ATI Technologies Axia80-M8 User manual

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

Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-09
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • 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 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 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 © (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®and Excel®are registered trademarks of
Microsoft Corporation.
“Electromagnetic Compatibility”
This device complies with EMC Directive 2014/30/EU and conforms to the following standards: CISPR 11,
IEC/EN61000-4-2, IEC/EN61000-4-3 A1 A2, IEC/EN 61000-4-4 A1, IEC/EN61000-4-5, IEC/EN610000-4-6,
IEC/EN61000-4-8
RoHS Compliance
This product conforms to EU Directive CE 2011/65/EU (RoHS).

Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet 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. Transducer model (e.g., Axia, 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.
5. Computer and software information (operating system, PC type, drivers, application
software, and other relevant information about the 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, Ethernet Axia
Document #9610-05-Ethernet Axia-09
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Statement of Compliance

Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-08
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Table of Contents
Foreword.......................................................................................................................................... 2
Statement of Compliance ............................................................................................................... 4
Glossary........................................................................................................................................... 9
1. Safety........................................................................................................................................11
1.1 ExplanationofNotications....................................................................................................... 11
1.2 General Safety Guidelines..........................................................................................................12
1.3 Safety Precautions......................................................................................................................12
2. Product Overview................................................................................................................... 13
2.1 Overview of Axia Models............................................................................................................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.......................................................................................21
3.5 Pin Assignment for the Ethernet and Power Connection........................................................22
3.5.1 Pin Assignment : 6-pin Male M8 ZC22 Sensor Connector...............................................22
3.5.2 Pin Assignment : 8-Pin Male M12 ZC28 Connector.........................................................22
3.5.3 Pin Assignment for Cable P/N 9105-C-ZC28-U-RJ45S-X................................................23
3.5.3.1 Branch 1, Unterminated End for Power Connection.........................................23
3.5.3.2 Branch 2, RJ45 Connection for Ethernet..........................................................23
3.6 Accuracy Check Procedure........................................................................................................24
4. Operation ................................................................................................................................ 26
4.1 Sensor Environment...................................................................................................................26
4.2 LED Outputs ................................................................................................................................26
4.2.1 Self-Test LED Sequence..................................................................................................26
4.2.2 L/A LED............................................................................................................................26
4.2.3 DIAG LED.........................................................................................................................27
4.2.4 Sensor Status LED...........................................................................................................27
4.3 Sample Rate.................................................................................................................................27
4.3.1 Sample Rate Versus Data Rate .......................................................................................27
4.4 Converting Counts Per Force/Torque to F/T Values ................................................................27
4.5 Low-Pass Filter............................................................................................................................28

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4.6 Bias...............................................................................................................................................31
4.7 Tool Transformation....................................................................................................................31
4.7.1 Avoid Overloading the Sensor During Tool Transformation..............................................33
4.7.2 Example of Tool Transformation Functionality Through Telnet.........................................33
4.7.3 Example of Tool Transformation Functionality Through CGI............................................34
4.7.4 Example of Tool Transformation Functionality Through TCP...........................................34
4.8 Status Code .................................................................................................................................35
4.8.1 Status Code: Sensing Range Exceeded..........................................................................35
4.8.2 How to Interpret Hexadecimal Output for the Status Code..............................................37
4.9 Diagnostic Monitoring ................................................................................................................38
5. Connecting Through Ethernet .............................................................................................. 39
5.1 IPAddressCongurationforEthernet......................................................................................39
5.2 Connecting To the ATI Webpages Using a Windows Computer.............................................40
5.3 Finding the Ethernet Axia Sensor on a Network......................................................................43
6. ConguringtheSensorwiththeEthernetAxiaWebPages............................................... 45
6.1 Welcome Page (index.htm).........................................................................................................45
6.2 Snapshot Page (rundata.htm)....................................................................................................46
6.3 Demo Page (demo.htm)..............................................................................................................47
6.4 ADC Settings Page (setting.htm)...............................................................................................47
6.5 Thresholding Page (moncon.htm).............................................................................................48
6.6 F/T CongurationsPage(cong.htm) .......................................................................................51
6.7 Communication Page (comm.htm)............................................................................................52
6.8 System Information Page (manuf.htm) .....................................................................................53
6.9 ATI Web Site Menu item..............................................................................................................53
7. Java®Demo Application ........................................................................................................ 54
7.1 Starting the Demo .......................................................................................................................54
7.2 Data Display with the Demo.......................................................................................................56
7.3 Collecting Data with the Demo...................................................................................................56
7.4 Demo CSV File Format................................................................................................................58
7.5 The Errors Field Display of the Demo.......................................................................................60
7.6 Developing a Customized Java®Application............................................................................60
8. Console Interface Through Telnet ........................................................................................ 61
8.1 Setting-Up Communications......................................................................................................61
8.2 Console Commands....................................................................................................................62
8.3 Secondary Commands for the Query “c” or “s” Command ...................................................64
8.3.1 ExamplesofSecondaryCommands(Speciers).............................................................65
8.4 Console “CAL” | “SET” Command Fields and Values.............................................................66

Manual, F/T Sensor, Ethernet Axia
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9. Common Gateway Interface (CGI) ........................................................................................ 71
9.1 URL Syntax Construction:...................................................................................................................... 71
9.1.1 Assigning a New Values to a Variable..............................................................................71
9.2 CGI Variable: Settings (setting.cgi) ...........................................................................................72
9.3 Thresholding CGI (moncon.cgi).................................................................................................72
9.4 CGIVariable:Congurations(cong.cgi) .................................................................................73
9.5 CGI Variable: Communications (comm.cgi)..............................................................................74
10. TCP Interface .......................................................................................................................... 75
10.1 Command Codes.........................................................................................................................75
10.2 Read F/T Command.....................................................................................................................75
10.3 Read F/T Response.....................................................................................................................75
10.4 Read Calibration Info Command................................................................................................76
10.5 Read Calibration Info Response................................................................................................76
10.6 Write Tool Transform Command................................................................................................77
10.7 Write Monitor Condition Command...........................................................................................77
10.8 Write Response ...........................................................................................................................77
11. System Settings XML Pages ................................................................................................. 78
11.1 SystemandCongurationInformation(netftapi2.xml) ...........................................................78
11.2 Calibration Information (netftcalapi.xml)..................................................................................80
12. UDP Interface Using RDT....................................................................................................... 81
12.1 RDT Protocol ...............................................................................................................................81
12.1.1 RDT Request For Records Structure ...............................................................................82
12.1.2 RDT Records Sent Structure............................................................................................82
12.2 Calculating F/T Values for RDT..................................................................................................83
12.3 Multiple Clients............................................................................................................................83
12.4 Notes on UDP and RDT Mode....................................................................................................83
12.5 Example Code..............................................................................................................................83
13. Maintenance............................................................................................................................ 84
13.1 Periodic Inspection.....................................................................................................................84
13.2 Periodic Calibrating ....................................................................................................................84
14. Troubleshooting ..................................................................................................................... 84
14.1 Errors Powering Up.....................................................................................................................85
14.2 Errors with Communications.....................................................................................................85
14.3 Errors with the Java®Demo .......................................................................................................86
14.4 Errors with Ethernet Axia Webpages ........................................................................................86
14.5 Errors with Force and Torque Readings...................................................................................87

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14.6 Reducing Noise...........................................................................................................................87
14.6.1 Mechanical Vibration........................................................................................................87
14.6.2 Electrical Interference.......................................................................................................87
14.7 Detecting Sensitivity Changes...................................................................................................88
14.8 Improving Ethernet Throughput................................................................................................88
14.8.1 Direct Connection between Axia Ethernet and Host ........................................................88
14.8.2 Choice of Operating System ............................................................................................88
14.8.3 Increasing Operating System Performance .....................................................................88
14.8.4 Avoid Logging the Host to a Company Network...............................................................89
14.8.5 Use a Dedicated Network.................................................................................................89
15. Specications ......................................................................................................................... 89
15.1 Environmental Conditions..........................................................................................................89
15.2 ElectricalSpecications .............................................................................................................89
15.3 Calibration Ranges......................................................................................................................89
16. Drawings ................................................................................................................................. 90
16.1 Axia80 Force/Torque Sensor 9230-05-1543 ..............................................................................90
16.2 Cable, Axia Sensor to 8-pin M12, 3m, 9105-C-ZC22-ZC28-4....................................................92
16.3 Cable, 8-pin M12 Split to Shielded RJ45 and Unterminated power, ground, shield, 4 m,
9105-C-ZC28-U-RJ45S-4 .............................................................................................................93
17. Terms and Conditions of Sale............................................................................................... 94

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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
Calibration The factory-supplied data used by Ethernet Axia sensor so it can report accurate
sensorreadings.Calibrationsapplytoaspecicloadingrange.
CGI CommonGatewayInterface(CGI)isthemethodofusingwebURLstocommunicate
data and parameters back to a web device.
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.
Data Rate How fast data can be output over the network.
DHCP DynamicHostCongurationProtocol(DHCP)isanautomaticmethodforEthernet equipment to obtain an IP address. The Ethernet Axia system can obtain its IP
address using DHCP on networks that support this protocol.
DINT Signeddoubleinteger(32bit)
ENABL Boolean that uses Enabled to represent 1 and Disabled to represent 0
Ethernet A family of computer networking technologies commonly used in local area networks.
Fieldbus A generic term referring to any one of a number of industrial computer networking
standards. Examples include: Ethernet, CAN, Modbus, and PROFINET.
FT or F/T Force and Torque.
Fxy The resultant force vector comprised of components Fxand Fy.
HEXnHexadecimal number of nbits,prexedwith0x
HTTP GET Method Astandardandcommonmethodthatausercanrequestdatafromaspecied resource such as a sensor. HTTP works as a request-response protocol between
client(webbrowser)andserver(thesensor).
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.
IPAddress AnIPAddress(InternetProtocolAddress)isanelectronicaddressassignedtoan Ethernet device so that it may send and receive Ethernet data. IP addresses may be
either manually selected by the user or automatically assigned by the DHCP protocol.
Java™ Java is a programming language often used for programs on web pages. The Ethernet Axia demo is a Java application. Java is a registered trademark of Sun
Microsystems, Inc.
MAC Media Access Controller is the hardware that implements the lowest sub-layer of the
data link layer.
MAC Address MACAddresses(MediaAccessControlAddresses)aretheuniqueaddresses given to every Ethernet device when it is manufactured, to be used as an electronic
Ethernet serial number.

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Term Denitions
MAC ID MediaAccessCodeIdentier(MACID)isauniquenumberthatisuserassignedto
each device on an Ethernet network. Also called Node Address.
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
NVM Non-Volatile Memory. Storage of information or device memory that can be retrieved
even after the device goes through a power cycle.
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.
Plug-in Technology A customized program that when downloaded and installed onto a host device adds
aspecicfeaturetoanexistingcomputerprogram.
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.
REAL Floating-pointnumber(32bit)
RDT The rate per second at which the sensor sends streaming RDT data to a
host. RawDataTransfer(RDT)isafastandsimpleEthernetprotocolforcontroland
data transfer via UDP.
RDT Buffer Size A mode where the sensor sends more than one data package per sample. Multiple data packages are buffered and sent in one block. Buffering reduces the amount of
overheaddatasentfromthesensorandreducestheoverallnetworktrafc.
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.
SINT Signedshortinteger(8bit)
STRINGnString of ncharacters
Status Bit A unit of computer data sent from theATI F/T sensor.
TCP TransmissionControlProtocol(TCP)isalow-levelmethodoftransmittingdataover
Ethernet. TCP provides a slower, more reliable delivery of data than UDP.
Thresholding A software function of the sensor that performs a simple arithmetic comparison of a
user-denedthresholdtotheloadingonatransduceraxis.
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.
UART Universal asynchronous receiver transmitter.
UDINT Unsigneddoubleinteger(32bit)
UDP UDP(UserDatagramProtocol)isalow-levelmethodoftransmittingdataover
Ethernet. While UDP is faster than TCP, unlike TCP lost UDP data is not resent.
UINT Unsignedinteger(16bit)
USINT Unsignedshortinteger(8bit)

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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.

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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.
1.3 Safety Precautions
CAUTION: Modifying or disassembling the sensor could cause damage and
void the warranty.
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 transport as the impacts can damage the sensor’s performance.
Refer to Section15—Specications for more information about rated ranges.

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2. Product Overview
The Ethernet Axia Force/Torque (F/T) sensor measures six components of force and torque (Fx \ Fy \ Fz\ Tx\ Ty\
Tz) and communicates this data to customer devices via Ethernet. The user can communicate with the sensor from
a console through Telnet or CGI. A user can also communicate with the sensor through the sensor’s internal ATI
webpages, the ATI demo program, or an ATI-provided LabVIEW®code.
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 Section 16—Drawings for more information). 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 Ethernet and Power Connection for Ethernet and power.
The Ethernet Axia sensor offers the following features:
• Calibrated force/torque data
• Bias functionality
• Programmable low-pass ltering with cut-off frequency
• Tool transformation
• Thresholding
• LED indicator for Link/Activity (L/A), Diagnostic (DIAG), and Status
• Compatible with the ATI Net F/T sensor UDP interface and Java demo application (refer to Section 12—
UDP Interface Using RDT, Section 7—Java® Demo Application, and the 9620-05-NET F/T manual for
more information)
• Compatible with parts of the ATI Net F/T web interface (refer to Section6—ConguringtheSensorwiththe
Ethernet Axia Web Pages and the 9620-05-NET F/T manual for more information)
Figure 2.1—Ethernet 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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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-NET-Axia80-M8-ZC22 3 Aluminum
Axia80-M20 9105-NET-Axia80-M20-ZC2220
Axia80-M50 9105-NET-Axia80-M50-ZC22 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. Formally 9105-NET-Axia80-ZC22
3. For calibration ranges, refer to Section 15.3—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 (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. Refer to Section 16—Drawings
for more information.
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
tool. 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 Section 16—Drawings.
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 side. 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 Section 16—Drawings.
• 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 15—Specications.
• The interface plate must provide a at and parallel mounting surface for the sensor.
Figure 3.1 —Interface Plate
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

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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

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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. 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.

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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 the 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,
Ethernet
Notes:
1. Temperatureaffectscableexibility.ATIrecommendsincreasingtheminimumdynamicbendingradiusfor
lower temperatures.
The 6-pin 9105-C-ZC22-ZC28-X cable attaches to the sensor’s connector. The 9105-C-ZC28-U-RJ45S-X
8-pin connector attaches to the 9105-C-ZC22-ZC28-X power and Ethernet cable. The 9105-C-ZC28-
U-RJ45S-X cable splits into the following (2) branches: an unterminated end for power and a RJ45
connection for Ethernet.

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3.3 Installing the Sensor to the Robot
Parts required: Refer to Figure 3.5 and Section 16—Drawings.
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3)
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
Section 16—Drawings.
• 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.
5. Connect the cables to the sensor and customer application:
a. Connect a power and Ethernet cable (ATI P/N 9105-C-ZC22-ZC28-X) to the sensor’s M8
connector. 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—Self-Test LED Sequence.