SCHUNK FTR-AXIA User instructions

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

Imprint
2 01.00 | FTR-AXIA | Assembly and Operating Manual | en | 1398962
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: 1398962
Version: 01.00|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...................................................................................6
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 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....................................................................................................... 11
2.10 Disposal .............................................................................................................. 11
2.11 Fundamental dangers......................................................................................... 12
2.11.1 Protection during handling and assembly ..............................................12
2.11.2 Protection during commissioning and operation ...................................12
3 Technical data.........................................................................................................13
3.1 Basic data ........................................................................................................... 13
3.2 Ranges of measurement..................................................................................... 14
4 Design and description............................................................................................15
4.1 Design ................................................................................................................. 15
4.2 Description ......................................................................................................... 15
4.3 Special features of the FTR-Axia 80 .................................................................... 16
4.4 Measurements ................................................................................................... 17
4.4.1 X/Y-axis force measurements.................................................................17
4.4.2 Z-axis force measurement ......................................................................17
4.4.3 Torque measurements ...........................................................................18
5 Assembly ................................................................................................................19
5.1 Mechanical connection ...................................................................................... 19
5.1.1 Fastening elements.................................................................................19
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Table of Contents
5.1.2 Requirements for adapter plates ...........................................................20
5.2 Assembling and connecting the product............................................................ 22
5.3 USB connector .................................................................................................... 27
5.4 Setting up the product........................................................................................ 28
5.5 Console ............................................................................................................... 30
6 Operation ...............................................................................................................33
6.1 LEDs .................................................................................................................... 33
6.2 Measurement and transmission data................................................................. 35
6.3 Filters and dampening........................................................................................ 36
6.4 Measurement deviations ................................................................................... 39
6.5 Command reference........................................................................................... 41
7 Troubleshooting .....................................................................................................45
8 Maintenance ..........................................................................................................47
8.1 Maintenance intervals........................................................................................ 47
8.2 Removing the product from the robot arm........................................................48
8.3 Drawing .............................................................................................................. 49
9 EU Declaration of Conformity .................................................................................50
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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.
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General
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1.1.2 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.
1.1.3 Variants
This operating manual applies to the following variations:
• Force/torque sensor FTR-AXIA with RS485 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:
• FTR-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
• 5USB connector type A with following characteristics:
– Sensor cable with M8 socket, 6-pin for connection to product
– Outlet for 3.5mm jack cable for synchronization with
customer application
• 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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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 torques (FT) in six directions. Forces acting mechanically
are converted by the product to electrical measured values and
transferred to a PC via RS485 protocol.
• The product may only be used within the scope of its technical
data, Technical data [}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/system.
The applicable guidelines 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, Technical data [}13].
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.

Basic safety notes
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.
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.
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Basic safety notes
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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.
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.

Technical data
3 Technical data
3.1 Basic data
Designation Value
Weight [kg] 0.3
Diameter [mm] 82
Height [mm] 25.4
Force overload on axes [N]*
FX, FY
FZ
±2500
±4500
Torque overload on axes [Nm]*
MX, MY
MZ
±100
±100
Force rigidity (calculative) [N/m]
X and Y-axis
Z-axis
2.7x107
4.1x107
Torque rigidity (calculative) [N/rad]
X and Y-axis
Z-axis
2.4x104
4.8x104
Natural frequencies [Hz]
FX, FY, MZ
MX, MY, FZ
2200
2600
* Caution: The overload values apply only when loading in one
relevant axis direction, not when there is an overlap of forces
and torques in several axis directions!
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 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 FTR-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 FTR-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 FTR-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

Design and description
4 Design and description
4.1 Design
Design
Item Designation
1 Plug-in connection with fitting for power and signal line, 6-
pin, M8
2 Robot side (for adapter plate or robot)
3 Tool side (for customer tool or end effector)
4 LEDs: link/activity, diagnosis, status
5 Seal for protection class IP64
6 Identification groove for identification of product version
4.2 Description
Application • Forces and torques are measured via three measuring bridges,
each with four silicone strain gauges in six directions
(FX/FY/FZ/MX/MY/MZ)
• Acting forces and torques are measured and transferred to a PC
as calibrated data.
• Interfering contours are avoided due to the compact housing.
• A very high rigidity ensures the accuracy of measured values
and prevents unwanted movement or twisting of the sensor.
• Individual vibration damping due to programmable low-pass
filter with limit frequency.
• Dust and splash water protection enable flexible use.
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Design and description
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LEDs Three LEDs on the product indicate the current operating status.
LEDs on the product
Item LED Meaning
1L/A Link/activity LED lights up green when there is a
connection/activity or is switched off when there
is no connection or activity.
2DIAG Diagnostics LED lights up red in case of error or is
switched off, LEDs [}33].
3STATUS Status LED indicates correct or incorrect
functioning of the product via a red, green or
orange indicator, LEDs [}33].
4.3 Special features of the FTR-Axia 80
In addition to the LEDs on the product, LEDs on the USB port tell
you about the current data flow, USB connector [}27].
Functional principle The robot side of the housing(2) is screwed onto the robot or
adapter plate. The customer tool, such as a gripper or another end
effector, is mounted onto the tool side(3). Six screws ensure a
secure hold in each case; two alignment pins each guarantee
precise torque measurements and serve as additional twist
protection.
Product versions The number of identification grooves in the product indicates
which product version it is.
Identification groove
Version Material Number of grooves
SI-75-4/SI-150-8 Aluminum 3
SI-200-8/SI-500-20 Aluminum 0
SI-480-20/SI-1200-50 Stainless steel 2

Design and description
4.4 Measurements
4.4.1 X/Y-axis force measurements
X/Y-axis force measurement
Item Axis Measurement
1 X-axis The tool side is moved in the X-axis direction
compared to the robot side.
2 Y-axis The tool side is moved in the Y-axis direction
compared to the robot side.
For the most part, the tool side is moved both in the X and Y
directions simultaneously, leading therefore to the result FXY.
4.4.2 Z-axis force measurement
Z-axis force measurement
When measuring force in the Z-axis direction, the tool side of the
product is moved in the Z-axis direction compared to the robot
side. This leads to the result FZ.
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Design and description
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4.4.3 Torque measurements
Torque measurements
The torques that act on the product around the axes are
measured.
Item Axis Measurement
1 Z-axis The tool side is twisted compared to the robot side
(MZ).
2 Y-axis The tool side is tilted in the Y-axis direction
compared to the robot side (MY).
3 X-axis The tool side is tilted in the X-axis direction
compared to the robot side (MX).

Assembly
5 Assembly
5.1 Mechanical connection
5.1.1 Fastening elements
Mounting and
connection
FTR-AXIA
SI-75-4/
SI-150-8
SI-200-8/
SI-500-20
SI-480-20/
SI-1200-50
Threadlock adhesive Loctite® 242
Robot side connection (adapter plate or robot)
Mounting screw (6 Piece) M5 x 8.5, 12.9
Tightening torque [Nm] 5.88 8.47
Drilled hole for alignment
pin (2Piece)
Ø4 H7
Tool side connection
Mounting screw (4Piece) M5 x 5.2, 12.9
Tightening torque [Nm] 5.88 8.47
Mounting screw, supplied
by the customer (6 Piece)
M5 x 5, 12.9
Tightening torque [Nm] 5.88 8.47
Drilled hole for alignment
pin (2Piece)
Ø3 H7
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Assembly
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5.1.2 Requirements for adapter plates
The product is normally mounted between the robot arm and the
end effector (customer tool). If required, an adapter plate can be
used on both mounting sides to adapt the product to the
customer's equipment (robot flange, end effector). Alignment pins
allow precise positioning here. Threaded holes allow for secure
fastening.
Adapter plate
requirements CAUTION
Risk of material damage caused by incorrect alignment
elements!
Using more than two alignment elements may damage the
product.
•To align the product to the adapter plate, use an alignment
pin and centering collar.
•If necessary, you can order customized adapter plates from
SCHUNK on request.
Note the following when configuring the adapter plate:
• The adapter plate must have bore holes for screws and
alignment pins for precise positioning on the robot and product.
Alignment pins prevent unwanted shifting and twisting.
Information about fastening elements on the tool and robot
side is provided in the relevant manuals.
• The adapter plate must be thick enough to ensure the required
depth of engagement for the fastening screws. The adapter
plate must allow for rigid mounting on the product.
• The fastening screws must have the correct length. If the
fastening screws are too long, there will be a gap between the
adapter plate and the product whereas fastening screws that
are too short will not provide a secure connection.
• Two alignment pins prevent twisting. The alignment pins must
not protrude further from the surface of the adapter plate than
permitted by the corresponding bore hole in the product's
housing.
CAUTION
Risk of material damage if alignment pins are too long!
Using alignment pins that are too long creates a gap between the
adapter plate and the product. The product can be damaged.
•Use alignment pins of the correct length
•Make sure the adapter plate and product are flush.