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.

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The figure above represents the various force and torques that the FT300 Force Torque Sensor can measure. Reference frame is
centered on the Sensor as shown above and visual inscriptions are also represented on it.
lThe Z axis passes through the center of the thru hole with positive direction in the tool direction.
lThe X axis traces a symmetric line centered on the connector; the positive direction points the opposite way away from the con-
nector.
lThe Y axis uses the right hand thumb rule according to X-Z.
Fig. 1.3: FT300 Force Torque Sensor options.
The figure above represents various options available. They can be found in the Spare Parts, Kits and Accessories section.
lCouplings are meant to install the FT300 Force Torque Sensor on various robot models, see available models.
lSensor Cable is used for power and communications with the FT300 Force Torque Sensor and is available in different lengths.
lMechanical Protector is meant to protect the cable connector from collisions that can occur when operating the robot (especially
useful when in teach mode).
lTool Plate is not shown, but might be required when certain end-of-arm tools are mounted on the FT300 Force Torque Sensor.
Info
Please refer to the Installation section for details on the installation of various options.
Several software packages are provided and detailed in the Software section of this manual.
Tip
It is important to understand that the FT300 Force Torque Sensor can be used either as a Modbus RTU slave or as a
streaming device. When use as a slave unit you will send status requests (read function) to get the force & moment
values, while when in data stream mode the Sensor will continuously stream data without responding to a master
request. Please refer to the Serial Communication section for details.

2. Safety
Warning
The operator must have read and understood all the instructions in this manual before handling the Robotiq Force
Torque Sensor.
Info
The term "operator" refers to anyone responsible for any of the following operations on the FT300 and the associated
robot or tools:
lInstallation
lControle
lMaintenance
lInspection
lCalibration
lProgramming
lDecommissioning
This documentation explains the various components of the Force Torque Sensor, as well as general operations regarding the
whole life-cycle of the product from installation to operation and decommissioning.
The drawings and photos in this documentation are representative examples and differences may exist between them and the
delivered product.
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2.1. Warning
Info
Any use of the Sensor in noncompliance of these warnings is inappropriate and may cause injury or damage.
Warning
A Force Torque Sensor used in human-robot collaboration must not be considered a complete safety measure,
additional dedicated safety device(s) must be considered. Sensor failure can occur and result in danger for workers or
machinery if not properly secured. See local or international safety measure for human-robot collaboration.
Warning
lThe Sensor needs to be properly secured before operating the robot.
lDo not install or operate a Sensor that is damaged or lacking parts.
lNever supply the Sensor with an alternative current source.
lMake sure all cord sets are always secured at both ends, at the Sensor and at the robot.
lAlways meet the recommended keying for electrical connections.
lMake sure no one is in the robot and/or Sensor path before initializing the robot's routine.
lAlways meet the Sensor payload specifications.
lAll local safety measures and/or laws on robot operation must be applied to the Sensor.
lAny use of the Sensor in noncompliance with these warnings is inappropriate and may cause injury or damage.

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2.2. Intended Use
The Sensor is designed for data acquisition (force and torque sensing) for an end-of-arm tool on a robot.
The product is intended for installation on a robot or other automated machinery or equipment.
Info
Always comply with local and/or national laws, regulations and directives on automation safety and general machine
safety.
The unit may be used only within the range of its technical specifications. Any other use of the product is deemed improper and
unintended use. Robotiq will not be liable for any damages resulting from any improper or unintended use.

3. Installation
Warning
Be sure to read and understand the safety instructions related to the Robotiq Force Torque Sensor prior to installation.
3.1. Scope of Delivery
Standard delivery for an FT Sensor kit:
FTS-300-KIT-001
Robotiq Force Torque Sensor FT 300 unit
1 m pigtail cable (CBL-COM-2068-01)
10 m Robotiq Device Cable (CBL-COM-2065-10-HF)
USB Signal Converter (ACC-ADT-USB-RS485)
3.1.1. Options
lCouplings
Info
Coupling is mandatory for the FT 300.
lAdapter plates
lTool plates
lDifferent cable lengths
Info
The following are not included in delivery unless specified in the purchase:
lOptions such as couplings and adapters for mounting on divers industrial robots.
lHardware required for options; accessories or fixtures for the FT Sensor unless specified.
lPower supply units, power supply wiring or fuses.
Please refer to the Spare Parts, Kits and Accessories section for a list of available parts.
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3.2. Environmental and Operating Conditions
The FT300 Force Torque Sensor is designed for industrial applications. Always respect the following specified storage, transport
and operating environmentalconditions:
CONDITION VALUE
Minimum storage/transit
temperature -25°C
Maximum storage/transit
temperature 70°C
Minimum operating temperature 15°C
Maximum operating temperature 35°C
Humidity (non-condensing) 20-80% RH
Vibration (storage / transit) 5G
Vibration (operating) 2G
Other
lFree from dust, soot or water
lFree from corrosive liquids or gases
lFree from explosive liquids or gases
lFree from powerful
electromagneticinterference

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3.3. Mechanical Connections
You must use a coupling to attach the Sensor to a robot. Be sure to use the coupling related to your robot model. Our couplings
are listed according to ISO 9409-1 and this covers most bolt patterns. If there is no coupling for your robot, you can modify a blank
coupling or Robotiq can create a custom version for you. Some couplings may require an additional adapter plate. To create your
own coupling or adapter plate you can refer to the Technical Dimensions section. To see available couplings and adapter plates
and for details, refer to the Spare Parts, Kits and Accessories section.
Info
The FT 300 coupling is mandatory, you can customize yours from a blank provided by Robotiq.
Here are the steps to follow for the installation of the Sensor (see figure below). Note that all screws must be locked in place using
medium strength threadlocker, such as Loctite 248 or a similar product.
1. Align the indexing dowel pin between the coupling and the robot (usually press fitted to the robot).
2. Screw the coupling to the robot with the robot mounting screws (with lock washers if provided) and threadlocker.
3. Align the Sensor indexing dowel pins (prefixed to the Sensor) to the coupling.
4. Screw the Sensor to the coupling using the coupling mounting screws (with lock washers if provided) and threadlocker.
Fig. 3.4: Attaching the FT 300 sensor to a robot arm using the mandatory coupling.

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3.4. Power Supply Specifications
The Sensor needs to be supplied by a DC voltage source. This power supply is not included with the Sensor.
POWER SUPPLY SPECIFICATIONS VALUE
Output voltage 5 to 24 V DC
Max power consumption 2 W
Overcurrent 1 A Fuse (Phoenix #0916604 (UT6-TMC M 1A))
Overvoltage protection Warning
Maximum output voltage tolerance is 10%, exceeding this
limit, 26.4 V DC could damage the Sensor.
Info
Robotiq recommends the use of the following power supply:
TDK-Lambda DPP Series, 15W Single Output DIN Rail Mount Power Supply, DPP15-24

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3.5. Wiring
Power and communications are established with the FT300 Force Torque Sensor via a single device cable. The FT 300 has a pigtail
cable.
The figure below represents the FT300 Force Torque Sensor receptacle (Sensor side) and connector (cable side) with associated
pinout. The M12 - 5 pin A-coded connector is used in accordance with IEC 61076-2-101.
Warning
Use proper cabling management. Be sure to have enough forgiveness in the cabling to allow movement of the Gripper
along all axes without pulling out the connectors. Always protect the controller side of the cable connection with a strain
relief cable clamp.
Fig. 3.5: Pinout of the Robotiq Force Torque Sensor FT 300 and color code for the respective cable type.
Info
Power pins 2 & 3 are connected to the specified power supply.
Info
RS-485 signal pins 1, 4 & 5 are connected directly, to a RS-485 / USB converter or to a RS-485 / RS-232 converter.

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3.5.1. Wiring with USB to RS485 Converter
When using a RS485 to USB converter (refer to the Spare Parts, Kits and Accessories section), the wiring must respect the figure
below and subsequent directions. GND / 0V is wired to Sensor pin #1 as stated in the Wiring section.
The converter will provide you with a standard USB 2.0 male A connector.
Fig. 3.6: Wiring diagram for the RS485 to USB converter
Warning
Power is not delivered via the USB, do not plug 24V into the USB.