................................60
6.2 Print a Single Reading of FT Values: “r” command.................................................................60
6.3 Print and Stop a Continuous Output or High Speed Streaming of FT Values: “s”
and “e” command .......................................................................................................................61
6.4 Print the Counts Per Force and Counts Per Torque for Each Axis: “p” command ..............61
6.5 Interpreting Robot Mode Readings ...........................................................................................62
6.6 Other Commands........................................................................................................................62
6.6.1 Set 16 or 32-Bit Output Values for Each Axis: “w” command...........................................62
6.6.2 Set the ADC Sample Rate: “a” command.........................................................................63
6.6.3 Set the IIR Filter Shift Value: “f” command.......................................................................63
6.6.4 Set the Calibration Value: “c” command...........................................................................63
6.6.5 View the Current Output Bit or Calibration Value in NVM: “r” command..........................63
6.6.6 Bias Command: “O” command.........................................................................................63
7. Maintenance............................................................................................................................ 64
7.1 Periodic Inspection.....................................................................................................................64
7.2 Periodic Calibrating ....................................................................................................................64
8. Troubleshooting ..................................................................................................................... 64
8.1 Errors Powering Up.....................................................................................................................65
8.2 Errors with Force and Torque Readings...................................................................................65
8.3 Reducing Noise...........................................................................................................................66
8.3.1 Mechanical Vibration........................................................................................................66
8.3.2 Electrical Interference.......................................................................................................66
8.4 Detecting Sensitivity Changes...................................................................................................67
9. Specications ......................................................................................................................... 68
9.1 Environmental Conditions..........................................................................................................68
9.2 ElectricalSpecications .............................................................................................................68
9.3 Calibration Ranges......................................................................................................................68
9.4 CableSpecications ...................................................................................................................69
9.4.1 9105-C-ZC33-ZC34-XXX.................................................................................................69
9.4.2 9105-CP-ZC38-U-1.8.......................................................................................................69
10. Terms and Conditions of Sale............................................................................................... 70

Manual, F/T Sensor, Serial Axia
Document #9610-05-Serial Axia-05
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Glossary
Term Denitions
ActiveConguration Thecongurationthatthesystemiscurrentlyusing.
ADC Analog-to-digital converter.
Baud Rate A number that is related to the speed of data transmission in a system. The data indicates the number of electrical oscillations per second that occurs within a
data transmission.
Calibration The factory-supplied data used by Serial Axia sensor so it can report accurate sensor
readings.Calibrationsapplytoaspecicloadingrange.
Complex Loading Any force or torque load that is not purely in one axis.
Conguration User-denedsettingsthatincludewhichforceandtorqueunitsarereportedand
which calibration is to be used.
Control Panel A feature on a personal computer operating system where the user can adjust
system settings.
Coordinate Frame See Point of Origin.
CRC
Cyclic Redundancy Check is an error-detecting code commonly used in digital
networks and storage devices to detect accidental changes to raw data. Blocks
of data entering these systems get a short check value attached, based on the
remainder of a polynomial division of their contents.
Data Rate How fast data is output over the serial interface.
Delimiter A character such as a comma that separates a sequence of values.
Force The push or pull exerted on an object. Mathematically, force is expressed as: Force =
mass x acceleration
FS Full-Scale.
FT or F/T Force and Torque.
Fxy The resultant force vector comprised of components Fxand Fy.
Hysteresis Asourceofmeasurementerrorthatiscausedbytheresiduale󰀨ectsof
previously applied loads.
Interface Plate
A separate plate that attaches the sensor to another surface. Interface plates are
often used if the bolt pattern on the MAP or TAP doesn’t match the bolt pattern on the
robot arm or customer tooling. The interface plate has two bolt patterns on either side
of the plate. One side is for the MAP or TAP. The other side is for the robot arm or
customer tooling.
IP64 Ingress protection rating “64” designates protection against dust and splashing of water. An IP64 rating does not guarantee protection when a user submerges a device
inwateroranytypeofuid.
Mounting Adapter Plate | MAP Thesurfaceofthesensorthatattachestoaxedsurfacelikeaninterface
plate or robot arm.
MCU Microcontroller unit. A part of the software and electronics of the sensor. The MCU
contains a computer processing unit that includes memory.
N/A Not applicable.
NVM Non-Volatile Memory. Storage of information or device memory that can be retrieved
evenafterthedevicegoesthroughapowercycle(turnedo󰀨andthenbackon).
Overload The condition where more load is applied to the sensor than the rated measurement range that can be applied to the sensor. Overloads result in reduced accuracy and
potentially reduced sensor life.
PCB Printed circuit board.
P/N Part Number
Point of Origin The location on the sensor from which all forces and torques are measured. Also
known as the Coordinate Frame.
Power Cycle When a user removes and then restores power to a device.

Manual, F/T Sensor, Serial Axia
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Term Denitions
Resolution The smallest change in load that can be measured.
Sample Rate How fast the ADCs are sampling inside the unit.
Sense loads The ATI F/T sensor detects sense loads that are a cumulation of forces and torques
acted upon the customer tooling.
Sensor The component that converts a detected load into electrical signals.
Status Bit A unit of computer data sent from the ATI F/T sensor.
Status Word The status code
Tool Adapter Plate | TAP Thesurfaceofthesensorthatattachestoaxedsurfacelikeaninterfaceplateorthe
customer tooling.
Torque The measurement of force exerted on an object causing it to rotate.
Mathematically, torque
Transducer Everytransducerisalso(orhas)asensorbuteverysensorisn’tatransducer.A transducer is more than a sensor. It consists of a sensor/actuator along with signal
conditioning units.
Txy The resultant torque vector comprised of components Txand Ty.

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1. Safety
The safety section describes general safety guidelines to be followed with this product, explanations of the
notications found in this manual, and safety precautions that apply to the product. Product specic notications
are imbedded within the sections of this manual (where they apply).
1.1 ExplanationofNotications
These notications are used in all of ATI manuals and are not specic to this product. The user should heed
all notications from the robot manufacturer and/or the manufacturers of other components used in the
installation.
DANGER: Noticationofinformationorinstructionsthatifnotfollowedwillresultin
deathorseriousinjury.Thenoticationprovidesinformationaboutthenatureofthe
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
WARNING: Noticationofinformationorinstructionsthatifnotfollowedcouldresult
indeathorseriousinjury.Thenoticationprovidesinformationaboutthenatureofthe
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
CAUTION: Noticationofinformationorinstructionsthatifnotfollowedcouldresult
inmoderateinjuryorwillcausedamagetoequipment.Thenoticationprovides
information about the nature of the hazardous situation, the consequences of not
avoiding the hazard, and the method for avoiding the situation.
NOTICE: Noticationofspecicinformationorinstructionsaboutmaintaining,operating,
installing, or setting up the product that if not followed could result in damage to equipment. The
noticationcanemphasize,butisnotlimitedto:specicgreasetypes,bestoperatingpractices,
and maintenance tips.
1.2 General Safety Guidelines
The customer should verify that the sensor is rated for the maximum load and torque expected during
operation. Because static forces are less than the dynamic forces from the acceleration or declaration of the
robot, be aware of the dynamic loads caused by the robot.

Manual, F/T Sensor, Serial Axia
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1.3 Safety Precautions
CAUTION: Modifying or disassembly of the sensor could cause damage and void
the warranty. Use the supplied mounting interface plate and the provided tool side
mounting bolt pattern to mount the sensor to the robot and customer tooling to the
sensor. For more information, refer to the customer drawings on the ATI website.
CAUTION: Probing openings in the sensor causes damage to the instrumentation.
Avoid prying into the openings of the sensor.
CAUTION: Do not overload the sensor. Exceeding the single-axis overload values of
the sensor causes irreparable damage.
CAUTION: Do not contact the IP64 seal. Contacting the seal can cause the sensor
to malfunction.
CAUTION: The sensor should be protected from impact and shock loads that
exceed rated ranges during transportation as the impacts can damage the
sensor’s performance. Refer to Section9—Specications for more information
about rated ranges.

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Document #9610-05-Serial Axia-05
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2. Product Overview
The Serial Axia Force/Torque (F/T) sensor measures six components of force and torque (Fx \ Fy \ Fz\ Tx\ Ty\
Tz) and communicates this data to a personal computer. The sensor communicates data by using RS485 protocol.
The mounting side attaches to a mounting interface plate, which mounts to the customer robot. The tool side
attaches to the customer tooling. Both the mounting and tool sides have a 71.12 mm bolt circle pattern with (6) M5
tapped holes and (2) slip t dowel holes (refer to the customer drawings for more information). The sensor is IP64
rated. A M8 6-pin male connector is for power and signals. For the pin assignments, refer to Section 3.5—Pin and
Wire Assignments for Serial and Power Connection. For available cable congurations, refer to Table 2.1.
For customer drawings, refer to the applicable sensor model web page on the ATI website: https://www.ati-ia.com/
products/ft/ft_ModelListing.aspx.
The Serial Axia sensor oers the following features:
• Provides calibrated force/torque data
• Bias functionality
• Programmable low-pass ltering with cut-o frequency
• LED indicator for Link/Activity (L/A), Diagnostic (DIAG), and Status. (refer to Section 4.2—LED Outputs
on the Serial Axia Sensor for more information)
Figure 2.1—Serial Axia F/T Sensor
6-pin Male M8
Power and Ethernet
Connector
IP64 Seal
Tool Side
(For Customer
Tooling)
Link/Activity (L/A)
LED
Diagnostic (DIAG) LED
Status LED
Mounting Side
to the robot or fixture.

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Table 2.1—SerialAxiaCableCongurations
Conguration Cable Part
Number Cable Description
(1)CablethatroutesfromthesensortoaUSB
connection on the customer application.
(1)Optionalsensorcableforclock
synchronization. The cable routes from the audio
jack in the USB type A plug on the USB cable,
9105-C-ZC33-ZC34-XXX, to the customer’s
application.
9105-C-ZC33-
ZC34-XXX
9105-CP-
ZC38-U-1.81
6-pin female M8 Connector to a
USB type A plug.
A 3.5 mm stereo audio jack
plug to an unterminated end
for grounding a signal wire and
connecting a signal wire.
Notes:
1. The 9105-CP-ZC38-U-1.8 sensor cable can be used as hardwired, clock synchronization method of
interfacing with the sensor for transmitting and receiving data on demand. (refer to Section 2.2—Sync
Functionality Overviewformoreinformation)
2. The “X” in the part number represents cable length.
3. Forcablespecications,refertoSection9.4—CableSpecications and customer drawings on the ATI
website.
2.1 Overview of Axia Models
The Axia sensor is available in three dierent models. An overview of each model is summarized in the
following table:
Table 2.2—Axia Models
Model Part Number Number of Identifying
Grooves1Material
Axia80-M8 9105-RS485-Axia80-M8 3 Aluminum
Axia80-M20 9105-RS485-Axia80-M2020
Axia80-M50 9105-RS485-Axia80-M50 2 Stainless Steel
Notes:
1. Identifying grooves are physical indentations in the sensor body(refer to Figure 2.2).Thesegrooves
provideusersaquickvisualmethodtodi󰀨erentiatethesensormodels.
2. Formally 9105-RS485-Axia80
3. For calibration ranges, refer to Section 9.3—Calibration Ranges.
Figure 2.2—Identifying Grooves (Axia80-M8 shown as a reference)
Identifying
Groove

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2.2 Sync Functionality Overview
Sync functionality is possible if the 9105-CP-ZC38-U-1.8 cable is used from (refer to Table 2.1). When the
user applies a rising edge of at least 5 V to the red and black conductors (Table 3.5), the sync functionality of
the sensor is activated. Upon activation of the sync function, the sensor outputs the most recently collected
data point which is equivalent to the output from the “s” command (Section 5.3—Query Commands: “s” or
“c”) sent over a RS-485 cable interface.
An electrical pulse is shown in the following gure. The rising edge of the pulse starts at 5 V. The falling
edge of the pulse, is when the voltage is no longer within 5-12 V. 12 V is the maximum voltage that
the cable allows (refer to Section 9.4.2—9105-CP-ZC38-U-1.8 in the specication section). The sync
functionality is no longer activated when the voltage is outside the 5-12 V range.
Figure 2.3—Electrical Pulse
Rising Edge
Falling Edge

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3. Installation
WARNING: Performing maintenance or repair on the sensor when circuits (for example:
power,water,andair)areenergizedcouldresultindeathorseriousinjury.Dischargeand
verify all energized circuits are de-energized in accordance with the customer’s safety
practices and policies.
CAUTION: Using fasteners that exceed the customer interface depth penetrates the body of
the sensor, damages the electronics, and voids the warranty. For more information, refer to
the customer drawings on the ATI website.
CAUTION: Thread locker applied to fasteners must not be used more than once. Fasteners
might become loose and cause equipment damage. Always apply new thread locker when
reusing fasteners.
CAUTION: Avoid damage to the sensor from electrostatic discharge. Ensure proper
grounding procedures are followed when handling the sensor or cables connected to the
sensor. Failure to follow proper grounding procedures could damage the sensor.
CAUTION: Do not apply excessive force to the sensor and cable connector during
installation, or damage will occur to the connectors. Align the keyway on the sensor and cable
connector during installation to avoid applying excessive force to the connectors.
Keyway on the
cable connector.
Keyway on the
sensor connector.
3.1 Interface Plates
The sensor’s mounting side attaches to the robot arm, and the sensor’s tool side attaches to the customer
tooling. If interface plates are required to adapt the sensor to the robot arm and customer tooling, ATI can
supply custom robot mounting and tool interface plates. For technical information on the sensor’s mounting
features, refer to the customer drawings on the ATI website.
CAUTION: Incorrect installation of robot mounting and tool interface plates results in
the failure of the F/T sensor to function properly. Because the mounting and tool sides
of the sensor have identical bolt patterns, verify the robot mounting and tool interface
plates are installed correctly.
CAUTION: The customer tool should only touch the tool interface plate. If the customer
tool touches any other part of the sensor, it will not properly sense loads.

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If the customer chooses to design and build an interface plate, consider the following points:
• The interface plate should include bolt holes for mounting fasteners as well as a dowel pin and boss for
accurate positioning to the robot or customer’s device.
• The thickness of the interface plate must provide sucient thread engagement for the
mounting fasteners.
• The mounting fasteners should not extend through the sensor’s housing or interfere with the internal
electronics. For thread depth, mounting patterns, and other details, refer to the customer drawings on
the ATI website.
• Do not use dowel pins that exceed length requirements and prevent the interface plate from mating
ush with the robot and customer tooling. Fasteners that exceed length requirements create a gap
between the interfacing surfaces and cause damage.
• The interface plate must not distort from the maximum force and torque values that can be applied to
the sensor. For these values, refer to Section 9—Specications.
• The interface plate must provide a at and parallel mounting surface for the sensor.
Figure 3.1 —Interface Plate(s)
Robot Arm
Locating Dowel
Mounting Fasteners
Locating Dowel
(6) M5 Mounting Fasteners
Mounting Interface Plate
Locating Boss
Locating Dowel Pin
(Customer Supplied)
Mounting Fasteners
(Customer Supplied)
3 mm Locating Dowel Pin
(Customer Supplied)
(6) M5 Mounting Fasteners
(Customer Supplied)
F/T Sensor
Locating Boss
Tool Interface Plate
(Customer Supplied)
.002 in (.05 mm)
.002 in (.05 mm)
.002 in (.05 mm)
.002 in (.05 mm)
A
4 mm Locating Dowel Pin
(Customer Supplied)
B
A
B

Manual, F/T Sensor, Serial Axia
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3.2 Routing the Cable
The routing and bending radius of the cable depends upon the customer application. Unlike motionless
applications, where the cable is in a static condition, dynamic applications subject the cable to a repetitive
motion. For dynamic applications, restrain the cable at a distance that does not expose and damage the
sensor’s cable connection from the robot’s repetitive motion.
NOTICE: The maximum supported cable length is 25 m.
Figure 3.2—Routing of the Sensor Cable
Mounting
Interface Plate
Sensor Cable
F/T Sensor
Restrain cable to keep
repetitive motion from
affecting the cable
connection.
Robot Arm

Manual, F/T Sensor, Serial Axia
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CAUTION: Subjecting the connector to the repetitive motion will cause damage to the
connector. Restrain the cable close to the connector so that the repetitive motion of the
robot does not interfere with the cable connector.
For added stability, zip ties can be used to secure the cable to a mounting bracket (refer to the following
gure). The zip ties should never contact the cable jacket.
Figure 3.3—Use Zip Ties on the Connector
(2) Zip ties stabilize and secure
the connector. The zip tie does
not contact the cable.
CAUTION: Improper cable routing may cause injury to personnel, poor functionality
of critical electrical lines, or damage to the equipment. The electrical line, especially
where attached to the senor’s connector, must be routed to avoid stress failure, sharp
bends, or a disconnection from the equipment. Damage to the sensor or cable from
improper routing will void the warranty.
Route the sensor cable so that it is not stressed, pulled, kinked, cut, or otherwise damaged throughout the
full range of motion. Ax the cable by using hook and loop straps or Velcro® straps; do not use cable
ties or zip ties.
Figure 3.4—Use Hook and Loop or Velcro®Straps on the Cable
Allow enough slack in
the cable to allow full range
of motion for the robot arm.
Use hook and loop or Velcro®straps to restrain
the cable around the robot arm.

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CAUTION: Do not cable ties or zip ties to bundle cables or restrain the cable to the
robotarm.Directlya󰀩xingcabletiesorziptiestothecablejacketwillpreventpower
and signal communication between the F/T sensor and robot controller. Use hook
and loop or Velcro straps on the cable jacket surfaces. Examples of the incorrect and
correct methods to restrain or bundle cables are in the following pictures:
USE Velcro
®
straps to restrain
the cable around the robot arm.
DO NOT USE zip ties to restrain
the cable around the robot arm.
INCORRECT CORRECT
USE Velcro
®
straps
to bundle cables.
DO NOT USE zip ties
to bundle cables.
CAUTION: Do not damage or crush the cable by over tightening the
straps on the cable.
CAUTION: When routing the cables, do not bend less than the minimum bending
radiusspeciedinTable 3.1. Abend radius too small causes the cable to fail from
fatigue of the robot’s repetitive motion.
Table 3.1—Sensor Cable Bending Radius and Dynamic Twist Angle
Cable Part Number Cable
Diameter
mm (in)
Static
Bending
Radius
(at room
temperature)
Dynamic
Bending
Radius
(at room
temperature) Dynamic Cable Twist
Angle per Unit Length
mm in mm in
9105-C-ZC33-ZC34-XXX 6.2(.24) 31 1.3 62 2.5 180°/m or 55°/ft
Notes:
1. Temperaturea󰀨ectscableexibility.ATIrecommendsincreasingtheminimumdynamicbendingradiusfor
lower temperatures.

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3.3 Installing the Sensor to the Robot
Parts required: Refer to Figure 3.9 and customer drawings on the ATI website.
Tools required: 4 mm hex key or 4 mm low prole hex key (part of ATI Kit P/N 9105-IP-2126)
Supplies required: Clean rag, Loctite® 242 (if applicable, refer to step 3and 4)
1. Clean the mounting surfaces.
2. Attach the mounting interface plate to the robot arm with the mounting fasteners.
NOTICE: When mounting the sensor to the mounting interface plate, mounting the customer
tooling or interface plate to the sensor, consider the following points:
• Screws must have a minimum thread engagement length of 4.5 mm and a maximum
thread engagement less than the threaded depth that is listed in the customer drawing.
• Unlessotherwisespecied,applyLoctite242tothe(6)M5socketheadcapscrews(class
12.9)sothatthefastenerssecurethesensortothemountingplate.
3. Attach the sensor to the mounting interface plate.
a. Using a 4 mm hex key, secure the sensor to the mounting interface plate with (6) M5 socket head
cap screws (class 12.9). Tighten the fasteners per the specications in the following table.
Table 3.2—Torque Values for Axia Models
Model Torque
Axia80-M8 52in-lbs(5.88Nm)
Axia80-M20
Axia80-M50 75in-lbs(8.47Nm)
4. Once the sensor is installed on the robot, the customer tooling or tool interface plate can be installed.
NOTICE: The tool must not touch any other part of the sensor except the tool side; otherwise,
the sensor will not properly detect loads.