SCHUNK FTR-AXIA Training manual

Translation of original commissioning instructions
Commissioning instructions
FTR-AXIA
Force/torque sensor system

Imprint
2 01.00 | FTR-AXIA | Commissioning instructions | en | 1517835
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: 1517835
Version: 01.00|18/07/2022|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 ..............................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
2 Basic safety notes ................................................................................................... 7
2.1 Intended use......................................................................................................... 7
2.2 Inappropriate use ................................................................................................. 7
2.3 Constructional changes ........................................................................................ 7
2.4 Spare parts ........................................................................................................... 7
2.5 Personnel qualification......................................................................................... 7
2.6 Disposal ................................................................................................................ 8
2.7 Notes on particular risks....................................................................................... 8
3 Technical data.......................................................................................................... 9
3.1 Ambient conditions and operating conditions .....................................................9
3.2 Force-torque sensor ............................................................................................. 9
4 Design and description............................................................................................10
4.1 Status LEDs ......................................................................................................... 10
5 Assembly and settings ............................................................................................12
5.1 Installing and connecting.................................................................................... 12
5.2 Electrical connection .......................................................................................... 12
6 Start-up ..................................................................................................................16
6.1 Setting up the serial communication interface .................................................. 16
6.2 RS422 serial commands...................................................................................... 19
6.3 RS422 - "Robot Mode" ....................................................................................... 26
6.3.1 More commands ....................................................................................27
6.4 Clock synchronization functionality.................................................................... 28
6.5 Low-pass filter .................................................................................................... 29
7 Troubleshooting .....................................................................................................32
7.1 Status Code......................................................................................................... 32
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Table of Contents
7.1.1 Detection range exceeded......................................................................33
7.2 LED error............................................................................................................. 33
7.3 Signal noise......................................................................................................... 34
7.4 Measurement data deviation / drift................................................................... 34
7.5 Status code ......................................................................................................... 34
7.6 Sensor does not transmit data ........................................................................... 35
7.7 Data output rate lower than expected............................................................... 35
7.8 Fluctuating force/toque data ............................................................................. 35
7.9 Sensor does not report accurate force/torque data .......................................... 36
7.10 Force/torque values are not equal to zero......................................................... 36
8 EU Declaration of Conformity .................................................................................37
9 Appendix to the declaration of conformity .............................................................38
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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 [/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.
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General
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1.1.2 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
• Assembly and operating manual of the sensor*
The documents labeled with an asterisk (*) can be downloaded
from schunk.com.
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
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• FTR-AXIA force/torque sensor in the ordered variant
• Sensor cablein the version ordered
• Control line
• Commissioning instructions

Basic safety notes
2 Basic safety notes
2.1 Intended use
The product is a machine component designed for measuring
forces and torques (FT) in six directions. Forces acting mechanically
are converted by the product to electrical measured values and
transferred to a PC via RS422 protocol.
2.2 Inappropriate use
The product is not a safety component in accordance with the EC
Machine Directive 2006/42/EC and must not be used in safety-
relevant parts of machine control units.
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.
2.5 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.
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Basic safety notes
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2.6 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.
2.7 Notes on particular risks
DANGER
Danger from electric voltage!
Touching live parts may result in death.
•Switch off the power supply before any assembly, adjustment
or maintenance work and secure against being switched on
again.
•Only qualified electricians may perform electrical installations.
•Check if de-energized, ground it and hot-wire.
•Cover live parts.
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in
the system, components can move unexpectedly and cause
serious injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Make sure, that no residual energy remains in the system.
CAUTION
Risk of damage to the sensor!
If the single-axis overload values of the sensor are exceeded,
irreparable damage will occur.
•Do not overload the sensor.
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 Ambient conditions and operating conditions
Ambient and operating conditions for sensor cable
Designation Sensor cable
during operation
min.
max.
-5
70
Protection class IP 67
The catalog data sheet contains more information.
3.2 Force-torque sensor
NOTE
All forces and torques acting on the sensor must be within the
specified range of measurement. Exceeding the range of
measurement will reduce the maximum number of load cycles
and may lead to damage of the sensor.
Information on the range of measurement of each individual
force-torque sensor is provided in the catalog data sheet. The
latest version is always applicable.
Dimensions and max. loads on the force-torque sensor
Detailed information on the mounting, installation and
maintenance of the sensor is provided in the Assembly and
Operating Manual for the sensor, }1.1.2 [/6].
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Design and description
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4 Design and description
4.1 Status LEDs
LED self-test
sequence
The force/torque sensor has three LEDs: Link/Activity, Diag, and
Sensor Status.
When the power supply is switched on, the sensor performs a self-
test, during which the LEDs switch on individually as part of the
firmware control.
Sequence
order
LED Status Duration
0 All When switching on, transient activity
may be observed for only a few
milliseconds.
1 All Off Approx. one second
for each LED.
2 Status Red
3 Diag Red
4 Link/Activity Red
5 Status Green
6 Diag Green
7 Link/Activity Green
8 All Off
9 All Normal operation
Sensor status LED An LED indicates the status of the sensor interface as follows:
LED color Status Description
Off No power supply The sensor is not supplied
with power.
Green Normal operation The electronics of the sensor
are working and can
communicate.
Yellow Detection range
exceeded
The forces and torques
applied to the sensor exceed
the permitted ranges.
Reduce load or use larger
calibration.
Red
(flashing at
1 Hz)
Calibration error The calibration was not
saved in the EEPROM.
Red
(flashing at
10 Hz)
Communication error The sensor is not able to
transmit data via the
communication protocol.
Red Status code error Information on the error
record, }7.1 [/32].

Design and description
Diag LED An LED indicates the diagnostic status of the sensor interface as
follows:
LED color Status Description
Flashes
green
Before operation Defined by the
communication/protocol
standard.
Green Ready for operation No errors were found.
Red Error Indicates an error reported
by the internal electronic
components.
In addition, the LED remains
red for five seconds after a
UART error.
EtherNET L/A LED An LED indicates the communication status of the sensor interface
as follows:
LED color Status Description
Off No power or
connection activity
Connection/activity is not
detected.
Green Link/Activity Remains green for five
seconds after every
connection activity.
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Assembly and settings
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5 Assembly and settings
5.1 Installing and connecting
DANGER
Danger from electric voltage!
Touching live parts may result in death.
•Switch off the power supply before any assembly, adjustment
or maintenance work and secure against being switched on
again.
•Only qualified electricians may perform electrical installations.
•Check if de-energized, ground it and hot-wire.
•Cover live parts.
CAUTION
Risk of damage to the electronics!
A faulty connection can cause damage to the internal electronics.
•Observe the PIN allocation of the connecting terminals.
•Make sure that all components are grounded correctly.
1. Connect components of the force-torque sensor system with
each other, }5.2 [/12].
2. Check for functionality.
3. Mount the force-torque sensor on the robot, see the
installation and operating instructions for the sensor.
5.2 Electrical connection
Power supply
requirements
Designation Sensor
Supply voltage [VDC] 12-30
Max. Power consumption [W] 1.5
Designation Sensor cable
Nominal voltage [V] > 30
Nominal power current [A] > 0.25

Assembly and settings
Sensor connections
FT-AXIA 80/90
M8 sensor connector, 8-pin
Pin Signal
1 Clock sync mass1 *
2 V+
3 V- / ground
4 RS422_TX-
5 RS422_RX+
6 RS422_TX+
7 Clock sync *
8 RS422_RX-
Housing Shielding
* Optional, only when using the clock synchronization
functionality, }6.4 [/28]
FT-AXIA 130
M12 sensor connector, 8-pin
Pin Signal
1 Clock sync mass1 *
2 V+
3 V- / ground
4 RS422_TX-
5 RS422_RX+
6 RS422_TX+
7 Clock sync *
8 RS422_RX-
Housing Shielding
* Optional, only when using the clock synchronization
functionality, }6.4 [/28]
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Assembly and settings
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Sensor cable connections
FT-AXIA 80/90
M8 socket, 8-pin
Pin Signal
1 Clock sync mass1 *
2 V+
3 V- / ground
4 RS422_TX-
5 RS422_RX+
6 RS422_TX+
7 Clock sync *
8 RS422_RX-
Housing Shielding
* Optional, only when using the clock synchronization
functionality, }6.4 [/28]
M12 connector, 8-pin
Pin Signal
1 Clock sync mass1 *
2 V+
3 V- / ground
4 RS422_TX-
5 RS422_RX+
6 RS422_TX+
7 Clock sync *
8 RS422_RX-
Housing Shielding
* Optional, only when using the clock synchronization
functionality, }6.4 [/28]

Assembly and settings
FT-AXIA 130
M12 socket, 8-pin
Pin Signal
1 Clock sync mass1 *
2 V+
3 V- / ground
4 RS422_TX-
5 RS422_RX+
6 RS422_TX+
7 Clock sync *
8 RS422_RX-
Housing Shielding
* Optional, only when using the clock synchronization
functionality, }6.4 [/28]
M12 connector, 8-pin
Pin Signal
1 Clock sync mass1 *
2 V+
3 V- / ground
4 RS422_TX-
5 RS422_RX+
6 RS422_TX+
7 Clock sync *
8 RS422_RX-
Housing Shielding
* Optional, only when using the clock synchronization
functionality, }6.4 [/28]
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Start-up
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6 Start-up
6.1 Setting up the serial communication interface
The sensor is automatically assigned a COM port as soon as a cable
connection to a computer is established.
Using a serial console on the computer, the user can communicate
with the sensor.
1. If the customer device does not have a serial port, a third-party
serial device can be used to add the port.
Examples of a third-party serial device include: a high-speed
USB-to-RS422 adapter module or a PCI/PCI-E/PCI-X RS422 serial
card.
2. Connect the serial cable of the sensor to the serial port.
3. Search COM port of the sensor.
Control Panel to Device Manager > Ports > USB Serial Port. In
the following illustration, COM6 is assigned to the sensor.
Note: The name of the device may differ depending on the
name of the serial port of the PC.

Start-up
4. Open serial console. A window opens where the user can set
the configuration for the session.
5. Set configuration:
– Connection type: Select "Serial".
– Enter the com port from Step 3 in the "Serial line" field.
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Start-up
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– Enter the standard baud rate of 115200 or the set baud rate
of the sensor in the "Speed" field.
Note: If the baud rate set in the serial console configuration
does not match the baud rate set on the sensor, the console
terminal window will open but no commands can be sent.
The factory set baud rate is 115200, }6.2 [/26].
– Select "open".
– After a terminal window opens, the user can start entering
commands.
– After a command has been entered, press the Enter key to
send the command, }6.2 [/19].
Note: When entering commands, no distinction is made

Start-up
between upper and lower case
.
6.2 RS422 serial commands
Help command:
"help", "h", or "?"
The help command outputs a list of the most important
commands as well as the software version.
Command Description
HELP Output help for commands that
start with the specified
character string
SYSVER Print version
WHOAMI Print console input source
BIAS [ON | OFF | <Value>] => User
orientation control
PEAK [R | C] => View, reset runtime
peaks, display in counts
SET Print all fields
[Field name] => Print
appropriate field(s)
[Field name] [Value] => Write
field with value
VIEW [0 -> 2 | A] => Display
calibrations: 0 to 2, or active
DIAG Diagnostic status report
SIMERR [ON | OFF] => Control simulated
error
RESET Reset the MCU
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Start-up
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Command Description
STATUS Print status report
PINS Print "Pins" report
GPIOS Print GPIO configuration report
SAVEALL Save all parameters in the NVM
C [HDB01234567FTXYZMS in any
order] => Continuous mode.
0->7=displays XYZ=forces/
torques M=size C=counter
U=units H=hex D=decimal
B=binary F=force
T=torque '>'=compressed
'<'=formatted S=checkSum
#=LineCounter
@=ADC_SampleCounter !
=StatusWord;=comma separator
-- Press multiple keys to exit.
S Single sample, same format as in
continuous mode
FLOW Signal flow report
MC Print all monitor conditions
UART Print report of the last bytes
received
Command: "reset" The "reset" command resets the MCU.
Interrogation
commands "S" or "C"
The interrogation command starts the high-speed data
transmission of force/torque data.
The "S" command reports a single line of force/torque data that is
scaled by counts per force or counts per torque.
The "C" command reports continuous lines of force/torque data
that stop as soon as another button is pressed. The "C" command
reports data at the rate specified in rdtRate.
To display and change settings, enter "cal" or "set" with the
desired parameter(s). For these commands, the parameters to be
set or queried must be entered individually; parameters cannot be
coupled here.
Converting count values per force/torque to force/torque values
To obtain the actual force and torque values, each force value
must be divided by the counts per force (cpf) factor and each
torque value must be divided by the counts per torque (cpt) factor.