SCHUNK FTC User instructions

02-A/FTC/en/2009-12-28/SW Document-last updated: 2008-11-14
Force-torque Sensor
Type FTC / FTCL
Assembly and Operating Manual

202-A/FTC/en/2009-12-28/SW
Dear Customer,
Congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have
opted for the highest precision, top quality and best service.
You are going to increase the process reliability of your production and achieve
best machining results –to the customer's complete satisfaction.
SCHUNK products are inspiring.
Our detailed assembly and operation manual will support you.
Do you have further questions? You may contact us at any time even after purchase.
You can reach us directly at the mentioned addresses in the last chapter of these in-
structions.
Mit freundlichen Grüßen
Your SCHUNK GmbH & Co. KG
Precision Workholding Systems
Bahnhofstr. 106 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
www.schunk.com

Table of contents
02/FTC/en/2009-12-28/SW 3
Table of contents
1 About this manual.................................................................................................6
1.1 Purpose/validity..........................................................................................6
1.2 Target groups.............................................................................................6
1.3 Applicable documents................................................................................6
1.4 Symbols in this manual ..............................................................................7
2 Basic safety notes ................................................................................................8
2.1 Intended use ..............................................................................................8
2.2 Ambient conditions and operating conditions.............................................8
2.3 Controlled production.................................................................................9
2.3.1 Protective equipment.....................................................................9
2.3.2 Constructional changes, attachments, or conversions ..................9
2.4 Personnel qualification...............................................................................9
2.5 Safety-conscious working.........................................................................10
2.6 Notes on particular risks...........................................................................10
3 Warranty..............................................................................................................11
4 Scope of delivery................................................................................................11
5 Technical Data ....................................................................................................12
5.1 FTC..........................................................................................................12
5.2 FTCL........................................................................................................13
6 Assembly.............................................................................................................14
6.1 Mechanical connection.............................................................................14
6.2 Air connection ..........................................................................................17
6.3 Electrical connection (data interface) .......................................................18
6.3.1 RS 232 ........................................................................................18
6.3.2 CANbus.......................................................................................20
6.4 Setting the DIP switch..............................................................................21
7 Operating display................................................................................................24
8 Controlling / Programming ................................................................................25
8.1 Introduction ..............................................................................................25
8.2 Commands...............................................................................................26
8.2.1 Data - Commands .......................................................................26

Table of contents
402/FTC/en/2009-12-28/SW
8.2.2 Settings functions........................................................................32
8.2.3 Commands for information ..........................................................39
8.2.4 Other functions............................................................................41
9 Options................................................................................................................44
9.1 Acceleration sensors................................................................................44
10 Error messages...................................................................................................45
10.1 Warnings..................................................................................................46
10.1.1 Unknown command.....................................................................46
10.1.2 Wrong Parameter........................................................................46
10.2 Correctable errors....................................................................................47
10.2.1 Cecksum1 in EEPROM is not correct..........................................47
10.2.2 EEPROM Part A deleted .............................................................47
10.2.3 Invalid serial Baudrate.................................................................48
10.2.4 Serial Timeout .............................................................................48
10.2.5 Serial defective............................................................................48
10.2.6 Invalid CAN Baudrate..................................................................49
10.2.7 Invalid MAC ID.............................................................................49
10.2.8 CAN Timeout...............................................................................50
10.2.9 CAN Communication...................................................................50
10.2.10DEVNet Size................................................................................50
10.2.11Input voltage too high..................................................................51
10.2.12Input voltage too low....................................................................51
10.3 Serious errors...........................................................................................52
10.3.1 Curent fault..................................................................................52
10.3.2 Voltage error................................................................................52
10.3.3 Broken spring ..............................................................................52
10.3.4 Ground short in spring.................................................................53
10.3.5 EEPROM Checksum2.................................................................53
10.3.6 EEPROM Part B deleted .............................................................53
10.3.7 EEPROM TIMEOUT....................................................................54
10.3.8 Horizontal current fault ................................................................54
10.3.9 Vertical current fault.....................................................................55
10.3.10CAN controller defective..............................................................55

About this manual
02/FTC/en/2009-12-28/SW 5
11 Test software.......................................................................................................56
12 Contact ................................................................................................................57

About this manual
602/FTC/en/2009-12-28/SW
1 About this manual
1.1 Purpose/validity
This manual is part of the module and describes the safe
and proper use during all phases of operation.
This manual is valid only for the module specified on the
front page.
1.2 Target groups
Target group
Task
Manufacturer, operator
Keep this manual available for the personnel at all
times.
Require personnel to read and observe this manual and
the applicable documents, especially the safety notes
and warnings.
Skilled personnel, fitter
Read, observe and follow this manual and the
applicable documents, especially the safety notes and
warnings.
Tab. 1
1.3 Applicable documents
You can find the following documents on our homepage:
Document
Purpose
Catalog
Technical data or application parameters of the module
and information on accessories. The last version is always
valid.
General terms of busi-
ness
Including notes on the warranty.
Tab. 2

About this manual
02/FTC/en/2009-12-28/SW 7
1.4 Symbols in this manual
To give you quick access to information, the following sym-
bols will be used in this guide::
Symbol
Meaning
DANGER
Dangers for persons.
Nonobservance will cause death or serious injuries.
WARNING
Dangers for persons.
Nonobservance can cause death or serious injuries.
CAUTION
Dangers for persons.
Nonobservance can cause slight injuries.
NOTICE
Information on avoiding material damage.

Prerequisite for a handling instruction.

Handling instruction, also measures in a warning or note.
1.
2.
3. ...
. Step-by-step handling instruction.
Observe the order.
(10)
Reference in the text or in a handling instruction to a part that is rep-
resented in a graphic.
Tab. 3

Basic safety notes
802/FTC/en/2009-12-28/SW
2 Basic safety notes
2.1 Intended use
The module was designed for compensation for the work-
ositioning inaccuracy
The module is intended for installation in a machine. The
requirements of the applicable guidelines must be observed
and complied with.
The module may be used only in the context of its defined
application parameters.
Any other use or use exceeding that specified is an in-
fringement of use for intended purpose. The manufacturer
bears no liability for damage resulting from such use.
2.2 Ambient conditions and operating conditions
Use the module only in the context of its defined
application parameters (see chapter 5, page 12, and
catalog).
Make sure, that the module is dimensioned according to
the application
Make sure, that the environment is clean and the
environmental temperature is according to the data in
the catalog.
Make sure that the environment is free from splash
water and vapors as well as from abrasion or processing
dust. Excepted are modules that are designed specially
for contaminated environments.

Basic safety notes
02/FTC/en/2009-12-28/SW 9
2.3 Controlled production
The module represents the state of the art and the recog-
nized safety rules at the time of delivery. However, it can
present risks if, for example:
•The module is not used in accordance with its intended
purpose.
•The module is not installed or maintained properly.
•The EC Machinery Directive, the VDE directives, the
safety and accident-prevention regulations valid at the
usage site, or the safety and installation notes are not
observed.
2.3.1 Protective equipment
Provide protective equipment per EC Machinery
Directive.
2.3.2 Constructional changes, attachments, or conversions
Additional drill holes, threads, or attachments that are not
offered as accessories by SCHUNK may be attached only
with permission of SCHUNK.
2.4 Personnel qualification
The assembly, initial commissioning, maintenance, and re-
pair of the module may be performed only by trained spe-
cialist personnel.
Every person called upon by the operator to work on the
module must have read and understood the complete As-
sembly and Operating Manual, especially the chapter 2
"Basic safety notes". This applies particularly to occasional
personnel such as maintenance personnel.

Basic safety notes
10 02/FTC/en/2009-12-28/SW
2.5 Safety-conscious working
Avoid any manner of working that may interfere with the
function and operational safety of the module.
Observe the safety and accident-prevention regulations
valid at the usage site.
2.6 Notes on particular risks
Risk of injury from objects falling and being ejected
Provide protective equipment to prevent objects from
falling or being ejected, such as processed workpieces,
tools, chips, fragments, rejects.
Risk of injury when the machine/system moves
unexpectedly
Do not move parts by hand when the energy supply is
connected.
Do not reach into the open mechanism or the movement
area of the module.
Remove the energy supplies before installation, modifi-
cation, maintenance, or adjustment work.
Perform maintenance, modifications, and additions out-
side the danger zone.
For all work, secure the module against accidental
operation.
Risk of injury from spring forces!
Modules that clamp with spring force are under spring ten-
sion.
The disassembly of the module may be performed only
by trained specialist personnel.

Warranty
02/FTC/en/2009-12-28/SW 11
3 Warranty
The warranty is valid for 24 months from the delivery date to
the production facility under the following conditions:
•Observation of the ambient conditions and operating
conditions (see chapter 2.2, page 8)
Parts touching the workpiece and wearing parts are not part
of the warranty. Also observe our general terms of business.
4 Scope of delivery
The scope of delivery includes:
•Force-torque Sensor Type FTC / FTCL in the ordered
model:
•Software for PC-Connection
•Mounting plug
•Assembly- and Operating manual
For additional accessories, see catalog.

Technical Data
12 02/FTC/en/2009-12-28/SW
5 Technical Data
Further technical data can be found in our catalog. The
most recent version applies.
5.1 FTC
Type
FTC-
050-80
FTC-
050-80-V
FTC-
050-40
FTC-
050-40-V
Deadweight [kg]
1,56
2,56
1,56
2,56
Permissible operating temperature
[°C]
+5 to +55
Interfaces, robot-side
ISO 9409-1-A50
Interfaces, tool-side
ISO 9409-1-A50; for Gripper PZN 64
Movement area,
translatory (X,Y,Z) [mm]
+/- 1.4
Movement area, rotary (,,) [°]
+/- 1.4
Measuring range
translatory (X,Y,Z) [mm]
+/- 1.0
Measuring range
rotary (,,) [°]
+/- 1.0
Max. tensile loading Fx and Fy [N]
400
400
200
200
Max. tensile loading Fz [N]
350
350
180
180
Max. Torque Mxand My [Nm]
14
14
8
8
Max. Torque Mz [Nm]
25
25
13
13
Measuring frequency [kHz]
1
Power supply [VDC]
10 to 26
Max. Power consumption [W]
1.8
Electrical interfaces
RS232 (RS485 on request)
CAN (DeviceNET on request)
Tab. 4

Technical Data
02/FTC/en/2009-12-28/SW 13
5.2 FTCL
Bezeichnung
FTCL-050-80 / FTCL-050-40
Deadweight [kg]
0,96
Permissible operating temperature [°C]
+5 to +55
Interfaces, robot-side
ISO 9409-1-A50
Interfaces, tool-side
ISO 9409-1-A50 and for Gripper PZN 64
Movement area, translatory (X,Y,Z) [mm]
+/- 1,4
Movement area, rotary (,,) [°]
+/- 1,4
Measuring range translatory (X,Y,Z) [mm]
+/- 1,0
Measuring range rotary (,,) [°]
+/- 1,0
Measuring frequency [kHz]
1
Power supply [VDC]
10 to 26
Max. Power consumption [W]
1.8
Electrical interfaces
RS232 (RS485 on request)
CAN (DeviceNET on request)
Tab. 5

Assembly
14 02/FTC/en/2009-12-28/SW
6 Assembly
6.1 Mechanical connection
WARNING
Risk of injury when the machine/system moves
unexpectedly!
Switch off energy supply.
Module with pre-assembled 4 x M6 cheese-head
screws, fasten to robot.
1. Locking unit with 4 x M6 cheese-head screws, fasten to
robot.
2. Sensor unit with pre-assembled 4 x M6 cheese-head
screws, fasten to locking unit..
Without locking
With locking

Assembly
02/FTC/en/2009-12-28/SW 15
12
4
5
3
6
7
1 Centering pin Ø 6 H7 / 13
2 M6 / 11 (4x)
3 M5 / 11 (3x) for direct mounting on
PZN 64
4 Mounting surface (robot-side) with
ISO 9409-1-A50 interface
5 Mounting surface (tool-side) with ISO
9409-1-A50 interface
6 Ø 18 Fully through
7 Centering pin Ø 6 H7 / 12.5
Fig. 1 FTC flange pattern

Assembly
16 02/FTC/en/2009-12-28/SW
1
2
4
5
3
6
1 Centering pin Ø 6 H7 / 7
2 M6 / 7 (4x)
3 Mounting surface (robot-side) with
ISO 9409-1-A50 interface
4 Mounting surface (tool-side) with ISO
9409-1-A50 interface
5 Ø 26 Fully through
6 Centering pin Ø 6.5 0+0.2 / 8.5
Fig. 2 FTCL flange pattern

Assembly
02/FTC/en/2009-12-28/SW 17
6.2 Air connection
Only for modules with locking
(FTC-050-80-V / FTC-050-40-V)
WARNING
Risk of injury when the machine/system moves
unexpectedly!
Switch off energy supply
1 2
1 Air connection, outer side
2 Air connection , tool-side
Fig. 3
Connection thread
M5 / 5
Operating pressure
6 bar
Tab. 6
3. Establish air connection at the outer side (1) or the tool-
side (2).
4. Close unused connection with a blind plug.

Assembly
18 02/FTC/en/2009-12-28/SW
6.3 Electrical connection (data interface)
Standard interfaces:
•RS 232
•RS 485 (on request)
•CANbus
•DEVNet (on request)
6.3.1 RS 232
Parity
none
Baudrate
Default 9600 can be set via software
Handshake
none
Data bits
8
Stop bits
1
Tab. 7
•Possible sensor plugs
•Binder plug
•SubD
1 12..24V
6 RS232:Rx
2 GND
7 RS485:A
3 Can_H
8 RS485:B
4 Can_L
Housing Shielding Schirm
5 RS232:Tx
Fig. 4 Binding plug at sensor
Settings
Pin assignments

Assembly
02/FTC/en/2009-12-28/SW 19
2 RS232:Tx
Housing Shielding
3 RS232:Rx
5 GND
Additionally bridged in plug:
7 and 8 (RTS to CTS)
4 and 6 (DTR to DSR)
Fig. 5 SubD plug at sensor
Maximum cable length depends on the cable used and the
Baudrate. Standard: at 9600 Baud max. 30 Meters.
Cable lengths

Assembly
20 02/FTC/en/2009-12-28/SW
6.3.2 CANbus
1 12..24V
6 RS232:Rx
2 GND
7 RS485:A
3 Can_H
8 RS485:B
4 Can_L
Housing Shielding
5 RS232:Tx
Fig. 6 Binding plug at sensor
Connection to a CAN bus is done using a self-built cable.
white
+12..24V
brown
GND
green
CAN_High
yellow
CAN_LOW
Shielding
Shielding
Tab. 8
If necessary, a termination resistor (usually 120 Ohm) may
need to be connected at the transmitter end.
Information on transmitting and receiving data and the pro-
gramming commands is provided in Chapter 8, page 25.
Pin assignments
Lead-out
conductors