ROBOTIQ FT 300 User manual

Robotiq FT300 Force Torque Sensor
Instruction Manual robotiq.com | leanrobotics.org
Original Notice
© 2018 Robotic Inc.

1. General Presentation 9
1.1. Main features 10
2. Safety 12
2.1. Warning 13
2.2. Intended Use 14
3. Installation 15
3.1. Scope of Delivery 15
3.1.1. Options 15
3.2. Environmental and Operating Conditions 16
3.3. Mechanical Connections 17
3.4. Power Supply Specifications 18
3.5. Wiring 19
3.5.1. Wiring with USB to RS485 Converter 20
3.5.2. Wiring with RS232 to RS485 Converter 21
3.6. Calibration Procedure 22
3.6.1. Calibration Procedure with Universal Robots 23
Payload/CoG 26
3.6.2. Calibration Procedure for the Visual Demo Software (PC) 27
3.7. Status LED 28
3.8. Installation for Universal Robots 29
3.8.1. URCap Package 30
Installation 30
Firmware upgrade 32
Uninstalling the URCaps Package 33
License Agreement 34
3.8.2. UR Package without URCaps 37
Driver Package Installation 37
Calibration 37
Testing the software package 38
Removing the Package 38
ActiveDrive Toolbar Installation 39
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4. Software 40
4.1. Control with Universal Robots 41
4.1.1. ActiveDrive Toolbar 42
Overview 42
Toolbar collapsed 42
Toolbar expanded 42
ActiveDrive modes expanded 42
Features 43
Error Messages Overview 45
4.1.2. Using the force and torque values 47
4.1.3. Path Recording 49
Overview 51
Features* 53
Custom Programs 55
4.1.4. Using the Force Torque Sensor's Data in Force Nodes 56
4.2. Development Package 57
4.2.1. Distribution License 57
4.2.2. Linux 59
Package Files – Description 59
Procedure to Compile and Test the Provided Source Code 59
Adapt to a User Application 60
4.2.3. Windows 61
Package Files – Description 61
Procedure to Compile and Test the Provided Source Code 61
Adapt to a User Application 62
4.3. Visual Demo Software 63
4.3.1. Software Package Installation 63
4.4. Serial Communication 65
4.4.1. Modbus RTU 65
4.4.2. Data Stream 67
5. Specifications 68
5.1. Technical Dimensions 68
5.1.1. Tool Side Bolt Pattern 69

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5.2. Mechanical Specifications 70
5.2.1. Moment of Inertia and Center of Mass 71
5.2.2. Overload Capacity 72
5.3. Signal Specifications 73
5.4. Electrical Ratings 75
5.5. Couplings 76
5.5.1. Blank Coupling 77
6. Maintenance 78
6.1. Maintenance Intervals 78
7. Spare Parts, Kits and Accessories 79
8. Troubleshooting 80
8.1. General troubleshooting 80
8.1.1. An offset has appeared in the Sensor data 80
8.1.2. Procedure to determine if the Sensor is functional 80
8.2. Troubleshooting on Universal Robots 81
8.2.1. ActiveDrive Toolbar troubleshooting – Error messages overview 81
8.3. Troubleshooting on other platforms 83
8.3.1. USB converter detected as a mouse by Windows 83
8.3.2. Data frequency under 100 Hz in Windows 83
8.3.3. In Linux, the serial port cannot be opened 83
8.3.4. Monitoring the Sensor state 84
9. Warranty 85
9.1. Exclusions 86
10. Contact 87
Appendix A – Translation of Original EC Declaration of Incorporation 89
Appendix B – Applied Standards 90

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Revisions
Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in
specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this
manual online at: support.robotiq.com.
Revision 2018/03/26
Removed all references to FT 150 Force Torque Sensor
Revision 2018/02/13
Removed reference to ROSpackage (section 4.3)
Revision 2017/12/11
Updated control with Universal Robots (section 4.1 and subsections)
Revision 2017/10/30
Updated mechanical specifications (section 5.2)
Updated signal specifications (section 5.3)
Revision 2016/11/18
Updated FT 150 signal specifications (section 5.3)
Updated installation for Universal Robots (section 3.8 and sub sections)
Updated Control with Universal Robots (section 4.1 and sub sections)
Revision 2016/04/26
Update for ActiveDrive toolbar, added calibration instructions
Revision 2016/01/18
Update for FT 300
Revision 2014/09/08
Official release

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Copyright
© 2016 Robotiq Inc. All rights reserved.
This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by
international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent
from Robotiq. Under copyright law, copying includes translation into another language or format.
Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed
by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after
the edition date.
The information contained in this document is subject to change without notice.

1. General Presentation
The terms ''Sensor'', ''Robotiq Sensor'', ''Force Sensor'', ''Torque Sensor'', ''FT300 Force Torque Sensor'' used in the following
manual refer to the Robotiq Force Torque Sensor FT 300 unless specified. The following manual instructions apply to both
versions unless explicitly stated otherwise. The Robotiq FT300 Force Torque Sensor is a robotic peripheral designed for force and
torque data acquisition. The FT300 Force Torque Sensor is meant to have an end-of-arm tool mounted on it, so that it can sense
force and torque applied on the tool. The Sensor is compatible with various tools and provides feedback that can be used for:
hand guiding a robot, force control processes, assembly tasks, product testing,etc.
Info
The following manual uses the metric system, unless specified, all dimensions are in millimeters.
Info
The following section presents the key features of the Sensor and must not be considered as being related to Sensor
operation, each feature is detailed in the appropriate section of the manual. Safety guidelines must be read and
understood before any operation is attempted with theSensor.
Fig. 1.1: General presentation of the Robotiq Force Torque Sensors with main features.
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1.1. Main features
lThe end-of-arm tool contact surface (in green) is the only point of contact allowed between the Sensor and the tool to ensure cor-
rect force and torquefeedback.
lThe robot contact surface (in blue) is the only contact point allowed between the Sensor and the robot for fastening the sensor to
the robot. Note that the inside ring must not touch the robot.
Info
Details on the bolt pattern and indexing pin for the tool side and the robot side can be found in the Specifications
section.
lThe screw positioning for the coupling and the robot mountings are shown in orange. See the Spare Parts section for a list of
available Couplings.
lM12 connector (pigtail or mounted) allows for both power and data transfer for the Sensor.
lStatus LED provides visual information on the status of the Sensor, see Section 3.7 for details.
Fig. 1.2: FT300 Force Torque Sensor force and torque diagrams.