ATI Technologies 9105-NETOEM Instruction manual

Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]
9105-NETOEM and 9105-NETAOEM
Net F/T OEM
Technical Data, Installation, and Operation Manual
Document #: 9610-05-1027

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]
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 reflect 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 © (2019) 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.
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 configuration.
If possible, be near the F/T system when calling.

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]
3
How to Reach Us
Sales, Service and Information about ATI products:
ATI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel: [phone]
Fax: [phone]
E-mail: [e-mail]
Technical support and questions:
Application Support
Tel: [phone], Option 2, Option 2
Fax: [phone]
E-mail: [e-mail]

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]
4
Table of Contents
Foreword.......................................................................................................................................2
How to Reach Us..........................................................................................................................3
Table of Contents .........................................................................................................................4
Glossary........................................................................................................................................5
Definitions.....................................................................................................................................5
1. Safety....................................................................................................................................6
1.1 General...........................................................................................................................................6
1.2 Explanation of Warnings.................................................................................................................6
1.3 Precautions.....................................................................................................................................6
2. System Overview .................................................................................................................7
2.1 NETOEM.........................................................................................................................................7
2.2 NETAOEM......................................................................................................................................7
3. System Components Description.......................................................................................8
3.1 9010-05-1106 Net Digital Board.....................................................................................................8
3.2 9010-05-1107 Net Analog Board....................................................................................................9
4. Connectors.........................................................................................................................11
4.1 Net Digital Board connections ......................................................................................................11
4.1.1 P600 Transducer Strain Gage Connector......................................................................11
4.1.2 P602 Ethernet Connector...............................................................................................11
4.1.3 P603 CAN and DC Power Supply Input Connector .......................................................12
4.1.4 P604 Transducer Serial Interface Connector.................................................................12
4.1.5P605 Threshold Relay Connector ..................................................................................12
4.2 Net Analog Board connections.....................................................................................................13
4.2.1 P1 Serial Interface and Power Connector......................................................................13
5. Optional Wire Harnesses...................................................................................................14
5.1 9700-0500005-04 NETAOEM Transducer Strain Gage Wire Harness........................................14
5.2 9000-05-1050 M12-4 Type D Ethernet Wire Harness..................................................................14
5.3 9000-05-1051 M12 Power/CAN Wire Harness.............................................................................15
5.4 9000-05-1052 NETOEM Transducer Wire Harness.....................................................................16
5.5 9000-05-1053 Threshold Relay Wire Harness.............................................................................17
6. Specifications.....................................................................................................................18
6.1 Storage and Operating Conditions ...............................................................................................18
6.1.1 Temperature ...................................................................................................................18
6.2 Electrical Specifications................................................................................................................18
6.2.1 Power Supply..................................................................................................................18
6.2.2 Threshold Relay..............................................................................................................18
6.3 Weights and Dimensions..............................................................................................................18
7. Drawings.............................................................................................................................19
7.1 9230-05-1372 Net Digital and Analog Board Drawing .................................................................19
8. Terms and Conditions of Sale...........................................................................................20

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]
5
Glossary
Terms Definitions
DHCP Dynamic Host Configuration Protocol (DHCP) is an automatic method for Ethernet equipment to obtain an IP address. The Net F/T 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 flow of traffic.
F/T Force/Torque.
IP Address
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.
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.
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.
Net Box The component that contains the power supply and network interfaces of the
Net F/T system.
PCB Printed Circuit Board
RDT Raw Data Transfer (RDT) is a fast and simple Net F/T protocol for control
and data transfer via UDP.
Sensor System The assembly consisting of all components from the transducer to the Net
Box.

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]
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1. Safety
1.1 General
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) found in Net F/T Installation and Operation
Manual (9610-05-1022) 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.
1.2 Explanation of Warnings
The warnings included here are specific to the product(s) covered by this manual. It is
expected that the uses heed all warnings from the robot manufacturer and/or the manufacturers
of other components used in the installation.
Danger indicates that a situation could result in potentially serious injury or damage to
equipment.
Caution indicates that a situation could result in damage to the product and/or the
other system components.
1.3 Precautions
!
DANGER: Do not attempt to disassemble the transducer. This will damage the
instrumentation.
DANGER: Do not probe any openings in the transducer. This will damage the
instrumentation.
DANGER: Take care to prevent excessive forces or moments from being applied
to the transducer during handling or installation. The small Nano series is easily
overloaded during rough handling and may be damaged.

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]
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2. System Overview
The NETOEM and NETAOEM are PCB-only versions of the NETB and NETBA Force/Torque
sensor interface systems and do not include an enclosure. They provide the same functionality as
their enclosed counterparts at a much lower weight and with smaller dimensions to be integrated in
the customer’s own housing. Please refer to the Net F/T manual for a description of the available
functions: http://www.ati-ia.com/app_content/documents/9610-05-1022.pdf
2.1 NETOEM
The NETOEM is to be used in conjunction with a 9105-NET transducer, which has an integrated
analog-to-digital interface. The NETOEM is recommended for all NET-GAMMA, NET-DELTA, NET-
THETA and NET-OMEGA transducers.
Analog-to-
Digital
Interface
Serial Interface
9105-NET Transducer with
integrated electronics
and Power
Ethernet
NETOEM
P602 P603
CAN, DCIN
Net Digital Board
P604
.
Figure 2-1—NETOEM System
2.2 NETAOEM
The NETAOEM includes the analog-to-digital interface and allows the direct interface to
9105-TW transducers which do not have integrated electronics. The NETAOEM is
recommended for all TW-NANO and TW-MINI transducers but can also be used with TW-
GAMMA, TW-DELTA, TW-THETA and TW-OMEGA transducers.
Analog-to-
Digital
Interface
Analog Signals
9105-TW Transducer
P602 P603
CAN, DCIN
Ethernet
Net Digital Board
NETAOEM
P600
.
Figure 2-2—NETAOEM System

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]
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3. System Components Description
The NETOEM and NETAOEM consist of one or two PCBs and several optional wire harnesses.
3.1 9010-05-1106 Net Digital Board
The Net Digital Board communicates with the Net Analog Board (see section 3.2 “9010-05-
1107 Net Analog Board”) via a high-speed serial interface on P604. The received data are
digitized strain data that get transformed into force and torque values on the Net Digital Board.
The Net Digital Board provides the force and torque data over an Ethernet and a CAN
interface.
Figure 3-1—Net Digital Board (Top View)
Figure 3-2—Net Digital Board (Bottom View)

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]
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3.2 9010-05-1107 Net Analog Board
The Net Analog Board interfaces with the transducer’s strain gages via connector P2. The
strain gage signals get digitized with 16-bit A/D converters. The digitized data are then sent
over a high speed RS485 interface to the Net Digital Board via connector P1. 12VDC power
from the Net Digital Board is supplied via P1.
The Net Analog Board is part of the NETAOEM and is connected to the Net Digital Boards
connector P601. In NETOEM systems the Net Analog Board is located in the 9105-NET
transducer.
P1
Serial Interface and Power
Connector
Figure 3-3—Net Analog Board – top view

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [e-mail]
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P2
Strain Gage Interface
Connector
Figure 3-4—Net Analog Board – bottom view