ATI Technologies Wireless F/T User 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]
Wireless F/T
Network Force/Torque Sensor System
Compilation of Manuals
Document #: 9610-05-1031

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
Document #: 9620-05-Wireless FT

Manual, FT, Wireless FT
Document #9620-05-Wireless FT-06
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™, Windows 7®, Window XP®are 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]

Manual, FT, Wireless FT
Document #9620-05-Wireless FT-06
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
3
Table of Contents
Foreword.......................................................................................................................................... 2
Glossary........................................................................................................................................... 6
1. Safety......................................................................................................................................... 7
1.1 ExplanationofNotications.........................................................................................................7
1.2 General Safety Guidelines............................................................................................................7
1.3 Safety Precautions........................................................................................................................7
2. System Overview...................................................................................................................... 8
2.1 Three Transducer Wireless F/T....................................................................................................9
2.2 Six Transducer Wireless F/T ......................................................................................................10
2.3 Antenna........................................................................................................................................ 11
2.4 Micro USB Connector................................................................................................................. 11
2.5 MicroSD Card Slot....................................................................................................................... 11
2.6 External Power Adapter.............................................................................................................. 11
2.7 USB Cable.................................................................................................................................... 11
2.8 Mounting features....................................................................................................................... 11
2.8.1 Removable Belt Clip......................................................................................................... 11
2.8.2 Threaded Holes................................................................................................................ 11
2.9 Removable Battery...................................................................................................................... 11
2.10 Controls and Indicators..............................................................................................................12
2.10.1 Power Button....................................................................................................................12
2.10.2 Power Button Indicator.....................................................................................................12
2.10.3 Transducer Status Indicators............................................................................................12
2.10.4 Wireless Status Indicator..................................................................................................12
2.10.5 Battery Status Indicator....................................................................................................13
2.10.6 External Power Indicator ..................................................................................................13
3. InitialCongurationandInstallationoftheWirelessF/TSystem ..................................... 14
3.1 PreparingyourWirelessF/TforConguration ........................................................................14
3.2 InitialConguration ....................................................................................................................15
3.3 The Wireless F/T Java Demo Application .................................................................................17
3.3.1 Creatingatestprole .......................................................................................................17
3.3.2 Connecting to the Wireless F/T........................................................................................19
3.3.3 Data Collection.................................................................................................................21
3.3.3.1 Collecting and Storing Data on a PC or Network File.......................................21
3.3.3.2 Collecting and Storing Data on a MicroSD Card ..............................................22

Manual, FT, Wireless FT
Document #9620-05-Wireless FT-06
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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3.4 Mounting the Wireless F/T Unit..................................................................................................22
3.4.1 Belt Clip Installation..........................................................................................................22
3.4.2 Fixed Installation ..............................................................................................................22
3.5 External Power Adapter Installation..........................................................................................22
4. Installing the Transducer....................................................................................................... 23
5. Command Interface................................................................................................................ 24
5.1 Communication Interfaces.........................................................................................................24
5.2 Commands...................................................................................................................................24
5.3 Basic Wireless F/T Commands..................................................................................................24
5.4 Commands For Modifying Wireless Settings...........................................................................27
5.5 Commands Related to the Transducer Output.........................................................................34
5.6 Commands Related to the Functionality of the MicroSD Card Reader..................................37
5.7 Commands Related to NTP Time Synchronization:.................................................................39
5.8 UDP Interface...............................................................................................................................41
5.9 UDP Command Format ..............................................................................................................41
5.10 Data Packet..................................................................................................................................43
5.10.1 Calculating F/T values for Data Packages.......................................................................45
5.11 Processor Firmware Update Procedure....................................................................................46
6. Maintenance............................................................................................................................ 47
6.1 Preventive Maintenance .............................................................................................................47
6.2 Battery Recharging and Replacement ......................................................................................47
6.2.1 Charging Battery Internally...............................................................................................47
6.2.2 Charging Battery Externally..............................................................................................47
7. Troubleshooting ..................................................................................................................... 48
8. Serviceable Parts ................................................................................................................... 48
9. Specications ......................................................................................................................... 49
9.1 Wireless Characteristics.............................................................................................................49
9.2 Power Requirements...................................................................................................................49
9.2.1 Wireless Power Levels.....................................................................................................49
9.3 Physical Characteristics.............................................................................................................50
9.4 Transducer Inputs.......................................................................................................................50
9.4.1 Analog Transducer Data Filtering.....................................................................................51
10. Regulatory Information.......................................................................................................... 52
10.1 FCC Statement.............................................................................................................................52
10.2 Canadian Compliance Statement ..............................................................................................52

Manual, FT, Wireless FT
Document #9620-05-Wireless FT-06
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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11. Drawings ................................................................................................................................. 54
11.1 Wireless Net F/T for 3 Transducers...........................................................................................54
11.2 Wireless Net F/T for 6 Transducers...........................................................................................55
12. Terms and Conditions of Sale............................................................................................... 56
B.1 InitialCongurationUsingaTelnetProgram ...........................................................................59
C.1 Introduction .................................................................................................................................63
C.2 Denitions....................................................................................................................................63
C.3 Wireless F/T Digital Input Sampling..........................................................................................63
C.4 Wireless F/T Analog Input Sampling.........................................................................................63
C.5 Wireless F/T Analog Input Calibration.......................................................................................65
C.5.1 Internal Calibration...........................................................................................................65
C.5.2 External Calibration..........................................................................................................66
C.6 Troubleshooting..........................................................................................................................68

Manual, FT, Wireless FT
Document #9620-05-Wireless FT-06
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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Glossary
Terms Denitions
ADC Analog to Digital Converter.
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.
RSSI Received Signal Strength Indicator.
Scaling Factor A Counts per Force or Counts per Torque value that is obtained from the
calibrationle.
Sensor System The assembly consisting of all components from the transducer to the WNet
box.
SSID The name of a wireless local area network.
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.
WNet Wireless F/T

Manual, FT, Wireless FT
Document #9620-05-Wireless FT-06
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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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.
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.
ATTENTION: Le non-respect des informations ou des instructions contenues
dans la notice peut entraîner des blessures moyennement graves ou causer
des dommages à l’équipement. La notice fournit des informations sur la nature
de la situation dangereuse, les conséquences si le danger n’est pas évité, et la
méthode pour éviter la 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,
and 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.
ATTENTION: Ne pas retirer les attaches ni démonter le Wireless F/T. Cecicausera
des dommages irréparables au Wireless F/T et annulera la garantie. Laisser
toutes les attaches en place et ne pas démonter le Wireless F/T.

Manual, FT, Wireless FT
Document #9620-05-Wireless FT-06
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA •Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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2. System Overview
The Wireless F/T can measure six degrees of freedom forces and torques (Fx, Fy, Fz, Tx, Ty, and Tz) from multiple
transducers and streams the data to an existing wireless access point on the network. This data can be used for data
collection, real-time motion control, or user-dened signal processing by the user’s host device. The Wireless F/T
can also store the data on a memory card.
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 wireless device for controlling up to six ATI Multi-Axis Force/Torque transducers. The
device supports ATI’s TW-type transducers such as the Nano and Mini. Transducers with integrated electronics are
not supported. The device is equipped with a MicroSD card slot used to collect and store data. The Wireless F/T is
contained in an impact, splash, and dust resistant housing.
The Wireless F/T unit is provided with an external antenna that can be pivoted 90° so the unit can be used in small
conned spaces. Fixed mounting is accommodated with the four robust threaded inserts on the back plate of the
housing. The unit is provided with a removable belt clip for mobile applications. The Wireless F/T can be powered
by a rechargeable battery, or can be powered with the 5 VDC external power adapter using the USB connector. The
battery can be charged internally or externally.
The Wireless F/T includes a rechargeable battery, antenna, external power adapter, USB cable, and removable belt
clip. Optional desktop battery charger and international power cords are available, refer to Section 8—Serviceable
Parts for more details.

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Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com • Email: [email protected]
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2.1 Three Transducer Wireless F/T
The three Transducer Wireless F/T 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 is extended signicantly when using fewer
transducers.
Figure 2.2—Three Transducer Wireless F/T
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
(Not Provided)
Section 2.10.3
Section 2.10.2
Section 2.10.6
Section 2.10.5
Section 2.10.4