ATI Technologies Axia80-M8 User manual

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

Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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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 of ATI IndustrialAutomation, 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.
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 anATI
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. EtherCAT®is a registered trademark and patented technology, licensed
by BeckhoffAutomation GmbH, Germany.
FCC Compliance-Class A
This devices complies with Part 15 Subpart B of the FCC Title 47. 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.
Any modications to the device could impact compliance. It is the user’s responsibility to certify the device remains
compliant after modications.
“Electromagnetic Compatibility”
This device complies with EMC Directive 2014/30/EU and conforms to the following standards: EN61000-6-4 CISPR
16-2-3, IEC/EN61000-4-2, IEC/EN61000-4-3, IEC/EN61000-4-4, IEC/EN61000-4-5, IEC/EN61000-4-6, IEC/
EN61000-4-8, IEC/EN61000-4-11.
RoHS Compliance
This product conforms to EU Directive CE 2015/863 (RoHS).

Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
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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. Model (e.g., Axia80-M20)
3. Calibration (e.g., US-15-50, SI-65-6, etc.)
4. Accurate and complete description of the question or concern
• For the status code; refer to Section 5.2.1.7—Object 0x6010: Status Code.
5. Computer and software information (operating system, PC type, drivers, and
application software)
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, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
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Statement of Compliance

Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
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Table of Contents
Foreword.......................................................................................................................................... 2
Statement of Compliance ............................................................................................................... 4
Glossary........................................................................................................................................... 7
1. Safety......................................................................................................................................... 9
1.1 ExplanationofNotications.........................................................................................................9
1.2 General Safety Guidelines............................................................................................................9
1.3 Safety Precautions......................................................................................................................10
2. Product Overview....................................................................................................................11
2.1 Overview of Axia Models............................................................................................................12
3. Installation .............................................................................................................................. 13
3.1 Interface Plates............................................................................................................................13
3.2 Routing the Cable........................................................................................................................15
3.3 Installing the Sensor to the Robot.............................................................................................18
3.4 Removing the Sensor from the Robot.......................................................................................19
3.5 Pin Assignment for the EtherCAT and Power Connection......................................................20
3.5.1 Pin Assignment : 6-pin Male M8 ZC22 Connector ...........................................................20
3.5.2 Pin Assignment : 8-Pin Male M12 ZC28 Connector.........................................................20
3.5.3 Pin Assignment for Cable P/N 9105-C-ZC28-U-RJ45S-X................................................21
3.5.3.1 Branch 1, Unterminated End for Power Connection.........................................21
3.5.3.2 Branch 2, RJ45 Connection for EtherCAT........................................................21
3.6 Accuracy Check Procedure........................................................................................................22
4. Operation ................................................................................................................................ 24
4.1 Sensor Environment...................................................................................................................24
4.2 LED Self-Test Sequence and Functions....................................................................................24
4.2.1 LED Self-Test Sequence ..................................................................................................24
4.2.2 EtherCAT Link/Activity LED..............................................................................................24
4.2.3 Run LED...........................................................................................................................24
4.2.4 Sensor Status LED...........................................................................................................25
4.3 Sample Rate.................................................................................................................................25
4.3.1 Sample Rate Versus Data Rate .......................................................................................25
4.4 Low-pass Filter............................................................................................................................26
4.5 Tool Transformation....................................................................................................................29
4.5.1 Avoid Overloading the Sensor During Tool Transformation..............................................31

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Document #9610-05-EtherCAT Axia-09
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5. EtherCAT Bus Interface ......................................................................................................... 32
5.1 PDO Interface...............................................................................................................................32
5.2 EtherCAT Dictionary Objects (SDO Data) .................................................................................32
5.2.1 ATISpecicAreaObjects.................................................................................................33
5.2.1.1 Object0x2019:ProductDescription .................................................................33
5.2.1.2 Object0x2020:ToolTransformation .................................................................34
5.2.1.3 Object0x2021:Calibration ...............................................................................34
5.2.1.4 Object0x2080:DiagnosticReadings................................................................36
5.2.1.5 Object0x2090:Version.....................................................................................37
5.2.1.6 Object0x6000:ReadingData...........................................................................37
5.2.1.7 Object0x6010:StatusCode.............................................................................38
5.2.1.8 Status Code: Force/Torque Out of Range ........................................................39
5.2.1.9 Object0x6020:SampleCounter.......................................................................40
5.2.1.10 Object0x6030:GageData ...............................................................................40
5.2.1.11 Object0x7010:ControlCodes..........................................................................41
5.2.2 EtherCATCommunicationAreaObjects ..........................................................................42
5.2.2.1 Object0x1000:DeviceType.............................................................................42
5.2.2.2 Object0x1008:DeviceName ...........................................................................42
5.2.2.3 Object0x1018:Identity .....................................................................................43
5.2.2.4 UnusedEtherCATObjects................................................................................44
5.2.3 HowtoInterpretHexadecimalOutput ..............................................................................45
5.3 Establishing Communication with the EtherCAT Axia Sensor ...............................................46
6. Maintenance............................................................................................................................ 46
6.1 Periodic Inspection.....................................................................................................................46
6.2 Periodic Calibrating ....................................................................................................................46
7. Troubleshooting ..................................................................................................................... 47
7.1 Errors with Force and Torque Readings...................................................................................48
8. Specications ......................................................................................................................... 49
8.1 Storage and Operating Conditions............................................................................................49
8.2 ElectricalSpecications .............................................................................................................49
8.3 Calibration Ranges......................................................................................................................49
9. Terms and Conditions of Sale............................................................................................... 50

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Document #9610-05-EtherCAT Axia-09
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Glossary
Term Denition
ActiveConguration Thecongurationthatthesystemiscurrentlyusing.
ADC Analog-to-digital converter.
Calibration Thefactory-supplieddatausedbytheEtherCATAxiasensorsoitcan reportaccuratesensorreadings.Calibrationsapplytoaspecicloading
range.
CoE CANopenoverEtherCATisthepreferredembeddedprotocolforconguring
EtherCATdevices.UsedwithinSDOtoencodethecongurationdata.
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.
Coordinate Frame See Point of Origin.
Data Rate How fast data can be output over a network.
DINT Signed double integer (32 bit)
ESI EtherCATSlaveInformationisaletype.
EtherCAT Anindustrialautomationeldbus.
FoE File access over EtherCAT, the preferred embedded protocol for uploading
newrmwaretoEtherCATdevices.
Force Thepushorpullexertedonanobject.
FS Full-Scale.
F/T Force/Torque.
Fxy The resultant force vector comprised of components Fxand Fy.
Hysteresis A source of measurement error caused by the residual effects of previously
applied loads.
INT Signed integer (16 bit)
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.
ISR Interrupt service routine
Mounting Adapter Plate | MAP Thesurfaceofthesensorthatattachestoaxedsurfacelikeaninterface
plate or robot arm.
N/A Not Applicable
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.
PDO ProcessDataObject,aprotocolforreadingandwritingreal-timeprocess
information cyclically.
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.

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Term Denition
Power Cycle When a user removes and then restores power to a device.
Resolution The smallest change in load that can be measured.
Sample Rate How fast the ADCs are sampling inside the unit.
SDO ServiceDataObject,aprotocolforreadingandwritingconguration
information acyclically.
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.
SINT Signed short integer (8 bit)
Status Bit A unit of computer data sent from the ATI F/T sensor.
STRINGnSting of ncharacters
STRING(8) A data type representing (8) characters, using (8) bytes.
STRING(30) A data type representing (30) characters, using (30) bytes.
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isexpressedas:Torque=ForcexMomentArm
Distance.
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 circuits.
Txy The resultant torque vector comprised of components Txand Ty.
UDINT A (32) bit data type representing an unsigned integer.
UINT A (16) bit data type representing an unsigned integer.
USINT An (8) bit data type representing an unsigned integer.

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Document #9610-05-EtherCAT Axia-09
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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 selected is rated for maximum loads and torques 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.

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1.3 Safety Precautions
CAUTION: Modifying or disassembly of the sensor could cause damage and
void the warranty.
CAUTION: Probing openings in the sensor causes damage to the instrumentation.
Avoid prying into 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 transport as the impacts can damage the sensor’s performance.
Refer to Section8—Specications for more information about rated ranges.

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2. Product Overview
The EtherCAT Axia F/T sensor system measures six components of force and torque (Fx \ Fy \ Fz\ Tx\ Ty\ Tz)
and streams this data to customer devices via EtherCAT eldbus (refer to Section 5.1—PDO Interface). To user
EtherCAT, the user needs a software interface and computer hardware that it compatible with EtherCAT. Free,
downloadable software such as TwinCAT is available online for users with a Windows®operating system.
The sensor’s 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 drawing on the ATI website). The sensor is IP64
rated. An M8 6-pin male connector is for power and Ethernet. For the pin assignments, refer to Section 3.5—Pin
Assignment for the EtherCAT and Power Connection.
The customer drawing, ATI P/N 9230-05-1543, is available on the ATI website: https://www.ati-ia.com/app_
content/Documents/9230-05-1543.auto.pdf.
The Axia sensor provides the following features:
• Set bias and clear bias
• Programmable low-pass ltering
• LED indicator for Run, EtherCAT Link, and Sensor Status (refer to Section 4.2—LED Self-Test Sequence and
Functions for more information)
Figure 2.1—EtherCAT Axia F/T Sensor
Run LED
Sensor Status LED
Mounting Side
Tool side
IP64 Seal
Link/Activity LED
Run LED
Sensor Status LED
Mounting Side
to robot or fixture.
Tool side
(For Customer
Tooling)
6-Pin Male M8 Connector
for Power and
Communication

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2.1 Overview of Axia Models
The Axia sensor is available in three different models. An overview of each model is summarized in the
following table:
Table 2.1—Axia Models
Model Part Number Number of Identifying
Grooves1Material
Axia80-M8 9105-ECAT-Axia80-M8 3Aluminum
Axia80-M20 9105-ECAT-Axia80-M2020
Axia80-M50 9105-ECAT-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 differentiate the sensor models.
2. Thispartnumberusedtobe9105-ECAT-Axia80.
3. For calibration ranges, refer to Section 8.3—Calibration Ranges.
Figure 2.2—Identifying Grooves (Axia80-M8 shown as a reference)
Identifying
Groove

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3. Installation
WARNING: Performing maintenance or repair on the sensor when circuits (e.g. 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: Modicationordisassemblyofthesensorcouldcausedamageandvoidthe
warranty. Use the supplied mounting bolt pattern and the provided tool side mounting bolt
pattern to mount the sensor to the robot and customer tooling to the sensor (refer to the
customer drawing on the ATI website).
CAUTION: Usingfastenersthatexceedthecustomerinterfacedepthpenetratesthebodyof
the sensor, damages the electronics, and voids the warranty (refer to the customer drawing
on the ATI website).
CAUTION: Thread locker applied to fasteners must not be used more than once. Fasteners
may become loose and cause equipment damage. Always apply new thread locker when
reusing fasteners.
CAUTION: Avoid damage to the sensor from Electro-Static 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.
NOTICE: Depending on the maintenance or repair being performed, utilities to the sensor may not
need to be disconnected.
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 plate(s) are required, ATI can supply custom robot mounting and tool interface
plates. For technical information on the sensor’s mounting features refer to the customer drawing on
the ATI website.
CAUTION: Incorrect installation of robot mounting and tool interface plates will result 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, the consider the following points:
• The interface plate should include bolt holes for mounting fasteners as well as dowel pin and a boss for
accurate positioning to the robot or customer’s device.
• The thickness of the interface plate must provide suf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 drawing 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 8—Specications.
• The interface plate must provide a at and parallel mounting surface for the sensor.
Figure 3.1—Adapter 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
B
A

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15
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, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
16
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. Af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.

Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
17
CAUTION: Do not cable ties or zip ties to bundle cables or restrain the cable to the
robotarm.Directlyaf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 cables do not bend less than the minimum bending radius
speciedinTable 3.1. A bend 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 Spliced Cable Branch
Description
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-ZC22-ZC28-X N/A
6 (.24) 25 1 50 2 180°/m or
55°/ft
9105-C-ZC28-U-
RJ45S-X
Branch 1,
Power
Branch 2,
EtherCAT
Notes:
1. Temperatureaffectscableexibility.ATIrecommendsincreasingtheminimumdynamicbendingradiusfor
lower temperatures.

Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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3.3 Installing the Sensor to the Robot
Parts required: Refer to Figure 3.5 and (the customer drawing on the ATI website).
Tools required: 4 mm hex key
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 the customer drawing on
the ATI website.
• 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 adapter plate.
a. Using a 4 mm hex key, secure the sensor to the mounting adapter plate with the (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 does not properly detect loads.
5. Connect the cable(s) to the sensor and customer application.
a. Connect a power and EtherCAT cable (ATI P/N 9105-C-ZC22-ZC28-X) to the sensor’s connection.
Tighten to 4.43 in-lbs (0.5 Nm).
b. Connect the branched cable (ATI P/N 9105-C-ZC28-U-RJ45S-X) to the cable from step a. Tighten
to 7.08 in-lbs (0.8 Nm).
c. Connect the RJ45 and power connections to the customer application.
NOTICE: For the LED outputs that occur whenever power is applied to the sensor, refer to
Section 4.2.1—LED Self-Test Sequence.
6. Properly restrain and route the power and EtherCAT cable; refer to Section 3.2—Routing the Cable.
7. After installation is complete, the sensor is ready for an accuracy check (refer to Section 3.6—Accuracy
Check Procedure).
8. Safely start normal operation.

Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
19
Figure 3.5—Installation of the Sensor to the Robot
Power and
EtherCAT
Power and EtherCAT Cable to the sensor
(ATI P/N 9105-C-ZC22-ZC28-X)
Tool Side
for Customer Tooling
EtherCAT Axia
Mounting to the Robot
or Interface Plate
Interface Plate
(9105-IP-2118 shown)
Mounting
Dowel Pin
Mounting Fasteners
Robot
(2) Dowel Pin
Power and EtherCAT cable to the customer application
(ATI P/N 9105-C-ZC28-U-RJ45S-X)
Unterminated End for Power
(Branch 1)
RJ45 Connector for EtherCAT
(Branch 2)
Note: Cable lengths are shortened
in the figure for reference only.
Connection
Fasteners
Sensor
3.4 Removing the Sensor from the Robot
Tools required: 4 mm hex key
1. Turn off all energized circuits, for example: electrical.
2. Remove the power and EtherCAT cable from the sensor’s connection.
3. Supporting the customer tooling and/or interface plate, remove the customer supplied screws that attach
to the customer tooling to the sensor.
4. Supporting the sensor, use a hex key to loosen the (6) M5 socket head cap screws that secure to the
sensor to the mounting interface plate or robot.
5. Remove the sensor.

Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
20
3.5 Pin Assignment for the EtherCAT and Power Connection
CAUTION: Ensure the cable shield is properly grounded. Improper shielding on the
cables can cause communication errors and inoperative sensors.
Pin assignments for the power and EtherCAT connection on the sensor and cables are in the following
sections. For supply voltage ratings, refer to the following table or Section 8.2—Electrical Specications.
Table 3.3—Power Supply1
Power Source Voltage Power Consumption
Minimum Nominal Maximum Maximum
DC Power 12 V 24 V 30 V 1.5 W
Notes:
1. The power supply input is reverse polarity protected. If the power and ground to the power supply
inputs are plugged in reverse, then the reverse polarity protection stops the incorrectly wired supply
input from damaging or powering on the sensor.
3.5.1 Pin Assignment : 6-pin Male M8 Connector
Signals and corresponding pin numbers on the M8 connector are in the following table:
Table 3.4—Pin Assignment for the 6-pin, Male, M8 Connector (Power and EtherCAT)
Connector Schematic Pin Number Signal
1
2
6
3
4
5
1 TX+
2 TX-
3 RX+
4 RX-
5 V +
6 V -
3.5.2 Pin Assignment : 8-Pin Male M12 ZC28 Connector
For the 8-pin male M12 ZC28 connector on cable P/N 9105-C-ZC22-ZC28-X that connects
to cable P/N 9105-C-ZC28-U-RJ45S-X, the signals and corresponding pin numbers are in the
following table:
Table 3.5—Pin Assignment for the 8-pin, Male, M12 Connector (Power and Ethernet)
Connector Schematic Pin Number Signal
1 No Connection
2 V +
3 V -
4 TX-
5 RX+
6 TX+
7 No Connection
8 RX-
Shield Shell