ATI Technologies Axia Series User manual

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

Manual, FT Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel:[phone] • Fax:[phone] • www.ati-ia.com • Email: [email protected]
2
Foreword
Information contained in this document is the property of ATI 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 on the part of ATI Industrial Automation, Inc. This
manual is periodically revised to reect and incorporate changes made to the F/T system.
ATI Industrial Automation, Inc. assumes no responsibility for any errors or omissions in this document. Users’critical
evaluation is welcome to assist in the preparation of future.
Copyright © by ATI Industrial Automation, Inc., Apex, North Carolina USA. All Rights Reserved. Published in the USA.
In consideration that ATI Industrial Automation, Inc. (ATI) products are intended for use with robotic and/or automated
machines, ATI does not recommend the use of its products for applications wherein failure or malfunction of a ATI
component or system threatens life or makes injury probable. Anyone who uses or incorporates ATI components within
any potentially life threatening system must obtain ATI’s prior consent based upon assurance to ATI that a malfunction
of ATI’s component does not pose direct or indirect threat of injury or death, and (even if such consent is given) shall
indemnify ATI from any claim, loss, liability, and related expenses arising from any injury or death resulting from use of
ATI components.
All trademarks belong to their respective owners. Windows®and Excel®are registered trademarks of Microsoft
Corporation.
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., Axia, 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], Extension 511
Fax: [phone]
E-mail: [email protected]

Manual, FT Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-05
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel:[phone] • Fax:[phone] • www.ati-ia.com • Email: [email protected]
3
Table of Contents
Foreword.......................................................................................................................................... 2
Glossary........................................................................................................................................... 6
1. Safety......................................................................................................................................... 8
1.1 ExplanationofNotications.........................................................................................................8
1.2 General Safety Guidelines............................................................................................................8
1.3 Safety Precautions........................................................................................................................9
2. Product Overview................................................................................................................... 10
3. Installation of the Sensor and Cable to the Robot...............................................................11
3.1 Interface Plates............................................................................................................................ 11
3.2 Routing the Cable........................................................................................................................13
3.3 Installing the Sensor to the Robot.............................................................................................15
3.4 Removing the Sensor from the Robot.......................................................................................16
3.5 Pin Assignment for the Ethernet and Power Connection........................................................17
3.5.1 Pin Assignment for the 6-pin M8 Male Connector
on the Axia80-ZC22 Sensor.............................................................................................17
3.5.2 Pin Assignment for the 8-Pin M12 Male Connector
on Cable P/N 9105-C-ZC22-ZC26-X................................................................................17
3.5.3 Pin Assignment for Cable P/N 9105-C-ZC26-U-RJ45S-X, Branch 1, Unterminated End for
Power Connection............................................................................................................18
3.5.4 Pin Assignment for Cable P/N 9105-C-ZC26-U-RJ45S-X, Branch 2, RJ45 Connection..18
3.6 Accuracy Check Procedure........................................................................................................19
4. Connecting Through Ethernet .............................................................................................. 20
4.1 IPAddressCongurationforEthernet......................................................................................20
4.2 Connecting Through Ethernet using a Windows Computer...................................................21
5. ConguringtheSensorwiththeEthernetAxiaWebPages............................................... 24
5.1 Welcome Page (index.htm).........................................................................................................24
5.2 Snapshot Page (rundata.htm)....................................................................................................25
5.3 Demo Page (demo.htm)..............................................................................................................26
5.4 ADC Settings Page (setting.htm)...............................................................................................26
5.5 FT CongurationsPage(cong.htm) ........................................................................................27
5.5.1 Converting Gage Values to F/T Values ............................................................................27
5.6 Communication Page (comm.htm)............................................................................................28
5.7 System Information Page (manuf.htm) .....................................................................................30
5.8 ATI Web Site Menu Item..............................................................................................................30

Manual, FT Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-05
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6. Java Demo Application.......................................................................................................... 31
6.1 Starting the Demo .......................................................................................................................31
6.2 Data Display with the Demo.......................................................................................................33
6.3 Collecting Data with the Demo...................................................................................................34
6.4 The Errors Display of the Demo.................................................................................................37
6.5 Developing Your Own Java Application....................................................................................37
7. Common Gateway Interface (CGI) ........................................................................................ 38
7.1 Settings CGI (setting.cgi) ...........................................................................................................39
7.2 CongurationsCGI(cong.cgi) .................................................................................................39
7.3 Communications CGI (comm.cgi)..............................................................................................40
8. System Settings XML Pages ................................................................................................. 41
8.1 SystemandCongurationInformation(netftapi2.xml) ...........................................................42
8.2 Calibration Information (netftcalapi.xml)..................................................................................43
9. UDP Interface Using RDT.......................................................................................................44
9.1 RDT Protocol ...............................................................................................................................44
9.2 Calculating F/T Values for RDT..................................................................................................46
9.3 Multiple Clients............................................................................................................................46
9.4 Notes on UDP and RDT Mode....................................................................................................46
9.5 Example Code..............................................................................................................................46
10. Operation ................................................................................................................................ 47
10.1 Sensor Environment...................................................................................................................47
10.2 LED Outputs ................................................................................................................................47
10.2.1 LED Self-Test Sequence..................................................................................................47
10.2.2 L/A LED ............................................................................................................................47
10.2.3 DIAG LED.........................................................................................................................47
10.2.4 Sensor Status LED...........................................................................................................48
10.3 Sample Rate.................................................................................................................................48
10.3.1 Sample Rate Versus Data Rate .......................................................................................48
10.4 Low-Pass Filter............................................................................................................................49
10.5 Console Commands....................................................................................................................52
10.6 System and Calibration ..............................................................................................................52
10.7 Status Code .................................................................................................................................54
10.7.1 Status Code: Sensing Range Exceeded..........................................................................55
10.8 Diagnostic Monitoring ................................................................................................................56

Manual, FT Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-05
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11. Maintenance............................................................................................................................ 57
11.1 Periodic Inspection.....................................................................................................................57
11.2 Periodic Calibrating ....................................................................................................................57
12. Troubleshooting ..................................................................................................................... 57
12.1 Errors Powering Up.....................................................................................................................58
12.2 Errors with Communications.....................................................................................................58
12.3 Errors with the Java Demo.........................................................................................................59
12.4 Errors with Ethernet Axia Webpages ........................................................................................59
12.5 Errors with Force and Torque Readings...................................................................................60
12.6 Reducing Noise...........................................................................................................................61
12.6.1 Mechanical Vibration........................................................................................................61
12.6.2 Electrical Interference.......................................................................................................61
12.7 Detecting Sensitivity Changes...................................................................................................61
12.8 Improving Ethernet Throughput................................................................................................62
12.8.1 Direct Connection between Axia Ethernet and Host ........................................................62
12.8.2 Choice of Operating System ............................................................................................62
12.8.3 Increasing Operating System Performance .....................................................................62
12.8.4 Avoid Logging the Host to a Company Network...............................................................62
12.8.5 Use a Dedicated Network.................................................................................................62
13. Specications ......................................................................................................................... 63
13.1 Environmental Conditions..........................................................................................................63
13.2 ElectricalSpecications .............................................................................................................63
13.3 Calibration Ranges......................................................................................................................63
14. Drawings ................................................................................................................................. 64
14.1 Axia80 Force/Torque Sensor 9230-05-1507 ..............................................................................64
14.2 Cable, Axia Sensor to 8-pin M12, 3m, 9105-C-ZC22-ZC26-3....................................................65
14.3 Cable, 8-pin M12 Split to Shielded RJ45 and Unterminated power, ground, shield, 4 m,
9105-C-ZC26-U-RJ45S-4 .............................................................................................................67
15. Terms and Conditions of Sale............................................................................................... 69

Manual, FT Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-05
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Glossary
Term Denitions
Accuracy See Measurement Uncertainty.
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.
Coordinate Frame See Point of Origin.
Data Rate How fast data can be output over a 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.
Ethernet A family of computer networking technologies commonly used in local area networks.
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.
Fieldbus A generic term referring to any one of a number of industrial computer networking
standards. Examples include: CAN, Modbus, and PROFINET.
FS Full-Scale.
F/T Force and Torque.
Fxy The resultant force vector comprised of components Fx and Fy.
Hysteresis A source of measurement caused by the residual effects of previously applied loads.
IP64 Ingress protection rating “64” designates protection against dust and splashing of
water.
IPAddress An IPAddress (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.
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.
Maximum Single-Axis Overload The largest amount of pure load (not complex loading) that the sensor can withstand
without damage.
Measurement Uncertainty The maximum expected error in measurements, as specied on the calibration
certicate.
NVM Non-Volatile Memory.
Node Address See MAC ID.
Overload The condition where more load is applied to the sensor than the rated measurement
range. Overloads result in reduced accuracy and potentially reduced sensor life.
PCB Printed circuit board.

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Term Denitions
PHY The hardware that implements the physical layer of the OSI model. It stands between the analog domain of the Ethernet line modulation and the digital domain of the link-
layer packet signaling.
Point of Origin The location on the sensor from which all forces and torques are measured. Also
known as the Coordinate Frame.
Quantization The process of converting a continuously variable sensor signal into discrete digital values. Usually used when describing the change from one digital value to the next
increment.
RDT Raw Data Transfer (RDT) is a fast and simple Ethernet protocol for control and data
transfer via UDP.
Resolution The smallest change in load that can be measured. Resolution is usually much
smaller than accuracy.
Sample Rate How fast the ADCs are sampling inside the unit.
Sensor The component that converts the sensed load into electrical signals.
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.
Transducer See sensor.
Txy The resultant torque vector comprised of components Tx and Ty.
UART Universal asynchronous receiver transmitter.
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.

Manual, FT Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-05
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1. Safety
The safety section describes general safety guidelines to be followed with this product, explanations of the
notications found in this manual, and safety precautions that apply to the product. More specic notications are
imbedded within the sections of the manual where they apply.
1.1 ExplanationofNotications
The following notications are specic to the product(s) covered by this manual. It is expected that the user
heed all notications from the robot manufacturer and/or the manufacturers of other components used in the
installation.
DANGER: Notication of information or instructions that if not followed will result in
death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
WARNING: Notication of information or instructions that if not followed could result
in death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
CAUTION: Notication of information or instructions that if not followed could result
in moderate injury or will cause damage to equipment. The notication provides
information about the nature of the hazardous situation, the consequences of not
avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notication of specic information or instructions about maintaining, operating,
installing, or setting up the product that if not followed could result in damage to equipment. The
notication can emphasize, but is not limited to: specic grease types, best operating practices,
and maintenance tips.
1.2 General Safety Guidelines
The customer should verify that the sensor 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
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: Modifying or disassembly of the sensor could cause damage and void
the warranty. Use the supplied mounting interface plate and the provided tool side
mounting bolt pattern to mount the sensor to the robot and customer tooling to the
sensor. Refer to Section 14—Drawings for more information.
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 14—Drawings for more information.
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13—Specications for more information about rated ranges.
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.

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2. Product Overview
The Ethernet Axia Force/Torque (F/T) sensor measures (6) components of force and torque (Fx, Fy, Fz, Tx, Ty, Tz)
and communicates this data to customer devices via Ethernet.
The mounting side attaches to a mounting interface plate, which mounts to the customer robot. The tool side
attaches to the customer tooling. Both the mounting and tool sides have a 71.12 mm bolt circle pattern with (6) M5
tapped holes and (2) slip t dowel holes. Refer to Section 14—Drawings for more information. The sensor is IP64
rated. A 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:
• Provides calibrated force/torque data.
• Bias functionality.
• Programmable low-pass ltering with cut-off frequency.
• LED indicator for Link/Activity (L/A), Diagnostic (DIAG), and Status. Refer to Section 10.2—LED Outputs
for more information.
• Compatible with the Net F/T sensor UDP interface and Java demo application. Refer to Section 9—UDP
Interface Using RDT, Section 6—Java Demo Application, and the 9620-05-NET FT manual for more
information.
• Compatible with parts of the Net F/T web interface. Refer to Section5—ConguringtheSensorwiththe
Ethernet Axia Web Pages and the 9620-05-NET FT 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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3. Installation of the Sensor and Cable to the Robot
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
Section 14—Drawings for more information.
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 14—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.
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 to adapt the sensor to the robot arm and customer tooling, ATI can
supply custom robot mounting and tool interface plates. Refer to Section 14—Drawings of this manual for
technical information on the sensor’s mounting features.
CAUTION: Incorrect installation of robot mounting and tool interface plates results in
the failure of the F/T sensor to function properly. Because the mounting and tool sides
of the sensor have identical bolt patterns, verify the robot mounting and tool interface
plates are installed correctly.
CAUTION: The customer tool should only touch the tool interface plate. If the customer
tool touches any other part of the sensor, it will not properly sense loads.

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If the customer chooses to design and build an interface plate(s), the following points should be considered:
• The interface plate(s) should include bolt holes for mounting fasteners as well as dowel pin(s) and a
boss for accurate positioning to the robot or customer’s device.
• The thickness of the interface plate(s) 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. Refer to Section 14—Drawings for thread depth, mounting patterns, and other details.
• Do not use dowel pin(s) that exceed length requirements and prevent the interface plate(s) 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(s) must not distort from the maximum force and torque values that can be
applied to the sensor. For these values, refer to Section13—Specications.
• The interface plate(s) must provide a at and parallel mounting surface for the sensor.
Figure 3.1 —Interface Plate(s)
Robot Arm
Locating Dowel
Mounting Fasteners
Locating Dowel
(6) M5 Mounting Fasteners
Mounting Interface Plate
Locating Boss
Locating Dowel Pin
(Customer Supplied)
Mounting Fasteners
(Customer Supplied)
3 mm Locating Dowel Pin
(Customer Supplied)
(6) M5 Mounting Fasteners
(Customer Supplied)
F/T Sensor
Locating Boss
Tool Interface Plate
(Customer Supplied)
.002 in (.05 mm)
.002 in (.05 mm)
.002 in (.05 mm)
.002 in (.05 mm)
A
4 mm Locating Dowel Pin
(Customer Supplied)
B
A
B

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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
Sensor Cable
Restrain cable to keep
repetitive motion from
affecting the cable
connection.
Robot Arm
Allow enough slack in
the cable to allow full range
of motion for the robot device.
F/T Sensor
Mounting
Interface Plate
CAUTION: Do not subject the sensor’s cable connector to the repetitive motion
of the robot or other device. 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.
CAUTION: The cable must withstand the repetitive motions of the robot without failing.
The electrical line, especially where attached to the sensor’s connector, must be routed
to avoid stress failure, sharp bends, or a disconnection from the equipment. Improper
routing may cause poor functionality of critical electrical lines, injury to personnel, or
damage to equipment. Damage to the sensor or cable from improper routing will void
the warranty. If the application results in cable rubbing, use a loose, plastic spiral wrap
for protection.
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.

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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-ZC26-X N/A 7 (.28) 35 1.4 70 2.8
180°/m or
55°/ft
9105-C-ZC26-U-
RJ45S-X
Branch 1,
Power 5.1 (.20) 25.5 1 51 2
Branch 2,
Ethernet 5.7 (.22) 28.5 1.1 57 2.2
Notes:
1. Temperature affects cable exibility. ATI recommends increasing the minimum dynamic bending radius for
lower temperatures.
The 6-pin 9105-C-ZC22-ZC26-X cable attaches to the sensor’s connector. The 9105-C-ZC26-U-RJ45S-X
8-pin connector attaches to the 9105-C-ZC22-ZC26-X power and Ethernet cable, of which branch 1 is an
unterminated end for power and branch 2 has a RJ45 connection for Ethernet.
Route the sensor cable so that it is not stressed, pulled, kinked, cut, or otherwise damaged throughout the
full range of motion. If the application causes cable abrasion, use a loose plastic, spiral wrap to protect the
outer cable jacket material.
CAUTION: Do not damage or crush the cable by over tightening tie wraps on the cable.

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3.3 Installing the Sensor to the Robot
Parts required: Refer to Figure 3.3 and Section 14—Drawings.
Tools required: 4 mm hex wrench
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.
3. Attach the sensor to the mounting interface plate.
• Screws to have a minimum thread engagement length of 4.5 mm with a maximum thread
engagement less than the threaded depth listed in the customer drawing Section 14—Drawings.
• If the sensor is to be used in a high-vibration environment, Loctite 242 should be applied to the (6)
M5 socket head cap screws, class 12.9 so that the fasteners secure the sensor to the mounting plate.
a. Using a 4 mm hex wrench, secure the sensor to the mounting interface plate with (6) M5 socket
head cap screws, class 12.9. Tighten to 52 in-lbs (5.88 Nm).
4. Once the sensor is installed on the robot, the customer tooling or tool interface plate can be installed.
• Screws to have a minimum thread engagement length of 4.5 mm with a maximum thread
engagement less than the threaded depth listed in the customer drawing Section 14—Drawings.
• If the sensor is to be used in a high-vibration environment, Loctite 242 should be applied to the (6)
M5 socket head cap screws, class 12.9 so that the fasteners secure the sensor to the mounting plate.
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 cable(s) to the sensor and customer application.
a. Connect a power and Ethernet cable (ATI P/N 9105-C-ZC22-ZC26-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-ZC26-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. Refer to Section 10.2.1—
LED Self-Test Sequence for the LED outputs that occur whenever power is supplied to the sensor.
6. Properly restrain and route the power and Ethernet cable; refer to Section 3.2—Routing the Cable.
7. After installation is complete, the sensor is ready for an accuracy check as described in Section 3.6—
Accuracy Check Procedure and then for normal use.

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Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel:[phone] • Fax:[phone] • www.ati-ia.com • Email: [email protected]
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Figure 3.3—Installation of the Sensor to the Robot
Dowel Pin
Mounting Fasteners
Interface Plate
(2) Dowel Pin
Robot
(6) M5 Mounting Fastener
Power and Ethernet Cable
(ATI P/N 9105-C-ZC22-ZC26-4)
Ethernet Axia Sensor
Power and Ethernet Cable to
the customer's application
(ATI P/N 9105-C-ZC26-U-RJ45S-4)
Unterminated End for Power
(Branch 1)
RJ45 Connector
(Branch 2)
Power and Ethernet Connection
Tool Side
for the Customer Tooling
Mounting Side to
the Interface Plate
3.4 Removing the Sensor from the Robot
Tools required: 4 mm hex wrench
1. Turn off all energized circuits, for example: electrical.
2. Remove the power and Ethernet 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 4 mm hex wrench to remove the (6) M5 socket head cap screws that secure
to the sensor to the mounting interface plate or robot.
5. Remove the sensor.

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3.5 Pin Assignment for the Ethernet and Power Connection
CAUTION: Ensure the cable shield is properly grounded. Improper shielding on the
cables can cause communication errors and inoperative Axia80-ZC22 sensor.
The following section provides the pin assignment for the power and Ethernet connection on the Axia80-
ZC22 sensor, the 8-pin male M12 connector on the power and Ethernet cable (P/N 9105-C-ZC22-ZC26-X),
and the unterminated end on cable (P/N 9105-C-ZC26-U-RJ45S-X) for power. Refer to the following table
or Section13.2—ElectricalSpecications for supply voltage ratings.
Table 3.2—Power Supply1
Power Source Voltage Maximum Power Consumption
DC Power 12 V min. to 30 V max. 1.5 W
Notes:
1. The power supply input is protected from a reversed polarity circuit.
3.5.1 Pin Assignment for the 6-pin M8 Male Connector
on the Axia80-ZC22 Sensor
The following table details the signals and corresponding pin numbers on the M8 connector
(ZC26) for power and Ethernet.
Table 3.3—Pin Assignment for the 6-pin, M8, Male Axia80-ZC22 Sensor Connector
(Power and Ethernet)
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 for the 8-Pin M12 Male Connector
on Cable P/N 9105-C-ZC22-ZC26-X
The following table details the signals and corresponding pin numbers for the 8-pin M12 connector
(ZC22) on cable P/N 9105-C-ZC22-ZC26-X that connects to cable P/N 9105-C-ZC26-U-RJ45S-X.
Table 3.4—Cable P/N 9105-C-ZC22-ZC26-X Pin Assignment
for the 8-pin, M12, Male Connector (Power and Ethernet)
Connector Schematic Pin Number Signal
1 Shield
2 V +
3 V -
4 TX-
5 RX+
6 TX+
7 No Connection
8 RX-

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3.5.3 Pin Assignment for Cable P/N 9105-C-ZC26-U-RJ45S-X, Branch 1,
Unterminated End for Power Connection
The following table details the signals and corresponding pin numbers for unterminated wires on
cable P/N 9105-C-ZC26-U-RJ45S-X that connects to the customer’s device.
Table 3.5—Cable 9105-C-ZC26-U-RJ45S-X, Branch 1, Unterminated Pin Number,
Wire Jacket Color, and Signal
Pin Number Wire Jacket Color Signal
1 - Shield
2 Black V+
3 White V-
3.5.4 Pin Assignment for Cable P/N 9105-C-ZC26-U-RJ45S-X, Branch 2,
RJ45 Connection
The following table details the signals and corresponding pin numbers for the 8-pin RJ45 connector
on cable P/N 9105-C-ZC26-U-RJ45S-X that connects to the customer device.
Table 3.6—Cable P/N 9105-C-ZC22-ZC26-X Pin Assignment
for the 8-pin, RJ45 Connector
Connector Schematic Pin Number Wire Color Signal
1 White/Orange TX+
2 Orange TX-
3 White/Green RX+
4 - No Connection
5 - No Connection
6 Green RX-
7 - No Connection
8 - No Connection

Manual, FT Sensor, Ethernet Axia
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3.6 Accuracy Check Procedure
Complete the following procedures after the initial installation of the sensor to the robot and once annually
for maintenance.
1. Attach a xed mass to the tool side of the F/T sensor.
• The mass on the tool side can be the weight of the tooling used in an application.
a. Remove cables that form bridges between the sensor’s mounting and tool sides.
2. Move the robot so that the sensor is in the following positions.
a. Record the sensor’s output, Fx, point n Fy, point n Fz, point n, at each point without biasing.
• Point 1: +Z up
• Point 2: +X up
• Point 3: +Y up
• Point 4: -X up
• Point 5: -Y up
• Point 6: -Z up
3. Find Fx, average , Fy, average , and Fz, average.
a. Perform the following equations.
4. For each of the 6 points, complete the following calculation:
5. The calculated tooling masses for all (6) points should deviate from each other by less than twice the
worst accuracy rating of the sensor. The worst accuracy rating for the Axia is 36 N.
• For example: max (tooling masses) - min (tooling masses) < 36 N
• In addition, the tooling mass should be within 36 N of the results of this test when it was
performed with a new sensor.
• If this test fails, then the sensor should be returned to ATI for diagnosis or recalibration.

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4. Connecting Through Ethernet
This section describes how to physically connect through the Ethernet. See Section4.1—IPAddressConguration
for Ethernet for information on conguring a system’s Ethernet settings and Section 4.2—Connecting Through
Ethernet using a Windows Computer for information on conguring a computer with Windows 7/8/10 and
Windows Vista operating system.
9105-C-ZC26-U-RJ45S-X has a RJ45 adapter that allows the use of standard ofce-grade Ethernet cables with
RJ45 connectors.
The following (2) options allow the sensor to connect through its Ethernet interface:
• Connect to an Ethernet network by plugging the end of the Ethernet cable into a port of an Ethernet switch.
• Connect the RJ45 cable adapter directly to a computer’s Ethernet interface.
NOTICE: Connecting to a computer’s Ethernet interface has the lowest latency and chance of lost data
packages and provides the best high-speed connection.
NOTICE: Most computers do not have a second Ethernet port; one must be installed. Contact your IT
department for assistance.
4.1 IPAddressCongurationforEthernet
The Ethernet Axia sensor IP address settings are only loaded upon power up, consequently the sensor must
be power cycled for new IP address setting changes to be used. An IP address for the EthernetAxia sensor,
may be congured using one of the following methods:
Method 1: Set the IP address to a static value stored on the Communication Settings web page.
This method is described in Section 4.2—Connecting Through Ethernet using a
Windows Computer.
Method 2: The DHCP server assigns an IP address. This option can be enabled in the Ethernet
Axia’s web pages (see Section 4.2—Connecting Through Ethernet using a Windows
Computer for details). To use this method, a DHCP server must be present in the
network.
The sensor is shipped with DHCP enabled and the static IP address set to 192.168.1.1. The static IP address
is automatically used, if the network does not support DHCP. DHCP is not used, if a LAN connection is
absent during power up.