SCHUNK FTE-AXIA User instructions

Original manual
Assembly and operating manual
FTE-AXIA
Force-torque-sensor

Imprint
2 03.00 | FTE-AXIA | Assembly and operating manual | en | 1009369
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: 1009369
Version: 03.00|12/05/2021|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 Definition of Terms...................................................................................5
1.1.3 Variants.....................................................................................................6
1.1.4 Sizes ..........................................................................................................6
1.1.5 Applicable documents ..............................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
1.4 Accessories ........................................................................................................... 7
2 Safety ...................................................................................................................... 8
2.1 General Safety Guidelines .................................................................................... 8
2.2 Safety Precautions................................................................................................ 8
3 Technical data.........................................................................................................10
3.1 Basic Data ........................................................................................................... 10
3.2 Ranges of measurement..................................................................................... 10
4 Product Overview ...................................................................................................11
4.1 LED Self-Test Sequence and Functions ............................................................... 12
4.1.1 LED Self-Test Sequence ..........................................................................12
4.1.2 EtherCAT Link/Activity LED .....................................................................12
4.1.3 Run LED...................................................................................................12
4.1.4 Sensor Status LED ...................................................................................13
5 Installation .............................................................................................................14
5.1 Adapter Plates .................................................................................................... 15
5.2 Routing the Cable ............................................................................................... 16
5.3 Installing the Sensor to the Robot ...................................................................... 18
5.4 Removing the Sensor from the Robot ................................................................ 19
5.5 Pin Assignment for the EtherCAT and Power Connection.................................. 19
6 Operation ...............................................................................................................21
6.1 Sensor Enviroment ............................................................................................. 21
6.2 Sample Rate........................................................................................................ 21
6.3 Low-pass Filter.................................................................................................... 22
7 EtherCAT Bus Interface ...........................................................................................24
7.1 PDO Interface ..................................................................................................... 24
7.2 EtherCAT Dictionary Objects (SDO Data)............................................................ 24
7.2.1 Object 0x2021: Calibration .....................................................................25
7.2.2 Object 0x2080: Diagnostic Readings ......................................................27
7.2.3 Object 0x2090: Version ..........................................................................28
7.2.4 Object 0x6000: Reading Data .................................................................28
7.2.5 Object 0x6010: Status Code ...................................................................29
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Table of Contents
7.2.6 Object 0x6020: Sample Counter.............................................................30
7.2.7 Object 0x7010: Control Codes ................................................................31
8 Maintenance ..........................................................................................................32
8.1 Periodic Inspection ............................................................................................. 32
8.2 Periodic Calibrating ............................................................................................ 32
9 Troubleshooting .....................................................................................................33
9.1 Errors with Force and Torque Readings ............................................................. 33
10 Drawings.................................................................................................................34
Glossar....................................................................................................................35
11 EU Declaration of Conformity .................................................................................36
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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
Applicable documents [}6] 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 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.
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General
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1.1.3 Variants
This operating manual applies to the following variations:
• Force-torque-sensor FTE-AXIA with EtherCAT interface
– SI-75-4/SI-150-8
– SI-200-8/SI-500-20
– SI-480-20/SI-1200-50
1.1.4 Sizes
This operating manual applies to the following sizes:
• FTE-AXIA 80
1.1.5 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.2 Warranty
If the product is used as intended, the warranty is valid for 24
months from the ex-works delivery date under the following
conditions:
• Observe the specified maintenance and lubrication intervals
• Observe the ambient conditions and operating conditions
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 in the version ordered
• Ethernet connection with the following characteristics:
– Sensor cable with a length of 4m
– Y-cable with M12 socket to 5-pin voltage supply (open wire
strands) and RJ45 connector for connecting the product to a
PC or the local network
• Assembly and Operating Manual
• Accessory pack

General
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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Safety
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2 Safety
The safety section describes general safety guidelines to be
followed 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.
Because static forces are less than the dynamic forces from the
acceleration or declaration of the robot, be aware of the dynamic
loads caused by the robot.
2.2 Safety Precautions
WARNING
Performing maintenance or repair on the sensor, while circuits
(e.g. power, water, and air) are energized could result in serious
injury.
•Discharge and verify all energized circuits are de-energized in
accordance with the customer’s safety practices and policies.
CAUTION
Modifying or disassembly of the sensor could cause damage and
void the warranty.
•Use the supplied mounting adapter plate and the provided
tool side mounting bolt pattern to mount the sensor to the
robot and customer tooling to the sensor.
•Refer to Drawings [}34] for more information.
CAUTION
Using fasteners that exceed the customer interface depth
penetrates the body of the sensor, damages the electronics, and
voids the warranty.
•Refer to Drawings [}34] for more information.

Safety
CAUTION
Probing openings in the transducer causes damage to the
instrumentation.
•Avoid prying into openings of the transducer.
CAUTION
Exceeding the single-axis overload values of the transducer,
causes irreparable damage.
•Do not overload the transducer.
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Technical data
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3 Technical data
3.1 Basic Data
Storage and
Operating Conditions
Storage Temperature [°C] -20 to +85
Operating Temperature [°C] 0 to +65
Electrical
Specifications
Power Source DC Power
Voltage [V]
min.
max.
12
30
Maximum Power Consumption [W] 1
The power supply input is protected from a reversed polarity circuit.
3.2 Ranges of measurement
Each version of the product is calibrated in two force and torque
ranges. The ranges of measurement1 and 2 each refer to the force
and torque parameters of the individual axes.
Calibration version The product can be calibrated differently, depending on the
version:
Version FTE-AXIA SI-75-4/SI-150-8
Parameter FXY [N] FZ [N] MXYZ [Nm]
Range of measurement 1 150 470 8
Range of measurement 2 75 235 4
Version FTE-AXIA SI-200-8/SI-500-20
Parameter FXY [N] FZ [N] MXYZ [Nm]
Range of measurement 1 500 900 20
Range of measurement 2 200 360 8
Version FTE-AXIA SI-480-20/SI-1200-50
Parameter FXY [N] FZ [N] MXYZ [Nm]
Range of measurement 1 1200 2000 50
Range of measurement 2 480 800 20

Product Overview
4 Product Overview
M8, 6-pin,
Male Connector
for Power and
EtherCAT
Dust Proof
Seal
Tool side
(For Customer
Tooling)
Link/Activity
EtherCAT LED Run LED
Sensor Status LED
Mounting
Side to
robot
The sensor system measures six components of force and torque
in 6 degrees of freedom.
The mounting side attaches to a mounting adapter plate, which
mounts to the customer robot. The tool side attaches to the
customer tooling. Both the mounting and tool sides have a 71.12
mm bolt circle pattern with six M5 tapped holes Drawings [}34].
The sensor is IP64 rated. A M8 6-pin male connector is for power
and EtherCAT. For the pin assignments Pin Assignment for the
EtherCAT and Power Connection [}19].
The Axia80 sensor provides the following features:
• Resolved force and torque data
• Set bias and clear bias
• Programmable low-pass filtering
• LED indicator for Run, EtherCAT Link, and Transducer Status LED
Self-Test Sequence and Functions [}12].
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Product Overview
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4.1 LED Self-Test Sequence and Functions
The EtherCAT F/T provides (3) LEDs for EtherCAT Link, Run, and
Sensor Status. When the user applies power, the sensor completes
a self-test, during which the LEDs under firmware control
individually turn on.
4.1.1 LED Self-Test Sequence
When the user applies power to the sensor, the sensor completes
a self-test, during which the LEDs under firmware control
individually turn on in the following sequence:
Sequence
Order
LED State Duration
1 Sensor Status Red Approximately one
second for each
LED.
2 Run Red
3 EtherCAT Link/Activity Red
4 Sensor Status Green
5 EtherCAT Link/Activity Green
The Green Run LED is not tested in the self-test sequence.
4.1.2 EtherCAT Link/Activity LED
One LED signals link/activity on the EtherCAT port as follows:
LED State Link Activity Condition
Off No No No EtherCAT connection
Green Yes No EtherCAT link/activity is
detected.
Yes1
1 This LED behavior is different from the standard EtherCAT device
Link/Activity LED behavior, which is a flashing green LED.
4.1.3 Run LED
One LED signals the communication status of the EtherCAT sensor
interface as follows:
LED State Description
Off EtherCAT interface is in the state “INIT”.
Flashing green EtherCAT interface is in the state “Preoperational”.
Green EtherCAT interface is in the state “Operational”.

Product Overview
4.1.4 Sensor Status LED
One LED signals the health status of the sensor as follows:
LED State Description
Off No power.
Green Normal operation. The sensor’s electronics are
functioning and communicating.
Flashing
green
Power-up self testing. At power-up, the sensor
completes diagnostic testing to verify internal
electronics are functioning.
Amber Sensing range exceeded.
Red System error.
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Installation
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5 Installation
WARNING
Performing maintenance or repair on the sensor when circuits
(e.g. power, water, and air) are energized could result in death
or serious injury.
•Discharge and verify all energized circuits are de-energized in
accordance with the customer’s safety practices and policies.
CAUTION
Modification or disassembly of the sensor could cause damage
and void the warranty. .
•Use the supplied mounting bolt pattern and the provided tool
side mounting bolt pattern to mount the sensor to the robot and
customer tooling to the sensor Drawings [}34]
CAUTION
Using fasteners that exceed the customer interface depth
penetrates the body of the sensor, damages the electronics, and
voids the warranty Drawings [}34].
CAUTION
Fasteners may become loose and cause equipment damage
•Do not use fasteners with pre-applied adhesive more than once
•Always apply new thread locker when reusing fasteners.
NOTE
Depending on the maintenance or repair being performed,
utilities to the sensor may not need to be disconnected.

Installation
5.1 Adapter Plates
Locating Dowel *
Mounting Fasteners *
M5 Mounting Fasteners *
Robot Arm
Locating Boss
Mounting
Adpater Plate *
Locating Dowel *
M5 Mounting Fasteners *
3 mm Locating Dowel Pin *
Locating Boss Locating Dowel Pin *
Mounting Fasteners *
4 mm Locating
Dowel Pin *
Tool Adapter Plate *
Axia80
EtherCAT Sensor
* provided by customer
The sensor’s mounting side attaches to the robot arm, and the
sensor’s tool side attaches to the customer tooling. If adapter
plate(s) are required to interface the sensor to the robot arm and
customer tooling, SCHUNK can supply custom robot and tool
adapter plates. Refer to Drawings [}34] for technical
information on the sensor’s mounting features.
NOTE
The customer tool should only touch the tool adapter plate. If
the customer tool touches any other part of the sensor, it will
not properly sense loads.
NOTE
Because the mounting and tool sides of the sensor have identical
bolt patterns, the robot mounting and tool adapter plates could
be incorrectly installed, and as a result, the Axia80 sensor will
not function properly.
If the customer chooses to design and build an adapter plate(s),
the following points should be considered:
• The adapter plate(s) should include bolt holes for mounting
fasteners as well as dowel pin(s) and a boss for accurate
positioning to the robot or customer’s device.
• The thickness of the adapter plate(s) must provide sufficient
thread engagement for the mounting fasteners.
• The mounting fasteners should not extend through the sensor’s
housing or interfere with the internal electronics. Drawings
[}34] for thread depth, mounting patterns, and other details.
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Installation
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• Do not use dowel pin(s) that exceed length requirements and
prevent the adapter plate(s) to mate flush with the robot and
customer tooling. Fasteners that exceed length requirements
crea`te a gap between the interfacing surfaces and cause damage.
• The adapter plate(s) must not distort from the maximum force
and torque values that can be applied to the sensor Technical
data [}10].
• The adapter plate(s) must provide a flat and parallel mounting
surface for the sensor.
5.2 Routing the Cable
Sensor Cable
(Customer
Supplied)
Ether CAT
Sensor
Robot Arm
Mounting
Adapter Plate
Allow enough slack in
the cable to allow full
range of motion for the
robot device
Restrain cable to keep
repetitive motion from
affectin the cable connection
The routing and bending radius of the cable depends upon the
customer application. Unlike motionless applications, where the
cable is in a static condition, dynamic applications subject the
cable to a repetitive motion. For dynamic applications, restrain the
cable at a distance that does not expose and damage the sensor’s
cable connection from the robot’s repetitive motion.
NOTE
The maximum supported cable length is 25 m.

Installation
CAUTION
Subjecting the connector to the repetitive motion will cause
damage to the connector.
•Restrain the cable close to the connector so that the repetitive
motion of the robot does not interfere with the cable connector.
•Do not subject the sensor’s cable connector to the repetitive
motion of the robot or other device.
CAUTION
Improper routing may cause poor functionality of critical
electrical lines, injury to personnel, or damage to equipment.
Damage to the sensor or cable from improper routing will void
the warranty.
•The cable must withstand the repetitive motions of the robot
without failing. The electrical line, especially where attached
to the sensor’s connector, must be routed to avoid stress
failure, sharp bends, or a disconnection from the equipment.
•If the application results in cable rubbing, use a loose, plastic
spiral wrap for protection.
CAUTION
A bend radius too small causes the cable to fail from fatigue of
the robot’s repetitive motion.
•When routing cables do not bend less than the minimum
bending radius specified by the cable’s manufacturer.
CAUTION
Do not damage or crush the cable by over tightening tie wraps
on the cable.
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Installation
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5.3 Installing the Sensor to the Robot
Tools required: 4 mm hex wrench, torque wrench
Supplies required: Clean rag, Loctite 242® or fasteners with pre-
applied adhesive
Robot
Dowel Pin
(Customer Supplied)
M5 Socket Head
Cap Screw (6x)
Dowel Pin (2x)
Power and EtherCAT
Connection
Power and EtherCAT cable
(Customer Supplied)
Mounting Side to Customer Tooling
Axia 80
Mounting Side
to Robot or Interface Plate
Interface Plate (example)
Mounting Fasteners
(Customer Supplied)
1. To attach the mounting adapter plate to the robot, remove the
six M5 socket head cap screws that secure the adapter plate to
the mounting side of the Axia80 sensor.
2. Ensure the mounting surface of the mounting adapter plate
and robot are clean and free of debris.
3. If applicable, secure the mounting adapter plate to the robot
arm with customer supplied fasteners and dowel pin.
4. M5x 12 socket head cap screws class 12.9 (6x), with pre-
applied adhesive require no additional Loctite for initial
installation. When reusing fasteners, always apply Loctite 242
to the M5 socket head cap screws.
5. Using a 4 mm hex wrench, secure the sensor to the mounting
adapter plate with the six M5x 12 socket head cap screws,
class 12.9. Tighten to 9 Nm.
6. Once the sensor is installed on the robot, the customer tooling
or tool interface plate can be installed.
IMPORTANT!The tool must not touch any other part of the
sensor except the tool side; otherwise, the sensor will not
properly detect loads.
7. Connect a power and EtherCAT cable from the sensor’s
connection to the customer application.
8. Properly restrain and route the power and EtherCAT cable
Routing the Cable [}16].
9. After installation is complete, the sensor is ready for normal
operation.

Installation
5.4 Removing the Sensor from the Robot
Tools required: 4 mm hex wrench
1. Turn off all energized circuits (e.g. electrical).
2. Remove the power and EtherCAT cable from the sensor’s
connection.
3. Supporting the customer tooling and/or interface plate,
remove the customer supplied screws that attach to the
customer tooling to the sensor.
4. Supporting the sensor, use a hex wrench to loosen the six M5
socket head cap screws that secure to the sensor to the
mounting interface plate or robot.
5. Remove the sensor.
5.5 Pin Assignment for the EtherCAT and Power Connection
Pin M8 Male Connector for power supply and EtherCAT
Pin Number Signal
1 TX+
2 TX–
3 RX+
4 RX–
5 V+
6 V–
The figure and table details show the sensor’s power and EtherCAT
connector’s signals and corresponding pin numbers.
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Installation
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Cable assignment
voltage supply
Cable assignment
Item Cable color Assignment
1 - Shielding
2 Brown V+
3 Brown/White V–
4 Blue/White (TP1+) Sync (not assigned)
5 Blue (TP1-) Sync Ground (not assigned)