SCHUNK FT-AXIA80-DUAL SI-75-4 User instructions

Translation of Original Operating Manual
Assembly and Operating Manual
FT-AXIA
Force/torque sensor

Imprint
2 01.00 | FT-AXIA | Assembly and Operating Manual | en | 1517831
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 1517831
Version: 01.00|30/05/2022|en
Dear Customer,
thank you for trusting our products and our family-owned company, the leading
technology 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
Customer Management
Tel. [phone]
Fax [phone]
[email protected]
Please read the operating manual in full and keep it close to the product.

Table of Contents
Table of Contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................ 5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Applicable documents ..............................................................................5
1.1.3 Variants.....................................................................................................6
1.1.4 Sizes ..........................................................................................................6
1.1.5 Calibration variants...................................................................................6
1.2 Warranty .............................................................................................................. 7
1.3 Scope of delivery .................................................................................................. 7
1.4 Accessories ........................................................................................................... 7
2 Basic safety notes ................................................................................................... 8
2.1 Intended use......................................................................................................... 8
2.2 Not intended use.................................................................................................. 8
2.3 Constructional changes ........................................................................................ 8
2.4 Spare parts ........................................................................................................... 8
2.5 Ambient conditions and operating conditions .....................................................9
2.6 Personnel qualification......................................................................................... 9
2.7 Personal protective equipment.......................................................................... 10
2.8 Notes on safe operation ..................................................................................... 10
2.9 Malfunctions....................................................................................................... 10
2.10 Disposal .............................................................................................................. 11
2.11 Fundamental dangers......................................................................................... 11
2.11.1 Protection during handling and assembly ..............................................11
2.11.2 Protection during commissioning and operation ...................................12
3 Technical data.........................................................................................................13
3.1 Basic data ........................................................................................................... 13
3.2 Ambient conditions and operating conditions ...................................................16
3.3 Standard peak values ......................................................................................... 16
3.4 Maximum permissible load ................................................................................ 17
4 Design and description............................................................................................24
4.1 Design ................................................................................................................. 24
4.2 Description ......................................................................................................... 25
5 Assembly ................................................................................................................26
5.1 Assembly and connection................................................................................... 26
5.2 Adjusting the alignment of the terminal block................................................... 27
5.3 Connections........................................................................................................ 27
5.3.1 Mechanical connection...........................................................................27
5.3.2 Electrical connection ..............................................................................33
6 Start-up ..................................................................................................................34
6.1 Tool conversion .................................................................................................. 34
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Table of Contents
7 Maintenance ..........................................................................................................36
7.1 Maintenance intervals........................................................................................ 36
7.2 Checking the measured data.............................................................................. 36
7.3 Removing the product from the robot arm........................................................ 37
8 EU Declaration of Conformity .................................................................................38
9 Appendix to the declaration of conformity .............................................................39
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General
1 General
1.1 About this manual
This manual contains important information for a safe and
appropriate use of the product.
This manual is an integral part of the product and must be kept
accessible for the personnel at all times.
Before starting work, the personnel must have read and
understood 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 }1.1.2 [/5] are applicable.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
CAUTION
Material damage!
Information about avoiding material damage.
1.1.2 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
• Commissioning instructions for the force-torque-sensor system
The documents labeled with an asterisk (*) can be downloaded
from schunk.com.
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General
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1.1.3 Variants
This operating manual applies to the following variations:
• Force/torque sensorFT-AXIA with FTN-interface
• Force/torque sensorFT-AXIA with FTE-interface
• Force/torque sensorFT-AXIA with FTRS-interface
1.1.4 Sizes
This operating manual applies to the following sizes:
• FT-AXIA80
• FT-AXIA90
• FT-AXIA130
1.1.5 Calibration variants
The sensors are available in different calibration variants, which
can be recognized by the number of grooves(1) on the outer
housing.
Illustration shown as an example on FT-AXIA80-DUAL SI-75-4/SI-150-8
Designation Number of
grooves
FT-AXIA80-DUAL SI-75-4/SI-150-8 3
FT-AXIA80-DUAL SI-200-8/SI-500-20 0
FT-AXIA80-DUAL SI-480-20/SI-1200-50 2
FT-AXIA90-SI-1000-50 0
FT-AXIA130-SI-2000-125 1
FT-AXIA130-SI-4000-300 2

General
1.2 Warranty
If the product is used as intended, the warranty is valid for 12
months from the ex-works delivery date under the following
conditions:
• Observe the ambient conditions and operating
conditions, }2.5 [/9]
• Observe the specified maintenance intervals, }7 [/36]
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• Force/torque sensor FT-AXIA in the version ordered
• Connection cable
• Assembly and Operating Manual
1.4 Accessories
A wide range of accessories are available for this product
For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.
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Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product is a machine component designed for measuring
forces and moments (FT=force torque) in six directions. The
product converts the mechanically acting forces into electrical
measured values and can transmit these to a customer PC or
control system via various interfaces.
• The product may only be used within the scope of its technical
data, }3 [/13].
• When implementing and operating components in safety-
related parts of the control systems, the basic safety principles
in accordance with DIN EN ISO 13849-2 apply. The proven safety
principles in accordance with DIN EN ISO 13849-2 also apply to
categories 1, 2, 3 and 4.
• The product is intended for installation in a machine/automated
system. The applicable guidelines for the machine/automated
system must be observed and complied with.
• The product is intended for industrial and industry-oriented use.
• Appropriate use of the product includes compliance with all
instructions in this manual.
2.2 Not intended use
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
2.3 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads,
holes, or safety devices can impair the functioning or safety of the
product or damage it.
• Structural changes should only be made with the written
approval of SCHUNK.
2.4 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and
damage the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.

Basic safety notes
2.5 Ambient conditions and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product
unsafe, leading to the risk of serious injuries, considerable material
damage and/or a significant reduction to the product's life span.
• Make sure that the product is used only in the context of its
defined application parameters, }3 [/13].
• Ensure that the outer sheath of the sensor cable is intact to
prevent damage to the sensor.
2.6 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently
qualified, the result may be serious injuries and significant
property damage.
• All work may only be performed by qualified personnel.
• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.
• Observe the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the various
activities related to the product:
Trained electrician Due to their technical training, knowledge and experience, trained
electricians are able to work on electrical systems, recognize and
avoid possible dangers and know the relevant standards and
regulations.
Qualified personnel Due to its technical training, knowledge and experience, qualified
personnel is able to perform the delegated tasks, recognize and
avoid possible dangers and knows the relevant standards and
regulations.
Instructed person Instructed persons were instructed by the operator about the
delegated tasks and possible dangers due to improper behaviour.
Service personnel of
the manufacturer
Due to its technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.
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Basic safety notes
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2.7 Personal protective equipment
Use of personal protective equipment
Personal protective equipment serves to protect staff against
danger which may interfere with their health or safety at work.
• When working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot surfaces.
• Wear protective gloves and safety goggles when handling
hazardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.
2.8 Notes on safe operation
Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the
function and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.
2.9 Malfunctions
Behavior in case of malfunctions
• Immediately remove the product from operation and report the
malfunction to the responsible departments/persons.
• Order appropriately trained personnel to rectify the malfunction.
• Do not recommission the product until the malfunction has
been rectified.
• Test the product after a malfunction to establish whether it still
functions properly and no increased risks have arisen.

Basic safety notes
2.10 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's safety
and cause serious injuries as well as considerable material and
environmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
2.11 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective
measures to secure the danger zone.
• Disconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
• If the energy supply is connected, do not move any parts by
hand.
• Do not reach into the open mechanism or movement area of
the product during operation.
2.11.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take
precautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
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Basic safety notes
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2.11.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.
CAUTION
Material damage due to incorrect grounding!
Damage to the sensor due to electrostatic discharge possible.
•Make sure that all components are properly grounded.

Technical data
3 Technical data
3.1 Basic data
Designation FT-AXIA80
-DUAL
SI-75-4/
SI-150-8
-DUAL
SI-200-8/
SI-500-20
-DUAL
SI-480-20/
SI-1200-50
Weight [kg] 0.28 0.68
Material Aluminum Stainless
steel
Height [mm] 25.4
Diameter [mm] 82
Supply voltage [VDC] 12-30
Max. Power consumption [W] 1.5
Stiffness (calculated)
X-axis & Y-axis forces (Kx, Ky) [N/m] 2.7x107
Z-axis forces (Kz) [N/m] 4.1x107
X-axis & Y-axis torques (Ktx, Kty)
[Nm/rad]
2.4x104
Z-axis torques (Ktz) [Nm/rad] 4.8x104
Single axis overload*
Fxy [N] ±750 ±2,500 ±6,000
Fz [N] ±2,300 ±4,500 ±10,000
Mxy [Nm] ±40 ±100 ±210
Mz [Nm] ±40 ±100 ±250
Resonant frequency
Fx, Fy, Fz [Hz] 2,200
Mx, My, Mz [Hz] 2,600
* Caution: The overload values apply when loading in one
relevant axis direction, not when there is an overlap of
forces and torques in several axis directions! }3.4 [/17]
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Technical data
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Designation FT-AXIA90-SI-1000-50
Weight [kg] 0.74
Material Aluminum
Height [mm] 26.9
Diameter [mm] 89.9
Supply voltage [VDC] 12-30
Max. Power consumption [W] 1.5
Stiffness (calculated)
X-axis & Y-axis forces (Kx, Ky) [N/m] 6.3x107
Z-axis forces (Kz) [N/m] 1.4x108
X-axis & Y-axis torques (Ktx, Kty)
[Nm/rad]
9.6x104
Z-axis torques (Ktz) [Nm/rad] 1.7x105
Single axis overload*
Fxy [N] ±5,000
Fz [N] ±10,000
Mxy [Nm] ±250
Mz [Nm] ±250
Resonant frequency
Fx, Fy, Fz [Hz] 2,300
Mx, My, Mz [Hz] 2,900
* Caution: The overload values apply when loading in one
relevant axis direction, not when there is an overlap of
forces and torques in several axis directions! }3.4 [/17]

Technical data
Designation FT-AXIA130
-SI-2000-125 -SI-4000-300
Weight [kg] 0.86 1.88
Material Aluminum Stainless steel
Height [mm] 39.2
Diameter [mm] 130
Supply voltage [VDC] 12-30
Max. Power consumption [W] 1.5
Stiffness (calculated)
X-axis & Y-axis forces (Kx, Ky) [N/m] 5.8x1071.5x108
Z-axis forces (Kz) [N/m] 8.6x1072.2x108
X-axis & Y-axis torques (Ktx, Kty)
[Nm/rad]
1.1x1052.8x105
Z-axis torques (Ktz) [Nm/rad] 2.1x1056x105
Single axis overload*
Fxy [N] ±10,000 ±20,000
Fz [N] ±20,000 ±30,000
Mxy [Nm] ±620 ±1,500
Mz [Nm] ±620 ±1,500
Resonant frequency
Fx, Fy, Fz [Hz] 2,500 2,450
Mx, My, Mz [Hz] 4,000 2,900
* Caution: The overload values apply when loading in one
relevant axis direction, not when there is an overlap of
forces and torques in several axis directions! }3.4 [/17]
More technical data is included in the catalog data sheet.
Whichever is the latest version.
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Technical data
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3.2 Ambient conditions and operating conditions
Designation FT-AXIA
80 90 130
Storage temperature [°C]
Min.
Max.
-20
+85
-45
+85
Operating temperature [°C]
Min.
Max.
0
+65
-20
+70
Relative air humidity [%] <95, non-condensing
IP rating 64 67
The catalog data sheet contains more information.
3.3 Standard peak values
NOTE
When switched on, the sensor records the peak values loaded on
each individual axis. The following values are the factory default
values programmed during calibration. If the sensor displays peak
values that are higher than these default values, the sensor has
been loaded beyond the intended calibrated detection range.
Designation Fxy [N] Fz [N] Mxy [Nm]
FT-AXIA80-DUAL SI-75-4/SI-150-8
Positive default
value
2.25x1087.05x1081.2x107
Negative
default value
-2.25x108-7.05x108-1.2x107
FT-AXIA80-DUAL SI-200-8/SI-500-20
Positive default
value
7.5x1081.35x1093.0x107
Negative
default value
-7.5x108-1.35x109-3.0x107
FT-AXIA80-DUAL SI-480-20/SI-1200-50
Positive default
value
7.499988x1081.249998x1093.123995x107
Negative
default value
-7.499988x108-1.249998x109-3.123995x107
FT-AXIA90-SI-1000-50
Positive default
value
6.24999x1081.249998x1093.124995x107
Negative
default value
-6.24999x108-1.249998x109-3.124995x107

Technical data
Designation Fxy [N] Fz [N] Mxy [Nm]
FT-AXIA130-SI-2000-125
Positive default
value
2.25x1087.05x1081.2x107
Negative
default value
-2.25x108-7.05x108-1.2x107
FT-AXIA130-SI-4000-300
Positive default
value
8.4x1081.26x1096.3x107
Negative
default value
-8.4x108-1.26x109-6.3x107
3.4 Maximum permissible load
The force/torque sensors have 3 different indicators that a sensor
is being used outside of its calibrated range:
• FT-AXIA outside the range
– This error is activated when a combination of Fxy/Mz or Fz/
Mxy applied to the sensor exceeds the calibrated range of
the sensor.
– This limit is shown as part of Zone B in the following graphics.
• Measuring device outside the range
– This error is activated when a single measuring device is
stimulated beyond the range it experienced during
calibration.
– This error depends on the sum of all force and torque axes
and is displayed as part of Zone B.
• Sensor mode not guaranteed
– The sensor may no longer measure an increase in applied
load in its output if load continues to be applied to the
sensor.
– This limit is shown in Zone C in the diagrams below.
The following diagrams show the maximum permissible load under
which the force/torque sensor may be used and when it can lead
to damage. The upper diagram shows the interplay of forces in the
X or Y direction in combination with torques in the Z direction. The
lower diagram shows the interplay of forces in the Z direction in
combination with torques in the X or Y direction. Each diagram
includes an SI calibration.
A In this range, the force-torque sensor functions perfectly.
B In this range, the force-torque sensor still functions perfectly,
but the measured values may deviate.
C In this range, the strain gauges are in saturation, and the
force-torque sensor may get damaged.
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Technical data
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FT-AXIA80
Calibration Fx/Fy [N] Fz [N] Mx/y/z [Nmm]
SI-150-8 150 470 8
FT outside the range
Measuring device outside the range
Sensor mode not guaranteed
FT-AXIA80-DUAL SI-150-8
FT outside the range
Measuring device outside the range
Sensor mode not guaranteed
FT-AXIA80-DUAL SI-150-8

Technical data
FT-AXIA80
Calibration Fx/Fy [N] Fz [N] Mx/y/z [Nmm]
SI-500-20 500 900 20
FT outside the range
Measuring device outside the range
Sensor mode not guaranteed
FT-AXIA80-DUAL SI-500-20
FT outside the range
Measuring device outside the range
Sensor mode not guaranteed
FT-AXIA80-DUAL SI-500-20
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Technical data
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FT-AXIA80
Calibration Fx/Fy [N] Fz [N] Mx/y/z [Nmm]
SI-1200-50 1,200 2,000 50
FT outside the range
Measuring device outside the range
Sensor mode not guaranteed
FT-AXIA80-DUAL SI-1200-50
FT outside the range
Measuring device outside the range
Sensor mode not guaranteed
FT-AXIA80-DUAL SI-1200-50