ATI Technologies Wireless F/T WNet-6 User manual

Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
Wireless Force/Torque Sensor System
Installation and Operation Manual
Document #: 9620-05-Wireless FT-03
May 2014

Wireless F/T Installation and Operation Manual
Document #9620-05-Wireless FT-03
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
2
Foreword
Information contained in this document is the property of ATI Industrial Automation, Inc. and shall not be reproduced in
whole or in part without prior written approval of ATI Industrial Automation, Inc. The information herein is subject to
change without notice and should not be construed as a commitment 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.
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 an 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™ is a registered trademark of Microsoft Corporation.
MicroSD is a trademark of SD-3C, LLC
Wi-Fi Direct is a trademark of the Wi-Fi Alliance
Note
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 IndustrialAutomation
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]

Wireless F/T Installation and Operation Manual
Document #9620-05-Wireless FT-03
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
3
Table of Contents
1. Safety......................................................................................................................................... 6
1.1 ExplanationofNotications.........................................................................................................6
1.2 General Safety Guidelines............................................................................................................6
1.3 Safety Precautions........................................................................................................................6
2. System Overview...................................................................................................................... 8
2.1 Wireless F/T WNet-3......................................................................................................................9
2.2 Wireless F/T WNet-6....................................................................................................................10
2.3 Antenna........................................................................................................................................10
2.4 Micro USB Conector ................................................................................................................... 11
2.5 MicoSD™Card Slot..................................................................................................................... 11
2.6 External Power Adapter.............................................................................................................. 11
2.7 USB Cable.................................................................................................................................... 11
2.8 Removable Belt Clip.................................................................................................................... 11
2.9 Removable Battery...................................................................................................................... 11
2.10 Controls and Indicators.............................................................................................................. 11
2.10.1 Power Button.................................................................................................................... 11
2.10.2 Power Button Indicator..................................................................................................... 11
2.10.3 Transducer Status Indicators............................................................................................12
2.10.4 Wireless Status Indicator..................................................................................................12
2.10.5 Battery Status Indicator....................................................................................................12
2.10.6 External Power Indicator ..................................................................................................12
3. Installation .............................................................................................................................. 13
3.1 Typical Belt Clip Installation.......................................................................................................14
3.2 Typical Fixed Installation............................................................................................................14
3.3 External Power Adapter Installation..........................................................................................14
3.4 InitialConguration ....................................................................................................................14
3.5 InstallingtheWirelessF/TJavaDemoApplicationonaPC ...................................................16
3.6 StartingtheWirelessF/TJavaDemoApplication....................................................................17
3.7 EstablishingaConnectiontotheWirelessF/TandMonitoringData ....................................18
3.8 Data Collection............................................................................................................................19
3.8.1 Collecting and Storing Data on a MicroSD™ Card ..........................................................19
3.8.2 Collecting and Storing Data on a PC or Network File ......................................................19
4. InstallingtheTransducer....................................................................................................... 20

Wireless F/T Installation and Operation Manual
Document #9620-05-Wireless FT-03
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
4
5. Command Interface................................................................................................................ 21
5.1 Communication Interfaces.........................................................................................................21
5.2 UPD Interface...............................................................................................................................21
5.3 UDP Command Format ..............................................................................................................21
5.4 Commands...................................................................................................................................22
6. Maintenance............................................................................................................................ 45
6.1 Preventive Maintenance .............................................................................................................45
6.2 BatteryRechargingandReplacement ......................................................................................45
6.2.1 Charging Battery Internally...............................................................................................45
6.2.2 Charging Battery Externally..............................................................................................45
7. Troubleshooting ..................................................................................................................... 46
8. Serviceable Parts ................................................................................................................... 46
9. Specications ......................................................................................................................... 47
9.1 WirelessCharacteristics.............................................................................................................47
9.2 Power Requirements...................................................................................................................47
9.3 PhysicalCharacteristics.............................................................................................................47
10. RegulatoryInformation.......................................................................................................... 48
10.1 FCC Statement.............................................................................................................................48
10.2 Canadian Compliance Statement ..............................................................................................49
11. Drawings ................................................................................................................................. 50
11.1 Wireless Net F/T for 3 Transducers...........................................................................................50
11.2 Wireless Net F/T for 6 Transducers...........................................................................................51
12. Terms and Conditions of Sale............................................................................................... 52
Appendix A – UDP Command CRC Calculation ......................................................................... 53
AppendixB–InitialCongurationUsingaTelnetProgam(PuTTY) ........................................ 55
B.1 InitialCongurationUsing ........................................................................................................55

Wireless F/T Installation and Operation Manual
Document #9620-05-Wireless FT-03
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
5
Glossary of Terms
Terms Denitions
Big-endian Indicates the most signicant byte of a value is stored rst.
DHCP Dynamic Host Conguration Protocol (DHCP) is an automatic method for
Ethernet equipment to obtain an IP address. The WNet system can obtain its
IP address using DHCP on networks that support this protocol.
Ethernet Network Switch Ethernet network switches are electronic devices that connect multiple
Ethernet cables to an Ethernet network while directing the ow of trafc.
F/T Force/Torque.
Gateway Settings The address of the router that handles a network’s Ethernet trafc.
IEEE The Institute of Electrical and Electronics Engineer, inc.
IPAddress An Internet Protocol Address (IP 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.
IPv4 Internet Protocol version 4 (IPv4) is a standard used for specifying the
electronic address of an Ethernet device. The Wireless F/T supports only IPv4.
MAC Address Media Access Control Addresses (MAC Addresses) are the unique addresses
given to every Ethernet device when it is manufactured, to be used as an
electronic Ethernet serial number.
Network Order The order in which data values are placed on a network. The WNet’s network
order is big-endian
RDT Raw Data Transfer (RDT) is a fast and simple WNet protocol for control and
data transfer via UDP.
Sensor System The assembly consisting of all components from the transducer to the WNet
box.
Subnet Mask A string of numbers used to indicate which portion of a network’s IP addresses
is common to all devices on the local network.
TCP Transmission Control Protocol (TCP) is a method of exchanging information
frequently used over Ethernet.
UDP User Datagram Protocol (UDP) is a low-level method of transmitting data
over Ethernet. While UDP is faster than TCP, unlike TCP lost UDP data is not
resent.
USB Universal Serial Bus (USB). The WNet’s USB port conforms to this computer
peripheral cabling standard.
WLAN Wireless Local Area Network (WLAN). The WNet system conforms to the IEEE
802.11 WLAN standard.

Wireless F/T Installation and Operation Manual
Document #9620-05-Wireless FT-03
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
6
1. Safety
The safety section describes general safety guidelines to be followed with this product, explanation of the
notication found in this manual, and safety precaution that apply to the product. More specic notication are
imbedded within the sections of the manual where they apply.
1.1 ExplanationofNotications
The notications included here 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,
installation, or setup of 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, good operating practices,
or 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. These forces can be many times the value of static
forces in high acceleration or deceleration situations.
1.3 Safety Precautions
CAUTION: Do not remove any fasteners or disassemble the Wireless F/T. This
will cause irreparable damage to the Wireless F/T and void the warranty. Leave all
fasteners in place and do not disassemble the Wireless F/T.
CAUTION: Do not remove any fasteners or disassemble transducers without a
removable mounting adapter plate, these include Nano, Mini, IP-rated, and some
Omega transducers. This will cause irreparable damage to the transducer and void the
warranty. Leave all fasteners in place and do not disassemble the transducer.
CAUTION: Do not exert excessive force on the transducer. The transducer is a
sensitive instrument and can be damaged by applying force exceeding the single-axis
overload values of the transducer and cause 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.

Wireless F/T Installation and Operation Manual
Document #9620-05-Wireless FT-03
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
7
CAUTION: When setting up the Wireless F/T system adhere to the minimum bend
radius. Bending the cables tighter than the minimum will cause damage to the cable.
Refer to the F/T Transducer manual (9620-05-Transducer Section) for minimum bend
radii.
CAUTION: Damage to the outer jacketing of the transducer cable could enable
moisture or water to enter an otherwise sealed transducer. Ensure the cable jacketing
is in good condition to prevent transducer damage

Wireless F/T Installation and Operation Manual
Document #9620-05-Wireless FT-03
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
8
2. System Overview
The Wireless F/T can stream data to an existing wireless access point on the network. The Wireless F/T can stream
six-axis measurements to the user’s host device for data collection, real-time motion control, or user-dened signal
processing.
The range and performance of the Wireless F/T device is derived from the IEEE 802.11 standard. Actual
performance may vary due to conditions, wireless infrastructure, and other variables. Refer to Section 9—
Specications for more details.
Figure2.1—SignalPathtoaComputer,UsingaWirelessAccessPoint
PC Host
Transducer
Wireless F/T
Wireless
Infrastructure
Access
The Wireless F/T is a small signal conditioner and IEEE 802.11 wireless device for up to six ATI Multi-Axis Force/
Torque transducers. The device supports TW transducers (such as Nano and Mini); transducers with integrated
electronics are not supported. The Wireless F/T can stream F/T six-axis measurements to the user’s host device for
data collection, real-time motion control, or user-dened signal processing. The device is equipped with a slot for a
MicroSD™ card, the card can be used to collect and store data. Transducer calibration settings can be downloaded
into the Wireless F/T to allow users to easily replace transducers in the eld for new congurations. The Wireless
F/T is contained in an impact, splash, and dust resistant housing.
The Wireless F/T unit is certied with the antenna attached, the antenna can be pivoted 90° so the unit can be
use in small conned spaces. Fixed mounting is accommodated with the four robust threaded inserts on the back
plate of the housing. The unit can also be attached with a quick-removable belt clip for mobile applications. Both
Wireless F/T models can be powered by an internal rechargeable battery for more mobile applications. The units
can also be powered with a 5VDC external power adapter using the USB connector. The Wireless F/T has a battery
charge status indicator that provides a low-battery warning. The battery can be charged internally or externally. The
external power indicator is active when charging the battery internally or an external power adapter is used.
Wireless F/Ts include a rechargeable battery, antenna, external battery charger and USB cable. Optional desktop
battery charger and international power cords are available, refer to Section 8—Serviceable Parts for more details.

Wireless F/T Installation and Operation Manual
Document #9620-05-Wireless FT-03
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
9
2.1 Wireless F/T WNet-3
The Wireless F/T WNet-3 model can interface with up to three ATI Multi-Axis Force/Torque transducers
simultaneously. Each of the three transducer connectors has a transducer status indicator. The device has a
rechargeable battery that can power the device for approximately two hours at full measurement rate with
all three transducers enabled. The battery life can be extended at lower rates and/or by disabling one or more
transducers.
Figure2.2—Wireless F/T WNet-3
External Power Adapter
Removable
Battery
USB Cable
TW Transducer
Transducer Serial
Number Label
Antenna
Wireless Status Indicator
(3) Transducer
Connectors
Power Button with Indicator
(3) Transducer Status Indicators
External Power Indicator
Battery Status Indicator
MicroSD Card
Transducer Serial
Number Label(s)
Battery Door Lock
(4) Fixed Mounting
Threaded Inserts
Micro USB
Connector
MicroSD Card Slot
Removable Belt Clip
Section 2.10.3
Section 2.10.2
Section 2.10.6
Section 2.10.5
Section 2.10.4

Wireless F/T Installation and Operation Manual
Document #9620-05-Wireless FT-03
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
10
2.2 Wireless F/T WNet-6
The Wireless F/T WNet-6 model can interface with up to six ATI Multi-Axis Force/Torque transducers
simultaneously. Each of the six transducer connectors has a transducer status indicator. The device has a
rechargeable battery that can power the device for approximately one hour at full measurement rate with
all six transducers enabled. The battery life can be extended at lower rates and/or by disabling one or more
transducers.
Figure2.3—Wireless F/T WNet-6
External Power Adapter
Removable
Battery
USB Cable
TW Transducer
Transducer Serial
Number Label
Antenna
Wireless Status Indicator
(6) Transducer
Connectors
Power Button with Indicator
(6) Transducer Status Indicators
External Power Indicator
Battery Status Indicator
MicroSD Card
Transducer Serial
Number Label(s)
Battery Door Lock
(4) Fixed Mounting
Threaded Inserts
Micro USB
Connector
MicroSD Card Slot
Removable Belt Clip
Section 2.10.2
Section 2.10.3
Section 2.10.6
Section 2.10.5
Section 2.10.4
2.3 Antenna
The Wireless F/T Unit has been certied with the antenna. The antenna can pivot 90° to allow the Wireless
F/T unit to t into small conned spaces.