ATI Technologies 9105-PS-1 User manual

Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
F/T Sensor
Data Acquisition (DAQ) Systems
Manual
Document #: 9620-05-DAQ.indd

Manual, F/T Sensor, Data Acquisition (DAQ) Systems
Document #9620-05-DAQ.indd-20
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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 Industrial Automation, Inc. This
manual is periodically revised to reect 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.
Copyright © by ATI Industrial Automation, 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 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.
All trademarks belong to their respective owners.
Windows, Visual Basic and Excel are registered trademarks of Microsoft Corporation.
LabVIEW is a registered trademark of National Instruments Corporation.
NOTICE: Please read the manual before calling customer service. Before calling, have the following
information available.
1. Serial number (e.g., FT01234)
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. Computer and software information. Operating system, PC type, drivers, application software,
and other relevant information about your conguration.
If possible, be near the F/T system when calling.
How to Reach Us
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]
E-mail: [email protected]
Technical support and questions:
Application Engineering
Tel: [phone], Option 2, Option 2
Fax: [phone]
E-mail: [email protected]

Manual, F/T Sensor, Data Acquisition (DAQ) Systems
Document #9620-05-DAQ.indd-20
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
3
Table of Contents
Foreword.......................................................................................................................................... 2
Glossary........................................................................................................................................... 6
1. Safety......................................................................................................................................... 7
1.1 ExplanationofNotications.........................................................................................................7
1.2 General Safety Guidelines............................................................................................................7
1.3 Safety Precautions........................................................................................................................7
2. Product Overview..................................................................................................................... 8
2.1 System with a TW Transducer, IFPS Box, and USB DAQ Device .............................................8
2.2 System with a TIF Transducer, PS Box, and DAQ Card.............................................................9
2.3 System with Multiple Transducers, IFPSMC Box, and a USB DAQ Device ...........................10
2.4 System with Multiple Transducers, IFPSMC Box, and a DAQ Card ....................................... 11
2.5 System with Multiple Transducers, IFPSMC Box, Wired I/O Connections for
User Devices, and USB DAQ Device.........................................................................................12
2.6 Transducer...................................................................................................................................13
2.7 Transducer Cable........................................................................................................................13
2.8 Interface Power Supply Box.......................................................................................................14
2.9 Power Supply Box.......................................................................................................................15
2.10 Power Supply Cable....................................................................................................................15
2.11 Multiple IFPSMC Boxes ..............................................................................................................16
2.12 DAQ Shielded Cables from Multiple IFPSMC Box to DAQ Device..........................................16
2.13 Data Acquisition System ............................................................................................................17
2.14 F/T Software CD...........................................................................................................................17
2.15 Interface Plates............................................................................................................................17
3. System Functionality ............................................................................................................. 18
3.1 Mechanical Description..............................................................................................................18
3.2 Electronic Hardware....................................................................................................................19
3.3 Load Calculation .........................................................................................................................20
3.3.1 Strain Gage Data..............................................................................................................20
3.3.2 Offset Correction ..............................................................................................................21
3.3.3 Calibration Matrix .............................................................................................................21
3.3.4 Gain Correction Factor.....................................................................................................21
3.4 ATI DAQ Software........................................................................................................................22
3.4.1 Reusable Software Components......................................................................................22
3.4.1.1 ATI DAQ FT Automation Server........................................................................22
3.4.1.2 C Library ...........................................................................................................22
3.4.2 Sample Applications.........................................................................................................22

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3.4.2.1 Windows Demo (Visual Basic 6.0)....................................................................22
3.4.2.2 LabVIEW Sample .............................................................................................22
3.4.3 Designing Your DAQ F/TApplication................................................................................23
3.4.3.1 Device Drivers for Your DAQ Device and Target Operating System.................23
3.4.3.2 ATI DAQ F/T Components or C Library............................................................23
4. Installation .............................................................................................................................. 24
4.1 Installing a DAQ System with a Transducer, IFPS or PS Box, and DAQ Device ...................24
4.2 Installing a DAQ System with Multiple Transducers, IFPSMC Box, and DAQ Device..........29
4.3 Installing a DAQ System with Multiple Transducers, IFPSMC Box,
Wired I/O Connections, and USB DAQ Device.........................................................................32
4.4 Install the F/T Demo Software....................................................................................................34
4.5 Electrical Connection Information.............................................................................................36
4.5.1 Signals and Power ...........................................................................................................36
4.5.2 Electrical Specications....................................................................................................37
4.5.2.1 Transducer Output Signals...............................................................................37
4.5.3 Transducer Signals...........................................................................................................38
4.5.4 PS and IFPS Signals........................................................................................................39
4.5.4.1 PS 20-pin Circular Connector...........................................................................39
4.5.4.2 PS and IFPS 26-pin High Density D-Subminiature Connector.........................39
4.5.5 DAQ Card Connections....................................................................................................40
4.5.5.1 Standard DAQ Card Connections.....................................................................40
4.5.5.2 Custom DAQ Card Connections.......................................................................41
4.5.5.3 Using Unused DAQ Card Resources ...............................................................43
4.5.6 Transducer Connections on a Multi-Sensor IFPSMC Box ...............................................43
4.5.6.1 Installing 12 Pin Jumpers on the Backplane to Make Unused
Transducer Signals Available to the User.........................................................45
4.5.6.2 Installing Additional IFPS Cards in an IFPSMC Box.........................................51
4.5.6.3 Power................................................................................................................55
5. Operation ................................................................................................................................ 56
5.1 Writing DAQ F/T Application ......................................................................................................56
5.2 Data Collection Rates .................................................................................................................56
5.3 Multiple Calibrations...................................................................................................................56
5.4 Resolution....................................................................................................................................56
5.5 Environmental .............................................................................................................................57
6. Maintenance............................................................................................................................ 58
6.1 Periodic Inspection.....................................................................................................................58
6.2 Periodic Calibration ....................................................................................................................58
6.3 Multiple IFPSMC Box Recalibration...........................................................................................58
6.3.1 Removing and Replacing the IFPS Card for Recalibration..............................................59

Manual, F/T Sensor, Data Acquisition (DAQ) Systems
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7. Troubleshooting ..................................................................................................................... 62
7.1 Errors with Force and Torque Readings...................................................................................63
7.2 Detecting Failures (Diagnostics) ...............................................................................................64
7.2.1 Detecting Connection Issues............................................................................................64
7.2.2 Detecting Cable Problems................................................................................................64
7.2.3 Detecting Sensitivity Changes..........................................................................................64
8. Regulatory Information.......................................................................................................... 65
8.1 Electromagnetic Compatibility...................................................................................................65
8.2 RoHS Compliance.......................................................................................................................65
8.3 Safety Standards.........................................................................................................................65
9. Drawings ................................................................................................................................. 66
9.1 9105-PS-1 – DAQ Power Supply ................................................................................................66
9.2 9105-IFPS-1 – DAQ Interface Power Supply.............................................................................67
9.3 9105-IFPSMC Multiple IFPS Box................................................................................................68
10. Terms and Conditions of Sale............................................................................................... 69
Appendix A – Tool Transformation.............................................................................................. 70

Manual, F/T Sensor, Data Acquisition (DAQ) Systems
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Glossary
Term Denition
Accuracy See Measurement Uncertainty.
ActiveX Component A reusable software component for the Windows applications.
BNC
Calibration File A computer le containing transducer calibration information. This le must match the transducer
serial number and is required for operation.
Compound Loading Any load that is not purely in one axis.
DAQ Data Acquisition device.
FS Full-Scale.
F/T Force and Torque.
Fxy The resultant force vector comprised of components Fx and Fy.
Hysteresis A source of measurement caused by the residual effects of previously applied loads.
IFPS InterFace Power Supply box.
IFPSMC Multiple InterFace Power Supply box.
IP
LabVIEW A graphical programming environment created for data acquisition tasks by National Instruments.
Manual Calculations Programmatically calculating force and torque values without using the ATI DAQ F/T component.
MAP Mounting Adapter Plate. The MAP part of the transducer is attached to the xed surface or robot
arm.
Maximum Single-Axis
Overload The largest amount of pure load (not compound loading) that the transducer can withstand without damage.
Measurement Uncertainty The maximum expected error in measurements, as specied on the calibration certicate.
NI National Instruments Corporation, the owner of the “National Instruments” and “LabVIEW”
trademarks. (www.ni.com)
OEM
Overload The condition where a load greater than the transducer can measure is applied, resulting in
saturation of the transducer, and cause irreparable damage.
PC Card A small computer card for use in most laptop computers.
PCMCIA Card See PC Card. (PCMCIA has been renamed PC Card by its standards organization.)
Point of Origin The point on the transducer from which all forces and torques are measured.
PS Power Supply box.
Quantization The process of the continuously varying transducer signal being converted into discrete digital
values. Usually used when describing the change from one digital value to the next.
Resolution The smallest change in load that can be measured. The resolution is usually much smaller than
accuracy.
Saturation The condition where the transducer or data acquisition hardware has a load or signal outside of its
sensing range.
Sensor System The entire assembly consisting of parts from transducer to data acquisition card.
TAP Tool Adapter Plate. The TAP part of the transducer is attached to the load that is to be measured.
TIF A larger transducer that has integrated electronics to condition the transducer signal.
Tool Transformation Mathematically changing the measurement coordinate system by translating the origin and/or
rotating the axes.
Transducer The component that converts the sensed load into electrical signals.
TW Small transducers that do not have integrated electronics for conditioning the transducer signal
require the use of a interface power supply box, which houses the electronics.
Txy The resultant torque vector comprised of components Tx and Ty.
Visual Basic A Microsoft programming environment for developing Windows-based applications.

Manual, F/T Sensor, Data Acquisition (DAQ) Systems
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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. More specic notications are
imbedded within the sections of the manual where they apply.
1.1 ExplanationofNotications
The following notications are specic to the product(s) covered by this manual. It is expected that the user
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 transducer selected is rated for maximum loads and moments expected
during operation. Refer to F/T Transducer Manual (9620-05-Transducer Section—Installation and Operation
Manual) or contact ATI Industrial Automation for assistance. Particular attention should be paid to dynamic
loads caused by robot acceleration and deceleration. In high acceleration or deceleration situations, these
forces can greatly exceed the value of static forces.
1.3 Safety Precautions
CAUTION: Do not remove any fasteners, or disassemble transducers, without a
removable mounting adapter plate. Doing so can cause irreparable damage to the
transducer and void the warranty. Leave all fasteners in place and the transducer in its
assembled state. This applies to Nano, Mini, IP-rated, and some Omega transducers.
CAUTION: Do not probe any openings in the transducer. This will damage the
instrumentation.
CAUTION: Do not exert excessive force on the transducer. The transducer is a
sensitive instrument and can be damaged by applying a force that exceeds any of
the single-axis overload values of the transducer, causing irreparable damage. Small
Nano and Mini transducers can easily be overloaded during installation. Refer to the
F/T Transducer manual (9620-05-Transducer Section) for specic transducer overload
values.

Manual, F/T Sensor, Data Acquisition (DAQ) Systems
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2. Product Overview
The DAQ Force/Torque sensor system is a multi-axis force and torque sensor system that simultaneously measures
forces (Fx, Fy, and Fz) and torques (Tx, Ty, and Tz). Components are available for Single TW Transducer DAQ
Systems, TIF Transducer DAQ Systems, and Multiple TW Transducer DAQ Systems. Other equipment is available
such as rack mounted equipment, BNC interface boxes, IP rated Transducers, IP rated cables, OEM interface
boards, cable extensions, and many DAQ device and card options.
2.1 System with a TW Transducer, IFPS Box, and USB DAQ Device
Typically DAQ systems are limited to a single transducer, PS or IFPS box. DAQ devices with 64 pin screw
terminals can be used to support two transducers and two PS or IFPS boxes. Refer to Table 4.1 for additional
required screw terminal connections.
ATW Transducer system may consist of the following components:
• TW Transducer
• Interface power supply (IFPS)
• Data Acquisition (DAQ) Device or Data Acquisition (DAQ) card
• DAQ Software, running on a laptop or desktop
• Supporting power supplies for IFPS or DAQ device
• Cable from IFPS to DAQ Device or DAQ card
• USB cable from USB DAQ device to PC
Figure 2.1—System with a Single TW Transducer, IFPS Box, and USB DAQ Device
USB Data Acquisition Device
with Screw Terminals
USB Cable
12 Volt Wall Mount Power Supply, 2A, 24 W
(9105-PS-KTPS24-12020MP)
TW Transducer
(9105-TW-MINI58 Shown)
DAQ Interface Power Supply
(9105-IFPS-1)
Unterminated DAQ Power
Supply Cable
(9105-C-PS-U-X)
Laptop running DAQ Software
(9030-05-1001 Software)

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2.2 System with a TIF Transducer, PS Box, and DAQ Card
A TIF Transducer system may consist of the following components:
• TIF Transducer
• Power supply (PS)
• Data Acquisition (DAQ) Device or Data Acquisition (DAQ) card
• DAQ Software, running on a laptop or desktop
• Supporting power supplies for PS or DAQ device
• Transducer cable
• DAQ Cable from PS to DAQ Device or DAQ card
Figure 2.2—System with a Single TIF Transducer, PS Box, and DAQ Card
Desktop running
DAQ Software
Data Acquisition
Card (9105-M1PCI)
Transducer
(9105-TIF-THETA Shown)
DAQ Transducer Power
Supply (9105-PS-1)
DAQ Cable from Power Supply
to VHDCI 68-pin Connector
(9105-C-PS-V68-X)
12 Volt Wall Mount Power Supply, 2A, 24 W
(9105-PS-KTPS24-12020MP)
(9030-05-1001 Software)

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2.3 System with Multiple Transducers, IFPSMC Box, and a USB DAQ Device
A Multiple Transducer system may consist of the following components:
• Up to six TW Transducers
• Multi-sensor Interface Box (Multiple IFPS)
• Data Acquisition (DAQ) Device
• DAQ Software, running on a laptop or desktop
• Supporting power supplies for DAQ device or Multiple IFPS
(Power supply included with Multiple IFPS)
• USB cable from USB DAQ device to PC
• DAQ Cables from Multi-sensor Interface box (IFPSMC) to a DAQ Device or Card
Figure 2.3—System with Multiple Transducers, IFPSMC Box, and a USB DAQ Device
TW Transducer
(9105-TW-MINI58 Shown)
USB DAQ Device
Power Supply for
USB DAQ Device
USB Cable
Laptop running DAQ Software
(9030-05-1001 Software)
Multi-sensor Interface Box
(9105-IFPSMC-6 Shown)
(2) DAQ Shielded Cable
( 9105-C-SH6868EPM-1)
9105-C-PS-IFPSMC
IFPSMC M-Series Power Supply
(Included with Multi-sensor Interface Box)

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2.4 System with Multiple Transducers, IFPSMC Box, and a DAQ Card
A Multiple Transducer system may consist of the following components:
• Up to six TW Transducers
• Multi-sensor Interface Box (Multiple IFPS)
• Data Acquisition (DAQ) Card
• DAQ Software, running on a laptop or desktop
• Supporting power supplies for DAQ device or Multiple IFPS
(Power supply included with Multiple IFPS)
• DAQ Cables from Multi-sensor Interface box (IFPSMC) to a DAQ Device or Card
Figure 2.4—System with Multiple Transducers, IFPSMC Box, and a DAQ Card
Desktop running DAQ Software
(9030-05-1001 Software)
PCI DAQ Card
(9105-M1PCI6225)
9105-C-PS-IFPSMC
IFPSMC Power Supply
(Included with Multi-sensor Interface Box)
Multi-sensor Interface Box
(9105-IFPSMC-6 Shown)
TW Transducer
(9105-TW-MINI58 Shown)
(2) DAQ Shielded Cable
(9105-C-SHC6868EPM-1)

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2.5 System with Multiple Transducers, IFPSMC Box, Wired I/O Connections for
User Devices, and USB DAQ Device
A Multiple Transducer system may consist of the following components:
• Up to six TW Transducers
• Multi-sensor Interface Box (Multiple IFPS)
• Data Acquisition (DAQ) Device
• DAQ Software, running on a laptop or desktop
• Supporting power supplies for DAQ device or Multiple IFPS
(Power supply included with Multiple IFPS)
• USB cable from USB DAQ device to PC
• DAQ Cables from Multi-sensor Interface box (IFPSMC) to I/O connector Blocks and DAQ device
Figure 2.5—System with Multiple Transducers, IFPSMC Box, Wired I/O Connections and DAQ Device
USB Cable
Laptop running DAQ Software
(9030-05-1001 Software)
TW Transducer
(9105-TW-MINI58 Shown)
Multi-sensor Interface Box
(9105-IFPSMC-6 Shown)
USB DAQ Device
(2) NI SCB-68 Shielded I/O
Connector Block with 68-pin
Connector (9105-SCB-68)
Connector Blocks
for Wired Connections
to Other User Devices
IFPSMC Power Supply
(9105-C-PS-IFPSMC)
(Included with IFPSMC Box)
(2) DAQ Shielded Cable
(9105-C-SH6868EPM-1)
(2) DAQ Shielded Cable
(9105-C-SH6868EPM-1)
Power Supply for
USB DAQ Device

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2.6 Transducer
The transducer is a compact, durable, monolithic structure that converts force and torque into analog strain
gage signals. The transducer is commonly used as a wrist sensor mounted between a robot and a robot end-
effector. Figure 2.6 shows the transducers with a standard tool adapter.
Large Gamma, Delta, Theta, and Omega transducers have integrated interface electronics and require a
separate cable to connect to a power supply box. Small Nano and Mini transducers do not have integrated
interface electronics but have an integrated cable to connect to an interface power supply box
For further information, refer to the 9620-05-Transducer Section— Installation, Operation Manual for
mounting, cable routing, specications (i.e., resolution, weight), and mechanical drawings.
Figure 2.6—Transducer
Transducer Connector
Mounting Adapter Plate (MAP)
Tool Adapter Plate (TAP)
Large Transducer with
Interface Electronics
Tool Adapter Plate (TAP)
Mounting Adapter Plate (MAP)
Integral Cable
Small Transducer without
Interface Electronics
2.7 Transducer Cable
The high-ex life transducer cable is electrically shielded to protect transmission from the transducer Power
Supply or Interface Power Supply boxes. Small transducers have the cable integrally attached. Larger
transducers have a separate transducer cable, see Figure 2.7.
Refer to the 9620-05-Transducer Section— Installation, Operation Manual for cable routing and minimum
bend radius.
Figure 2.7—Transducer Cable for 9105-TIF Transducers
Transducer End
(Female Connector)
Power Supply Box End
(Male Connector)

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2.8 Interface Power Supply Box
The Interface Power Supply (IFPS) box is used with the small Nano and Mini transducers. The IFPS Box
supplies power to the transducer and supplementary electronics; it also conditions the transducer signals
utilized by the data acquisition system.
Power to the IFPS box can be provided through either the 12 V wall-mounted power supply included with
the IFPS box; or a 5 V source from the DAQ device through the 26-Pin male connector located on the box.
The IFPS box only requires one source; if both sources are connected, the IFPS box will use the 12 V source
and the 5 V source will be ignored.
Figure 2.8—Interface Power Supply
12-pin Female
Transducer Connector
Interface Power Supply
Box (9105-IFPS-1)
26-pin Male
DAQ Device Connector
12 V Wall Mount Power Supply, 2 A, 24 W
(9105-PS-KTPS24-12020MP)

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2.9 Power Supply Box
The Power Supply (PS) box is used with larger transducers that have on-board interface electronics. To
connect to the transducer, the PS is equipped with a 20-Pin female connector for the transducer cable
connection. A 12 V wall-mounted power supply is included with the PS box. The PS box can be powered
using the power supply cable from the DAQ device. A 26-pin male connector provides the interface to the
DAQ Device.
Power to the PS box can be provided through either the 12 V wall-mounted power supply included with
the PS box; or a 5 V source to the 26-Pin male connector located on the box. The PS box only requires
one source; if both sources are connected, the PS box will use the 12 V source and the 5 V source will be
ignored.
Figure 2.9—Power Supply
20-pin Female
Transducer Connector
Power Supply
Box (9105-PS-1)
26-pin Male
DAQ Device Connector
12 V Wall Mount Power Supply, 2 A, 24 W
(9105-PS-KTPS24-12020MP)
2.10 Power Supply Cable
The power supply cable connects the Power Supply box or Interface Power Supply box to the DAQ
Device or DAQ card. This cable usually has a connector on the data acquisition end but is also available
unterminated.
Figure 2.10—Power Supply Cables
26-pin Female Connector
to Power Supply or
Interface Power Supply
Connection
to DAQ Device
Unterminated
Connection
to DAQ Device

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2.11 Multiple IFPSMC Boxes
Multiple-IFPSMC boxes allow for multiple transducers to be connected to one or two data acquisition cards.
In cases where numerous transducers are utilized, a pair of data acquisition cards may be necessary.
Figure 2.11—A Multiple 9105-IFPSMC Box
Multi-sensor Interface Box
(9105-IFPSMC-6 Shown)
12-pin Female
Connector
9105-C-PS-IFPSMC
IFPSMC power supply
(Included with Multi-sensor Interface Box)
68-pin Connector 0
from User
68-pin Connector 0
to DAQ Card
68-pin Connector 1
to DAQ Card
68-pin Connector 1
from User
Power Connector
Front View Rear View
The Multiple-IFPS box connects to the supplied data acquisition card using standard cabling. The power
connection and all data acquisition cabling are located on the back of the box. Connections to the 9105-TW-
type transducers are located at the front of the box. The box also features slotted mounting feet for ease in
mounting it to a surface. An external wall-mounted power supply is included with the box.
NOTICE: Like the standard DAQ F/T systems, the transducer signals from the multiple-IFPS box
are congured for differential input channels.
NOTICE: The ATI demo software and National Instruments driver require a scan list that
indicates which channels are used for a transducer. For example, a 9105-IFPSMC-3 connected
to the DAQ card dev1 would require the scan list dev1/ai18:23 to read transducer 2. The same
system would use the scan list dev1/38:39,dev1/ai48:51 to read transducer 4.
2.12 DAQ Shielded Cables from Multiple IFPSMC Box to DAQ Device
The DAQ shielded cable connects the Multiple Interface Power Supply box to a DAQ Device or DAQ card.
Figure 2.12—DAQ Shielded Cables
68-pin D-Type Connector
to Multiple IFPSMC Box
68-pin D-Type Connector
to DAQ device
68-pin D-Type Connector
to Multiple IFPSMC Box
68-pin VHDCI Connector
to DAQ device
DAQ Shielded Cable
(9105-C-SH6868EPM-1)
DAQ Shielded Cable
(9105-C-SHC6868EPM-1)

Manual, F/T Sensor, Data Acquisition (DAQ) Systems
Document #9620-05-DAQ.indd-20
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
17
2.13 Data Acquisition System
The Data Acquisition System converts transducer signals from analog voltages into data a computer can
process. Using ATI software, transducer data is converted to force and torque values. The Data Acquisition
System also supplies raw power to the transducer system. A variety of Data Acquisition components are
available to meet the needs of numerous applications. Contact ATI for more information.
Figure 2.13—Data Acquisition System
9105-SCB-68
NI SCB-68 Shielded I/O Connector
Block with 68-pin Connector
Power Supply for
USB DAQ Device
USB DAQ Device
with Screw Terminals
USB Cable
DAQ Card
(9105-M1PCI)
USB DAQ Device
PCI DAQ Card
(9105-M1PCI6225)
2.14 F/T Software CD
The F/T software CD contains the software and calibration data needed for the user computer to convert
transducer readings into usable force and torque output. Included on the CD are Microsoft Windows drivers,
sample programs, C source code, and detailed help les. Download the most recent release of the DAQ
software at http://www.ati-ia.com/download/DAQ_FT/DAQ%20FT%20Software.htm.
NOTICE: The CD included with the DAQ system contains extensive help les on its software
that will benet both the beginner and the advanced user. The CD includes a spreadsheet to
help advanced users with calculations. Refer to the Advanced Techniques section of the help le
for more information.
2.15 Interface Plates
Larger transducers come with a standard mounting adapter to mechanically attach the transducer to the robot
arm or apparatus that will be applying the force. The transducer also has a standard tool adapter with an ISO
9409-1interface for Gamma, Delta, and Theta models for attaching your tool.
The mounting adapter consists of:
• Mounting adapter plate
• Mounting screws
For further information, refer to the 9620-05-Transducer Section— Installation, Operation Manual for
specications (i.e., resolution, weight) and mechanical drawings.

Manual, F/T Sensor, Data Acquisition (DAQ) Systems
Document #9620-05-DAQ.indd-20
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
18
3. System Functionality
This section provides a functional outline of the F/T system. The F/T system is broken into four areas:
Mechanical, Electrical, Load Calculations, and ATI DAQ Software.
3.1 Mechanical Description
The transducer responds to applied forces and torque in accordance with Newton’s third law which states:
For every action there is always an opposed or equal reaction; or, the mutual action of two bodies upon each
other are always equal, and directed to contrary parts.
Figure 3.1—Applied Force and Torque Vector on Transducer
The force applied to the transducer exes three symmetrically placed beams using Hooke’s law:
s = E·e
s = Stress applied to the beam (s is proportional to force)
E = Elasticity modulus of the beam
e = Strain applied to the beam
NOTICE: 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 act as strain-sensitive resistors. The resistance of
the strain gage changes as a function of the applied strain as follows:
∆R = Sa·Ro·e
∆R = Change in resistance of strain gage
Sa= Gage factor of strain gage
Ro= Resistance of strain gage unstrained
e = Strain applied to strain gage

Manual, F/T Sensor, Data Acquisition (DAQ) Systems
Document #9620-05-DAQ.indd-20
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
19
3.2 Electronic Hardware
The electronic hardware measures changes in resistance; the software described in Section 3.4—ATI DAQ
Software, converts the changes to force and torque components.
Figure 3.2 and Figure 3.3 depict an example of the electronic hardware used in a DAQ system. The gures
also illustrate how the transducer’s voltage signal, created as a response to applied forces and torques are
processed and routed to the DAQ card for conversion to usable force and torque data.
Figure 3.2—Electronic Hardware Outline Power supplied Through Data Acquisition Hardware
Data Acquisition
Hardware
Transducer
Composite Loading
Information
(High-Level Voltages)
Composite Loading
Information
(Low-Level Voltages)
Interface
Electronics
Power Supply
Electronics
Precision
Power
Raw
Power
Digital
Information
User's Computer
Data Acquisition card drivers receive
transducer load information.
DAQ F/T software and transducer
calibration data convert transducer
load information into useable force and
torque data.
Figure 3.3—Electronic Hardware Outline Power supplied by Separate Power Supply
Data Acquisition
Hardware
Power Supply
Transducer
Composite Loading
Information
(High-Level Voltages)
Composite Loading
Information
(Low-Level Voltages)
Interface
Electronics
Power Supply
Electronics
Precision
Power
Raw
Power
Digital
Information
User's Computer
Data Acquisition card drivers receive
transducer load information.
DAQ F/T software and transducer
calibration data convert transducer
load information into useable force and
torque data.

Manual, F/T Sensor, Data Acquisition (DAQ) Systems
Document #9620-05-DAQ.indd-20
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
20
3.3 Load Calculation
Calculations must be performed to derive the loads sensed at the transducer. The transducer reports the
loads as composite values that require conversion to values corresponding to the six Cartesian axes. ATI
supplies software to perform these calculations. Both the software and the transducer’s calibration values
can be accessed from the media that accompanies the transducer. Figure 3.4 shows the calculation required
to convert strain gage data into force and torque data. This method can be used in Matlab, or through other
software that enables manual matrix calculations.
NOTICE: The CD included with the DAQ system contains extensive help les on its software
that will benet both the beginner and advanced user. The CD even includes a spreadsheet to
help advanced users with calculations, see the Advanced Techniques section of the help le for
more information.
Figure 3.4—FT Matrix Calculations
STG0
STG1
STG2
STG3
STG4
STG5
















bias0
bias1
bias2
bias3
bias4
bias5
















bSTG0
bSTG1
bSTG2
bSTG3
bSTG4
bSTG5
















FxG0
FyG0
FzG0
TxG0
TyG0
TzG0
FxG1
FyG1
FzG1
TxG1
TzG1
TzG1
FxG2
FyG2
FzG2
TxG2
TyG2
TzG2
FxG3
FyG3
FzG3
TxG3
TyG3
TzG3
FxG4
FyG4
FzG4
TxG4
TyG4
TzG4
FxG5
FyG5
FzG5
TxG5
TyG5
TzG5
















Runtime Matrix
Bias Vector for
Offset Correction
Operations marked RED are to be performed
for each measurement sample.
Operations marked BLUE are to be performed
only once at the beginning of a measurement.
Transducer
ATI Amplifier
(if included)
Customer’s
Data Acquisition
System
6 gage output
voltages data
Transducer
Calibration
File
Open Excel sheet on the website at
http://www.ati-ia.com/Products/ft/
software/daq_software.aspx, called
“DAQ F/T Manual Calculations”
Working
calibration matrix
Determine Offset
Correction Voltage
bias0
bias1
bias2
bias3
bias4
bias5
















Note:Temperature compensation
is usually not required. Only older
models may need software
temperature compensation.
Calibration Matrix
Strain
Gage
Data Force and
Torque Data
(Fx Fy Fz Tx Ty Tz)
bSTG0
bSTG1
bSTG2
bSTG3
bSTG4
bSTG5
















Load in the FTxxxxx.cal file and copy the working matrix
from the spreadsheet to the blue square area.
3.3.1 Strain Gage Data
Strain gage data represents amplied voltages from the transducers that are converted to digital
data by the Data Acquisition system. Use the demo program to monitor the strain gage data during
installation, this can be use to avoid saturation errors which can damage the transducer.