SCHUNK FT-AXIA 80 Ethernet Mounting instructions

Original Software Manual
Software Manual
SCHUNK Software Module for URCap
SCHUNK Sensor FT-AXIA 80 Ethernet

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01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights re-
served. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and re-
quires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 1369443
Version: 01.00|05/09/2018|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear Customer,
thank you for trusting our products and our family-owned company, the leading techno-
logy supplier of robots and production machines.
Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution!
Best regards,
Your SCHUNK team
SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
schunk.com

Table of contents
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Table of contents
1 About this manual ................................................................................................... 4
1.1 Explanation of Warnings ...................................................................................... 5
2 Safety ...................................................................................................................... 6
2.1 General Safety Guidelines .................................................................................... 6
2.2 Safety Precautions................................................................................................ 6
3 Overview ................................................................................................................. 7
3.1 UR Kit.................................................................................................................... 8
3.1.1 Unpacking the UR Kit................................................................................9
3.1.2 Installing the Ethernet AXIA Sensor..........................................................9
4 URCap Software......................................................................................................10
4.1 Installing URCap Software .................................................................................. 11
4.2 Setting up URCap Software ................................................................................ 14
4.3 Determining the Tooling Mass and Offset.......................................................... 17
4.4 Uninstalling URCap Software.............................................................................. 19
5 Operation of the URCap Software...........................................................................21
5.1 Sample Rate........................................................................................................ 22
5.2 View Force and Torque Readings ....................................................................... 22
5.3 Program Node Commands and Options............................................................. 23
5.3.1 Program Node Commands .....................................................................26
5.3.2 Program Node Options...........................................................................28
5.3.3 Protective Stop Error ..............................................................................33
6 Demo Programs ......................................................................................................34
6.1 Downloading Demo Programs............................................................................ 35
6.2 Installing Demo Programs and Setting a Start Position ......................................35
7 Operation ...............................................................................................................41
7.1 Standard Demo Program.................................................................................... 41
7.2 Simple Demo ...................................................................................................... 42
8 Troubleshooting .....................................................................................................43
8.1 Errors with the URCap Software......................................................................... 44

About this manual
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1 About this manual
This manual contains important information for a safe and appro-
priate use of the product.
This manual is an integral part of the product and must be kept ac-
cessible for the personnel at all times.
Before starting work, the personnel must have read and under-
stood this operating manual. Prerequisite for safe working is the
observance of all safety instructions in this manual.
Illustrations in this manual are provided for basic understanding
and may differ from the actual product design.
In addition to these instructions, the documents listed under Link
Mitgeltende Unterlagen are applicable.

About this manual
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1.1 Explanation of Warnings
The warnings included here are specific to the product(s) covered
by this manual. It is expected that the user heed all warnings from
the robot manufacturer and/or the manufacturers of other com-
ponents used in the installation.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
NOTICE
Material damage!
Information about avoiding material damage.

Safety
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2 Safety
The safety section describes general safety guidelines to be fol-
lowed with this product, explanation of the notification found in
this manual, and safety precaution that apply to the product. More
specific notification are imbedded within the sections of the
manual where they apply.
2.1 General Safety Guidelines
The customer should verify that the transducer selected is rated
for maximum loads and torques expected during operation. Be-
cause static forces are less than the dynamic forces from the accel-
eration or declaration of the robot, be aware of the dynamic loads
caused by the robot.
2.2 Safety Precautions
NOTICE
Material damage due to wrong up setting.
When initially setting up the Demo Programs, position the robot
manually in order to avoid damaging parts, especially the sensor
cable.

Overview
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3 Overview
This manual explains how to install and operate the SCHUNK Uni-
versal Robot(UR)Cap software and demo programs so that the UR
robot can be used with an SCHUNK Force/Torque (F/T) Ethernet
sensor rather than the UR robot’s calculated F/T readings. The
SCHUNK URCap software is compatible with Ethernet protocol
only.
F/T sensors convert sensed loads from forces and torques into
electrical signals. The F/T sensor provides data to the robot. This
data is the six degrees of freedom (DoF): Fx, Fy, Fz, Tx, Ty, and Tz.
UR robots have algorithms to use force feedback to control the ro-
bot motion. The SCHUNK URCap software provides a way to input
data from an SCHUNK sensor into those algorithms by using plugin
technology.
For more information on UR robots and the UR user interface,
PolyScope, refer to https://www.universal-robots.com/support/.
For more information on the SCHUNK F/T Ethernet sensors refer to
the Ethernet AXIA manual for the FT-AXIA80 sensor and Net FT for
all other SCHUNK Ethernet sensors.

Overview
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3.1 UR Kit
(6x) M5 Mounting Fastener
Downloadable URCap Software
for the UR
Dowel Pin
Interface Plate
(2x) Dowel Pin
Ethernet AXIA Sensor
Power and Ethernet Cable to
the customer's application
(4x) M6 Mounting Fasteners
Power and
Ethernet Cable
SCHUNK provides a bundle that includes the following:
• downloadable URCap software.
• 1x FT-AXIA 80 Ethernet sensor.
• 1x interface plate assembly.
• 1x Ethernet and power cable with a 6-pin connector and 8-pin
M12 connector.
• 1x cable with an 8-pin M12 connector that splits to a RJ45 Eth-
ernet connection and an unterminated end for power.
The interface plate assembly includes the following:
• 6x M5-0.8 x 12 mm socket head cap screws.
• 4x M6-1 x 18 mm socket head cap screws.
• 1x clamp loop for routing the cable.
• 1x 4 mm Allen® wrench or hex key.
Refer to the FT-AXIA 80 Ethernet manual for information about the
FT-AXIA 80 Ethernet sensor. The FT-AXIA 80 Ethernet manual in-
cludes mechanical and electrical specifications.

Overview
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3.1.1 Unpacking the UR Kit
• Check the shipping container and components for damage that
may have occurred during shipping. Report damage to SCHUNK.
• Verify the components from the packing list are included in the
UR Kit.
• Refer to UR Kit [}8], for standard components included in the
UR Kit.
3.1.2 Installing the Ethernet AXIA Sensor
Refer to the Ethernet AXIA manual, for mechanical installation,
cable routing, wiring information for the connectors, and electrical
specifications.

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4 URCap Software
URCap software is required to bypass the UR robot’s calculated F/T
readings and program the robot to use a F/T sensor. URCap soft-
ware is compatible with the FT-AXIA80 Ethernet sensor and other
F/T Ethernet sensors. Contact SCHUNK for help in selecting the
proper sensor for your application. Refer to Demo Programs
[}34], for information about the simple and standard demo pro-
grams available through the URCap software. The demo programs
are included in the URCap software package that is downloaded
from the website

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4.1 Installing URCap Software
URCap software is installed onto the UR Teach Pendant using a
portable USB drive.
UR Teach Pendant
1. Insert a USB drive that contains the URCap package into the USB
port on the back of the UR Teach Pendant.
2. On the UR Teach Pendant, “PolyScope Robot User Interface”
screen or main menu, click "Setup Robot".

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3. On the “Setup Robot” screen, click URCaps Setup.
4. On the “Setup Robot”, “URCaps Setup” screen, click +.

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5. Select the latest version of the file: FT-version.urcap. Click Open.
6. On the “Setup Robot”, “URCaps Setup” screen, AXIA Force/
Torque Sensor appears in the “Active URCaps” field. Click
Restart.
7. When the installation completes, remove the USB stick.

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4.2 Setting up URCap Software
Perform the following steps to prepare the URCap software to
work with the UR robot and sensor.
1. On the UR Teach Pendant, “PolyScope Robot User Interface”
screen or main menu, click "Program Robot".
2. The “New Program” screen displays. Select the Installation tab.

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3. The “Setup for the Tool Center Point” screen displays. Refer to
Determining the Tooling Mass and Offset [}17] for filling in
the fields on the screen. On the sidebar, click F/T Sensor.
4. The “Force/Torque Sensor” screen displays. Enter the sensor’s
IP address. The sensor is shipped with a default sensor IP
address: “192.168.1.1”.
5. Click Start Daemon. The setup completes.

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NOTE
If after clicking Start Daemon and the error message “FT Daemon
failed.” appears, verify the IP Address entered is correct. Repeat
previous step.

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4.3 Determining the Tooling Mass and Offset
NOTICE
Do not enter the following default values into the robot control-
ler without accounting for the tooling mass by using the follow-
ing equations.
Failure to account for the tooling mass and offset reduces the
performance of the UR robot.
•Properly account for the customer tooling, when setting up
the tool center point or TCP.
The SCHUNK-provided sensor and interface plate in the UR Kit
have the following mass characteristics with no customer tooling
installed:
• Mass = 0.558 kg
• Offset to the Center of Gravity in the Z direction = 22.8 mm
• Offset to the Center of Gravity in the X, Y directions = 0 mm
• Total Stack Height or Offset from the robot reference plane to
the sensor reference plane = 46.4 mm
When the customer tooling is mounted to the sensor, these de-
fault values change to account for both the mass of the tool and
the mass of the sensor. Use the following equations to determine
the values to enter in the fields of the “Setup for the Tool Center
Point” screen; Refer to Figure "Setup for the Tool Center Point".
The following diagram can be used as a reference for the equa-
tions.
CG of FT-Sensor
and Interface Plate
Robot Arm
CG Total
CG Cutsomer's Tooling
Customer's CG
in the Z direction

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Payload (kg) = 0.558 + Customer´s Tooling Mass
Center of Gravity (x, mm) = Customer´s Tooling Mass x Customer´s CG in the x direction
0.558 + Customer´s Tooling Mass
Center of Gravity (y, mm) = Customer´s Tooling Mass x Customer´s CG in the y direction
0.558 + Customer´s Tooling Mass
Center of Gravity (y, mm) = 12.7224 + Customer´s Tooling Mass x (Customer´s CG in the z direction+46.4)
0.558 + Customer´s Tooling Mass
Center of Gravity (CG) The point of a mass around which the resultant torque from
gravity forces is zero.
Customer’s Center of
Gravity in the X, Y, Z Dir-
ection
The distance in mm from the F/T sensor’s sensing reference
frame origin (refer to the customer drawing) to the center of
gravity of the customer’s tooling.
This should include the mass and location of all customer-
provided fasteners and not SCHUNK-provided parts.
The location of a center of gravity can be found in most CAD
packages used to design robot tooling.
Customer’s Tooling Mass The mass of the customer’s tooling that includes all fasteners
not provided by SCHUNK, in kilograms.
F/T Mass The mass of the F/T sensor including the interface plate and all
hardware required to connect the F/T sensor to the robot.
The F/T mass does not include any hardware the customer uses
to mount their tooling to the F/T sensor.

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4.4 Uninstalling URCap Software
1. On the UR Teach Pendant, “PolyScope Robot User Interface”
screen or main menu, click Setup Robot.
2. On the “Setup Robot” screen, click URCaps Setup.

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3. On the “Setup Robot” “URCaps” screen, select AXIA Force/
Torque Sensor.
4. Click -. AXIA Force/Torque Sensor is removed from the “Active
URCaps” field.
5. Click Restart. The changes require a restart for the
uninstallation to be complete.