EtherCAT F/T Interface for OEM
Contents
1. dco 90 0226 8 kao puse 1 NOISIAZS ONIMV3O ans 31725 PLOZ Z L 1 5 v PLOZ E i8 14 WAO LV3943 9394 9016 PLOZ Z L 29 61471 9 NMAC 3Ol3d 23090 NO 1432 3 JINNYW Q3OnGO3d32 38 OL LON ONI NOIIVWO1 V 5 ILY ALYIdOUd TTI Aueduiog palejsibeM 1006 OSI NI 33V SNOISNJWIQ TY LIO2 EH E MW 8929 24 616 L X84 MEAN E Ww ONIMVAC JTVOS ION OQ 611022261614 181 e xEHDHus YSN 66672 ON Xedy enug LEOL 3SIMN3HLO SSIINN S31ON 9L 06d d h 5 d d d d epis juauodwog 40 86021 1 ju amp u 420 uoyduoseg 195 1994 uonpeuuoo punos 10 pesn aq oj 5 pue sejou SJ0joeuuoo 0 epe gootd Bursn eq god uo si pe u suonoeuuoo IV S ON 9852 v06d 006 d31 6920704 c06d 206 d31 006d 06 G31 eoeyueju 19 01 5 52. Grea EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 August 2014 Engineered Products for Robotic Productivity Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 Foreword Information contained in this document is the property of ATI Industrial Automation Inc and shall not be reproduced in whole or in part without prior written approval of ATT Industrial Automation Inc The information herein is subject to change without notice and should not be construed as a commitment of ATI Industrial Automation Inc This manual is periodically revised to reflect and incorporate changes made to the F T system ATI Industrial Automation Inc assumes no responsibility for any errors or omissions in this document Copyright by ATI Industrial Automation Inc Apex North Carolina USA All Rights Reserved Published in the USA In consideration that ATI Industrial Automation Inc ATI products are intended for use with robotic and or automated machines ATI does not recommend the use of its products for applications wherein failure or malfunction of an ATI component or system threatens life or makes injury probable Anyone who uses or incorporates ATI components within any potentially li
3. 10 necessarily match the calibration matrix in the calibration file because the calibration matrix has to be scaled to suitably large integers before it can be used by the sensor Pinnacle Park 1031 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 16 EtherCAT F T Interface for OEM Installation and Operation Manual Document 96 10 05 1032 03 Subindex Name Description 0x31 Counts Per Force DINT UT acm d calibration counts per force UT acm 1 Counts Per Torque DINT The calibration counts per Fx Counts DINT The maximum value for this UINT16 The code used to program the Note 1 Inthe beta version of the software divide these values by 16 to get the actual counts that will be used in the EtherCAT interface Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 17 EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 6 2 3 Object 0x2060 Monitor Condition This user writable object allows the user to configure an axis a threshold value and direction to continuously evaluate against the current F T data When an
4. at ATT s election refund of the price paid for the item The foregoing warranty does not apply to any defect or failure resulting from improper installation operation maintenance or repair by anyone other than ATI ATI will in no event be liable for incidental consequential or special damages of any kind even if TI has been advised of the possibility of such damages ATI s aggregate liability will in no event exceed the amount paid by the purchaser for the item which is the subject of claim or dispute ATI will have no liability of any kind for failure of any equipment or other items not supplied by ATI No action against ATI regardless of form arising out of or in any way connected with products or services supplied hereunder may be brought more than one year after the cause of action accrued No representation or agreement varying or extending the warranty and limitation of remedy provisions contained herein is authorized by ATI and may not be relied upon as having been authorized by unless in writing and signed by an executive officer of ATI Unless otherwise agreed in writing by ATI all designs drawings data inventions software and other technology made or developed by ATI in the course of providing products and services hereunder and all rights therein under any patent copyright or other law protecting intellectual property shall be and remain ATT s property The sale of products or services hereunder does not conv
5. Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 5 EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 1 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 1 1 Explanation of Notifications The notifications included here are specific to the product s covered by this manual It is expected that the user heed all notifications from the robot manufacturer and or the manufacturers of other components used in the installation DANGER Notification of information or instructions that if not followed will result in AN death or serious injury The notification provides information about the nature of the hazardous situation the consequences of not avoiding the hazard and the method for avoiding the situation in death or serious injury The notification provides information about the nature of the hazardous situation the consequences of not avoiding the hazard and the method for avoiding the situation WARNING Notification of information or instructions that if not followed could result in moderate injury or will cause damage to equipment The notification provides information about the na
6. FER o sep Temm 22 42 Tr nsducor isi aaran aaa EU 22 7 8 Ground and cable shield considerations J u u 22 7 44 Power Supply Considerations uu U L LL 22 PME nun me 23 lij 24 81 Questions D LEM RM A RM 24 8171 Errore with Force and Torque Reading eterne rie e epar epar ha PEE ct 24 PROC IME RUNG S E E DLE 25 91 Storage and Operating Conditions l l u 25 32 ElectuicalSpebpiigatiorig u uuu En l iisas RM EUM EU 25 9 3 ova Deka aa TOP ix aaa aaa Na 25 a eas 26 Terms and Conditions of Sale ul llullu u U u T U uQ 27 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 4 Term CoE DINT E Exit EtherCAT FoE F T F T Transducer MAP MOLEX PicoBlade PDO PoE SDO STG TAP Transducer UDINT UINT USINT EtherCAT F T Interface for OEM Installation and Operation Manual Document 96 10 05 1032 03 Glossary of Terms Definition CANopen over EtherCAT the preferred embedded protocol for config
7. peoeds jjenb3 niu 9 XE 9002 Sued ON epis 1uBieH 68D XE juauodwog Xen 9 Sopis ujog 9D XE Pinnacle Park 1031 Goodworth Drive e Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info Q ati ia com 26 EtherCAT F T Interface for OEM Installation Operation Manual Document 96 10 05 1032 03 11 Terms and Conditions of Sale The following Terms and Conditions are a supplement to and include a portion of ATI s Standard Terms and Conditions which are on file at ATI and available upon request ATI warrants to Purchaser that force torque sensor products purchased hereunder will be free from defects in material and workmanship under normal use for a period of one year from the date of shipment This warranty does not cover components subject to wear and tear under normal usage or those requiring periodic replacement ATI will have no liability under this warranty unless a ATI is given written notice of the claimed defect and description thereof with thirty 30 days after Purchaser discovers the defect and in any event not later than the last day of the warranty period and b the defective item is received by ATI not later than 10 days after the last day of the warranty period 5 entire liability and Purchaser s sole remedy under this warranty is limited to repair or replacement at ATT s election of the defective part or item
8. Connection NOTICE To minimize PCB vibration all three mounting holes should be used 7 2 Transducer Handling In addition to the standard transducer handling instructions see Manual 9620 05 Transducer Section for details the following should be observed e transducer calibration label FTxxxx must not be removed or painted over If a transducer gets returned to ATI for calibration or repair it is important that this number is present The transducer connector has no strain relief To protect the fragile crimp contacts it is important to provide a suitable strain relief in the final product 7 3 Ground and cable shield considerations There are several options for connecting the transducer cable shield 1 If the transducer is connected to chassis ground then don t connect the cable shield since the shield is connected to the transducer body and such to chassis ground 2 If the transducer is isolated then a Connect the cable shield to chassis ground or b Connect the cable shield to system Ground P900 Pin 9 You may have to experiment to find the best solution for EMC compliance and best noise performance 7 4 Power Supply Considerations The ECATOEM interface board can be supplied with a DC voltage between 20V and 48 V on P902 or with Power over Ethernet through the EtherCAT interfcae P901 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www
9. enabled condition becomes true the monitor output becomes active and stays active until reset via setting the Reset Monitor Condition bit in Section 6 2 9 Object 0x7010 Control Codes which is also mapped into the TxPDO data The following fields are available in the monitor condition Name Type Description 0x01 Threshold Value DINT The threshold value to compare against in counts 0x02 USINT Value __ ___ ___ CompareGreaterThan If TRUE the monitor condition is true when the selected axis is greater than the selected threshold value If FALSE the monitor condition is true when the selected axis is less than the selected threshold value 6 2 4 Object 0x2080 Diagnostic readings This read only object provides access to diagnostic values These values may be useful when troubleshooting the system diagnostic voltages are filtered with the filter coefficient set to 8 see Section 5 2 Filtering for details The following fields are available in the Diagnostic Readings object Subindex Sampling Rate 0x01 6V Supply UINT16 The 6V supply 2568 to 3970 1 2 strain gage Sense ADC reading counts sampling rate 0x02 Thermistor UINT16 The thermistor None 1 2 strain gage ADC reading information only sample rate 0x03 VBridge INT16 excitation 17050 to 17750 Strain gage Volts voltage ADC sampling rate reading 0x04 INT16 exc
10. the Transducer cable away from the Power Transformer on the ECATOEM interface board Routing the Transducer cable close to the power transformer can cause noise problems Figure 7 2 ECATOEM Interface Board Installation Customer Supplied Mounting EC8 Type Transducer Mini4 transducer shown Power Transformer ECATOEM Interface Board N P904 Connector Transducer 2 3 Customer Supplied M3 FARITE 902 Connector Optional External LED Cable If Used P902 Connector EtherCAT Cable 4 Ifusing an external DC power supply instead of PoE then connect the 24VDC power Pin 1 and Pin 5 to P900 connector on the ECATOEM interface board Refer to Section 4 1 1 P900 Connector for Optional 24VDC Power amp Monitor Signal Interface for P900 connector signals 5 Ifusing the Optional External LED cable route the cable and connect to the P902 connector on the ECATOEM interface board Refer to Section 4 1 3 P902 Connector for optional external LEDs for P902 connector signals Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 23 EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 8 Troubleshooting This section includes answers to some issues that might arise when setting up and using the ECATOEM system The qu
11. 0 Mating connector contact Molex 50058 8000 Pin No Signal Name Description 1 RUN_LED Connect to cathode of optional external EtherCAT RUN LED 2 3 3V Connect to anode of optional external LEDs 3 ACTIVITY_LED Connect to cathode of optional external ACTIVITY LED 4 3 3V Connect to anode of optional external LEDs 5 RED STATUS Connect to cathode of optional external Board Status LED LED 6 Reserved For uC programming 7 Reserved For uC programming 8 Reserved For uC programming 9 DGND Ground for 3 3V used for uC programming Figure 4 4 P902 LED Wiring Diagram P902 Optional External LEDs 4 1 4 P904 Connector for Transducer Strain Gage Signals Mating connector housing Molex 51021 0800 Mating connector contact Molex 50058 8000 Pin No Signal Name Description 1 VSG 5V Positive strain gage bridge supply voltage 2 VSG OV Negative strain gage bridge supply voltage 3 GO Strain gage 0 voltage 4 G1 Strain gage 1 voltage 5 G2 Strain gage 2 voltage 6 G3 Strain gage 3 voltage 7 G4 Strain gage 4 voltage 8 G5 Strain gage 5 voltage Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 11 EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 4 2 Switch Th
12. 919 772 0115 Fax 919 772 8259 www ati ia com Email info Q ati ia com 2 EtherCAT F T Interface for OEM Installation and Operation Manual Document 96 10 05 1032 03 Table of Contents 6 11 Explanation of Notifications UU LULU 6 104 SHA GIIdelifeS e 6 1 2 Salo PRCA OIG u aiias Facts Disc con DoD Rd TURF cO DUO E lud ud T 6 xr ol Jm 7 Compatible TranSqQueel 8 EGATOEM Interface Board Lii l l s 8 12 E 10 4 1 1 900 Connector for Optional 24VDC Power amp Monitor Signal 10 41 2 P901 Connector for EtherGAT Interfages ccu es nma duda tac 11 4 1 3 P902 Connector for optional external LEDs rite rte tnis rtt nine ennt 11 414 P904 Connector for Transducer Strain Gage Signals 11 PAD 12 e mu 12 43 aho m Geena 12 sec MM RIEN C D 12 452 EIBeIGAT SAUS ebd coperto cua n ra ER I Dar dub san
13. ION Do not probe any openings in the transducer This will damage the instrumentation sensitive instrument and can be damaged by applying force exceeding the single axis overload values of the transducer and cause irreparable damage Small Nano and Mini transducers can easily be overloaded during installation Refer to the F T Transducer manual 9620 05 Transducer Section for specific transducer overload values CAUTION Do not exert excessive force on the transducer The transducer is a Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info Q ati ia com 6 EtherCAT F T Interface for OEM Installation and Operation Manual Document 96 10 05 1032 03 2 Product Overview The EtherCAT F T Interface for OEM System consists of an ATI transducer and a F T to EtherCAT interface board The transducer selected will include a Molex PicoBlade connector The interface board is designed to be mounted within a customer s enclosure and gets supplied by customer provided 24VDC or PoE power supply Figure 2 1 shows a sample application using the ECATOEM mounted in a segment of a light weight arm and a Mini45 transducer mounted on the arm Figure 2 1 Application MINI45 Transducer Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info a
14. als gt Activity i i P901 C Chassis Connection EtherCAT Interface with Optional PoE Bottom View P903 Internal Use Only 41 Connectors The following connectors are available on the ECATOEM PCB Assembly 4 1 1 P900 Connector for Optional 24VDC Power amp Monitor Signal Interface Mating connector housing Molex 51021 0700 Mating connector contact Molex 50058 8000 Pin No Signal Name Description SL GND 24V Power Supply Ground RS485 Serial Interface to NetBox DRAIN Serial Interface Shield RS485 Serial Interface to NetBox SL_VP 24V Power Supply Positive MONITOR E Monitor signal emitter contact of opto isolator MONITOR_C Monitor signal collector contact of opto isolator NI OO AJOJN Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info Q ati ia com 10 EtherCAT F T Interface for OEM Installation and Operation Manual Document 96 10 05 1032 03 4 1 2 P901 Connector for EtherCAT Interfaces Mating connector housing Molex 51021 0500 Mating connector contact Molex 50058 8000 Pin No Signal Name Description 1 TX Ethernet Transmit 2 TX Ethernet Transmit 3 RX Ethernet Receive 4 RX Ethernet Receive 5 Shield Ethernet cable shield 4 1 3 P902 Connector for optional external LEDs Mating connector housing Molex 51021 090
15. ati ia com Email info Q ati ia com 22 EtherCAT F T Interface for OEM Installation and Operation Manual Document 96 10 05 1032 03 7 5 Installation The transducer can be used in a variety of applications that will affect how best to route the cable and determine the proper bending radius to use Some applications will allow the transducer and the cable to remain in a static condition other applications require the transducer to be in a dynamic condition that requires the cable to be subjected to repetitive motion It is important not to expose the transducer cable connectors to this repetitive motion and properly restrain the cable close to the transducer connection Refer to the Transducer Section Manual http www ati ia com app_content documents 9620 05 Transducer 20 Section pdf for proper cable bending radius and cable restraint methods 1 Attach the ECATOEM interface board to the mounting using customer supplied M3 fasteners use all three mounting holes to secure the board Refer to Figure 7 2 NOTICE Make sure mounting holes A and C are connected to chassis ground Not connecting the A and C mounting holes to chassis ground may cause unpredictable behavior Refer to Figure 7 1 2 Route and connect the EtherCAT cable to the P901 connector on the ECATOEM interface board 3 Route and connect the Transducer cable to the P904 connector on the ECATOEM interface board NOTICE Make sure to route
16. ds 12 433 LEDIO BOR BISIUE u 13 me 14 51 Sample Rale teet 14 FIOO o 14 5 3 Threshold Moniborlng aaa aaa 14 34 e 14 59 Tool Transtorimalioly suic cas a a a aaa a 14 Lu uri cdi M a aE eee ee asus as sa 15 oet 15 6 2 EtherCAT Dictionary Objects 500 Data u 15 Bee OBR ToS 15 MR Ok 040 Caib aA TD 16 62 xD OA Monitor CONO 18 6 2 4 Object 0x2080 Diagnostic 18 man dB OSO O VOOM u isis danas aes asqa Fer 19 026 Object 0x000 Reading m 19 Ober OXNDDTO Status COIE ar 20 pos Opet 020 Sample CBWE 21 Bus ST ONE NS u LULU 21 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 3 EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 7 10 11 urn m 22
17. e Jumps in raw strain gage readings with transducer unloaded greater than 80 counts is considered abnormal Noise can be caused by mechanical vibrations and electrical disturbances possibly from a poor ground It can also indicate component failure within the system Make sure that the DC supply voltage for the ECATOEM has little to no noise superimposed Drift After a load is removed or applied the raw gage reading does not stabilize but continues to increase or decrease This may be observed more easily in resolved data mode using the bias command Drift is caused by temperature change mechanical coupling or internal failure Mechanical coupling is caused when a physical connection is made between the tool plate and the transducer body i e filings between the tool adapter plate and the transducer body Some mechanical coupling is common such as hoses and wires attached to a tool Hysteresis When the transducer is loaded and then unloaded gage readings do not return quickly and completely to their original readings Hysteresis is caused by mechanical coupling explained in Drift section or internal failure Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info Q ati ia com 24 9 Specifications 9 1 EtherCAT F T Interface for OEM Installation and Operation Manual Document 96 10 05 1032 03 Storage and Operating Conditio
18. e following bitmap Bit Description Indicates Number Error Monitor Condition Tripped This bit becomes active when an No active monitor condition becomes true and remains set until cleared with the Reset Monitor Conditions bit in Section 6 2 9 Object 0x7010 Control Codes Supply Out of Range This bit becomes active if the supply sense Yes reading in Section 6 2 4 Object 0x2080 Diagnostic readings is out of the expected range This bit remains set until power cycle It may indicate a system fault Reserved NENNEN VBridge Volts Out of Range This bit is set if the excitation voltage Yes in Section 6 2 4 Object 0x2080 Diagnostic readings is out of the expected range This bit remains set until power cycle It may indicate a system fault 4 VBridge Current Out of Range This bit is set if the excitation current in Section 6 2 4 Object 0x2080 Diagnostic readings is out of the expected range This bit remains set until power cycle It may indicate a system fault DPOT Fault This bit is set if there is an error reading back the Yes value written to a DPOT It remains set until power cycle EEPROM Fault This bit is set if there is an error reading back Yes the value written to EEPROM It remains set until power cycle DAC Fault This bit is set if there is an error detected communicating with the DAC The DAC used LTC2600 does not support a read back operation but it does support daisy chaining so
19. e following switch is available on the ECATOEM PCB Assembly 4 2 1 SW1 The two position DIP switch is currently unused Position ON OFF Description ON Do Not Use OFF Default settings OFF 5 Do Not Use OFF Default settings OFF NOTICE Leave Dip switch in Default state Changing Dip Switch settings may adversely affect the EtherCAT board functionality 4 3 LEDs The following LEDs are available on the ECATOEM PCB Assembly 4 3 14 LED900 Link Activity One green LED signals activity on the EtherCAT port LED State Link Activity Condition Off No No Port closed Green Yes No Port open Flashing Green Yes Yes Port open 4 3 2 LED901 EtherCAT Status One dual color LED signals the status of the EtherCAT Network in the following way LED State RUN State ERROR State Description OFF INIT No Device is in state INIT GREEN PRE OP No Device is in state PRE OPERATIONAL Blinking GREEN SAFE OP No Device is in state SAFE OPERATIONAL Single Flash GREEN OP No Device is in state OPERATIONAL RED Double Process Data An application watchdog timeout has Flash Watchdog occurred E g Sync Manager Watchdog Timeout timeout RED Single Local Error Slave device application has changed the Flash EtherCAT state autonomously due to local error E g device changes its EtherCAT state from OP to SAFE OP due to a synchronization error RED Invalid General configuration error Blink
20. estion or problem is listed followed by its probable answer or solution They are categorized for easy reference The information in this section should answer many questions that might arise in the field Customer service is available to users who have problems or questions addressed in the manuals ATI Industrial Automation Attn F T Customer Service Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Phone 1 919 772 0115 Fax 1 919 772 8259 Email ft_support ati ia com NOTICE Please read the F T manuals before calling customer service When calling have the following information available Serial number s Transducer type e g Nano17 Gamma Theta Calibration e g 05 15 50 SI 130 10 An accurate and complete description of the question or problem 5 If possible all information that is displayed on Net F T page System Info manuf htm The ECATOEM has to be connected to a NetBox to access the System Info If possible the F T system should be accessible when talking with an ATI Industrial Automation customer service representative 8 1 Questions and Answers 811 Errors with Force and Torque Readings Bad data from the transducer s strain gages can cause errors in force torque readings These errors can result in problems with transducer biasing and accuracy Listed below are the basic conditions of bad data Use this to troubleshoot your problem Question Problem Answer Solution Nois
21. ey any expressed or implied license under any patent copyright or other intellectual property right owned or controlled by ATI whether relating to the products sold or any other matter except for the license expressly granted below In the course of supplying products and services hereunder ATI may provide or disclose to Purchaser confidential and proprietary information of ATI relating to the design operation or other aspects of ATI s products As between ATT and Purchaser ownership of such information including without limitation any computer software provided to Purchaser by ATI shall remain in ATI and such information is licensed to Purchaser only for Purchaser s use in operating the products supplied by ATI hereunder in Purchaser s internal business operations Without ATT s prior written permission Purchaser will not use such information for any other purpose of provide or otherwise make such information available to any third party Purchaser agrees to take all reasonable precautions to prevent any unauthorized use or disclosure of such information Purchaser will not be liable hereunder with respect to disclosure or use of information which a is in the public domain when received from ATI b is thereafter published or otherwise enters the public domain through no fault of Purchaser c is in Purchaser s possession prior to receipt from ATI d is lawfully obtained by Purchaser from a third party entitled to disclose it or
22. f is required to be disclosed by judicial order or other governmental authority provided that with respect to such to maintain the confidentiality of such information Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 27
23. fe threatening system must obtain ATI s prior consent based upon assurance to ATI that a malfunction of ATI s component does not pose direct or indirect threat of injury or death and even if such consent is given shall indemnify ATI from any claim loss liability and related expenses arising from any injury or death resulting from use of ATI components All trademarks belong to their respective owners Windows is a registered trademark of Microsoft Corporation Note Please read the manual before calling customer service Before calling have the following information available 1 Serial number e g 01234 Transducer model e g 17 Gamma Theta etc Calibration e g US 15 50 SI 65 6 etc 2 3 4 Accurate and complete description of the question or problem 5 Computer and software information Operating system PC type drivers application software and other relevant information about your configuration If possible be near the F T system when calling How to Reach Us Sale Service and Information about ATI products ATI Industrial Automation 1031 Goodworth Drive Apex NC 27539 USA Www ati ia com Tel 919 772 0115 Fax 919 772 8259 E mail info ati ia com Technical support and questions Application Engineering Tel 919 772 0115 Option 2 Option 2 Fax 919 772 8259 E mail ft supportQ ati ia com Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel
24. ing Configuration E g Error State change commanded by master is impossible due to register or object settings or invalid hardware configuration pin sharing violation detected by ESC 12 Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info Q ati ia com EtherCAT F T Interface for OEM Installation and Operation Manual 4 3 3 LED902 Board status One dual color LED signals the status of the EtherCAT Board in the following way Document 96 10 05 1032 03 ASIC LED State Status Description OFF No Power The board doesn t have sufficient power Green All OK Fully Operational No errors Orange Saturation Transducer input is saturated one of the strain gage Amber input voltages is too high all force and torque data are invalid use less sensitive calibration if available Red Diagnostic One of the internal diagnostic voltages is outside the voltage error acceptable range Red Blinking No calibration Active calibration slot is empty or has checksum error 1Hz loaded Red Blinking communication No or faulty communication between uC and EtherCAT 10Hz error with ECAT ASIC Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 13 EtherCAT F T Interface for OEM Installation and Operation Manual Docu
25. itation 500 to 6554 Strain gage current ADC counts sampling rate reading Note 1 See Section 5 1 Sample Rate for strain gage sampling rate Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info Q ati ia com 18 EtherCAT F T Interface for OEM Installation Operation Manual Document 96 10 05 1032 03 6 2 5 Object 0x2090 Version This read only object provides firmware version information The following fields are available in the version object Subindex Name iy Deseo UNTIG UNTI UNTIG 6 2 6 Object 0x6000 Reading Data This read only object represents the current force torque or gage data It is mapped into the TxPDO input data The following fields are present in the reading data Subindex Name Type Description Fx Gage0 DINT If the Gage Data bit in Fy Gaget Section 6 2 9 Object 0x7010 Control Codes is set these fields contain the 16 bit gage data If the Gage Data bit is cleared these fields contain the 32 bit F T result data in counts Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 19 EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 6 2 7 Object 0x6010 Status Code This object contains a single DINT value at subindex 0 with th
26. ment 9610 05 1032 03 5 Operation 5 1 5 2 5 3 5 4 5 5 Sample Rate The firmware samples internally at 3000 Hz Filtering The Filter Selection field in Section 6 2 9 Object 0x7010 Control Codes controls the coefficient used in the internal IIR filter The cutoff frequency is dependent on the internal sample rate which is defined in Section 5 1 Sample Rate The relative cutoff frequencies for different values of this coefficient are 0 51 0 26 012 07 Threshold Monitoring The EtherCAT OEM FT system will allow the user to configure thresholds To activate a threshold first write the appropriate values in Section 6 2 3 0Object 0x2060 Monitor Condition then set the bit corresponding to that threshold in the Monitor Condition Enable Bitmap in Section 6 2 9 Object 0x7010 Control Codes The software currently supports one monitor condition Discrete output The discrete output will turn on whenever any active monitor condition becomes true The user can also configure it to turn on whenever any error bit becomes true this 5 not yet available in the beta software Tool Transformation To activate tool transformation first write the appropriate transform coefficients to Section 6 2 1 Object 0x2020 Tool Transformation then set the Tool Transform Index Selection bits in Section 6 2 9 Object 0x7010 Control Codes to activate that condition The software currently only supports one
27. ns Component ECATOEM Table 9 1 Temperature Storage Temperature C 40 to 100 Operating Temperature C 20 to 70 9105 MINI45TH12 AE 0 40 EC8 See Transducer Section Manual http www ati ia com app content documents 9620 05 Transducer 620Section padf See Transducer Section Manual http Wwww ati ia com app content documents 9620 05 Transducer 20Section pdf 9 2 Electrical Specifications Table 9 2 Power Supply Power Sourcet Voltage Maximum Power Consumption DCIN through P900 20V min to 48V max 3 0W Notes 1 With Mini45 transducer connected to the ECATOEM interface board Assembly The ECATOEM power supply input is protected against wrong polarity 9 3 Weights and Dimensions Table 9 3 Weights and Dimensions Component Weight approx Dimensions ECATOEM PCB Assembly 17g 0 60z See drawing in Section 11 1 9105 TW MINI45 AE 0 3 EC8 See Transducer Section Manual http www ati ia com app__ content documents 9620 05 Transducer 20Section pdf See Transducer Section Manual http www ati ia com app content documents 9620 05 Transducer 20Section pdf Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 25 EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 10 Drawings
28. ption Function Set bias against current load Use last set bias Select gage output ER Select F T output Set test error Control 1 ont 0 clear test error Clear monitor condition status Leave monitor condition status as is gi 71 Conrol2 Simulated Error Control Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 21 EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 7 Hardware Installation The following section provides information for installing the ECATOEM PCB into an application 7 1 Chassis Grounding The ECATOEM interface board provides three mounting holes One of these marked C in Figure 7 1 provides a path to the shield connection of the EtherCAT bus cable The mounting hole marked A in the picture below provides a path to the shield connection of the 24VDC power and monitor signal cable For best EMI performance both A and C should get connected to chassis ground Figure 7 1 Interface Board Mounting B Chassis Connection P900 Optional 24VDC Power and Monitor signal P902 A Chassis Connection Optional External LEDs P904 Transducer Strain Gage Signals P901 EtherCAT Interface with Optional PoE C Chassis
29. t signed integer fields Subindex Name Description 0x01 Rx The rotation about the X axis in units of 0 1 degrees e g an Rx value of 900 90 degrees 0x02 Ry The rotation about the Y axis in units of 0 1 degrees 0x03 Rz The rotation about the Z axis in units of 0 1 degrees The displacement along the x axis in units of 0 01 calibration length units E g if the distance component of the torque is meters a Dx value of 100 1 meter 0x05 Dy The displacement along the y axis in units of 0 01 calibration length units 0x06 The displacement along the z axis in units of 0 01 calibration length units Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 15 EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 6 2 2 Object 0x2040 Calibration This read only object contains information about the currently active calibration selected by the Calibration Selection field in Section 6 2 9 Object 0x7010 Control Codes It contains the following fields FT Serial STRING 8 The FT Serial Number e g FT01234 Calibration Part STRING 3 The calibration part number e g Number 51 120 95 Calibration Family STRING 8 Always reads ECAT Calibration Time STRING 3 The date the sensor was calibrated DINT These 36 elements contain the
30. ta are then transmitted over an EtherCAT bus interface Up to 16 transducer calibrations can be stored in the on board EEPROM The ECATOEM can be supplied with a DC voltage between 20V and 48V or with PoE Figure 4 2 ECATOEM Block Diagram Mounting Hole A train Gage Inputs 6 channel 16 bit with Programmable Gain Analog to Digital and Offset converter Strain Gage Amplifiers OPTO ISOLATOR Drain 8 5232 RS485 Transceiver P904 Picoblade Connector 5V 5 8 E 5 5 5 5 5 a Micro Controller Strain Gage Excitation ov uC programming signals 5V Power 24VDC SPI Bus 2 A Activity LED 5 u S Red Status LED paid Green Status 3 3V Board EtherCAT Activity Status Status E M LED LED PoE Power LED 902 LED 901 Supply MII Ethernet PHY Transformer EtherCAT ASIC Mounting Hole C Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 9 EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 Figure 4 3 Components Top View B Mounting Hole SW1 Dip Switch n 2 LED901 EtherCAT Status P900 Optional 24VDC Power and Monitor Signal A Chassis Connection Optional External LEDs Poo4 t LED900 Transducer Strain Gage Sign
31. the firmware detects a failure by prepending a known value to any commands and looking for an echo of that known value on the SPI input after sending the command It remains set until power cycle 627 Reseved CT Simulated Error This bit mirrors the Simulated Error Control bit No but in Section 6 2 9 Object 0x7010 Control Codes can be used to test user error handling if treated as did not have a valid checksum when read from EEPROM Saturation This bit is set whenever a strain gage sample is saturated and stays high for 32 samples after the last saturated sample to allow time for the saturated sample s effect on the filtered data to abate Error This bit is set whenever any status code bit that indicates Yes an error is set Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info Q ati ia com 20 Calibration checksum error This bit is set if the active calibration EtherCAT F T Interface for OEM Installation Operation Manual Document 96 10 05 1032 03 6 2 8 Object 0x6020 Sample Counter This object contains a single 32 bit unsigned integer at subindex 0 that increments each time an F T sample one complete set of gage data is read 6 2 9 Object 0x7010 Control Codes This object is mapped into the RxPDO for real time control of the F T system It contains the following fields Subindex Name __ Descri
32. ti ia com 7 EtherCAT F T Interface for OEM Installation and Operation Manual Document 9610 05 1032 03 3 Compatible Transducer Transducers with part numbers ending in EC8 are custom designed for use with ECATOEM It differs from a standard Nano or Mini transducers in the following features MOLEX PicoBlade connector contacts crimped to the eight wires of the transducer cable Figure 3 1 Transducer with Strain Relieved EC8 Cable Strain Relief Molex Picoblade Connector Transducer with EC8 Cable 4 ECATOEM Interface Board The ECATOEM provides an EtherCAT bus interface for ATI s TW transducers Equipped with an 8 pin MOLEX PicoBlade connector like the 9105 TW MINI45 AE 0 3 EC8 they be plugged directly into the ECATOEM interface board Figure 4 1 System Optional 24VDC Power and Monitor Signal Optional External LED s EtherCAT Interface Board Transducer EtherCAT with Optional PoE Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info Q ati ia com 8 EtherCAT F T Interface for OEM Installation and Operation Manual Document 96 10 05 1032 03 The 9105 ECATOEM interfaces with the transducer s strain gages via connector P903 and P904 The strain gage signals get digitized with a 16bit A D converter multiplied with the selected calibration matrix and the resulting force torque da
33. tool transformation Pinnacle Park 1031 Goodworth Drive Apex NC 27539 USA Tel 919 772 0115 Fax 919 772 8259 www ati ia com Email info ati ia com 14 EtherCAT F T Interface for OEM Installation and Operation Manual Document 96 10 05 1032 03 6 EtherCAT Bus Interface The 6 1 6 2 EtherCAT bus interface allows a user to Determine which calibration is active Select a calibration to be active Read the active calibration information matrix serial number etc Read the firmware revision of the ECATOEM Read force torque data Read strain gage data and status information Configure tool transformation Set monitor conditions Set low pass filter cutoff frequency Bias transducer PDO Interface The PDO interface is used to exchange data in real time with the F T sensor a TxPDO Map Output Data The TxPDO combines Object 0x6000 Reading Data Object 0x6010 Status Code and Object 0x6020 Sample Counter b b RxPDO Map Input Data The RxPDO map consists of Object 0x7010 Control Codes EtherCAT Dictionary Objects SDO Data The SDO data is used to configure the sensor and read manufacturing and calibration information This section documents dictionary objects that are specific to the EtherCAT F T sensor application it does not list objects which are a required part of the EtherCAT standard 6 2 1 Object 0x2020 Tool Transformation This writable object contains the following 32 bi
34. ture of the hazardous situation the consequences of not avoiding the hazard and the method for avoiding the situation CAUTION Notification of information or instructions that if not followed could result NOTICE Notification of specific information or instructions about maintaining operating installation or setup of the product that if not followed could result in damage to equipment The notification can emphasize but is not limited to specific grease types good operating practices or maintenance tips 1 2 General Safety Guidelines The customer should verify that the transducer selected is rated for maximum loads and moments expected during operation Refer to F T Transducer Manual 9620 05 Transducer Section Installation and Operation Manual found in Net F T Installation and Operation Manual 9610 05 1022 or contact ATI Industrial Automation for assistance Particular attention should be paid to dynamic loads caused by robot acceleration and deceleration These forces can be many times the value of static forces in high acceleration or deceleration situations 1 3 Safety Precautions removable mounting adapter plate These include Nano Mini IP rated and some Omega transducers This will cause irreparable damage to the transducer and void the warranty Leave all fasteners in place and do not disassemble the transducer CAUTION Do not remove any fasteners or disassemble transducers without CAUT
35. uring EtherCAT devices Used within SDO to encode the configuration data A data type representing an unsigned integer with 32 bits 5 E Exit transducers have a cable with an over molded strain relief An industrial automation fieldbus File access over EtherCAT the preferred embedded protocol for uploading new firmware to EtherCAT devices Force Torque Converts force and torque into an electrical signal The Mounting Adapter Plate MAP is the transducer plate that attaches to the fixed surface or robot arm Product series from the connector manufacturer Molex Process Data Object a protocol for reading and writing real time process information cyclically Power over Ethernet is a method of delivering electrical power to a PoE compatible Ethernet device through the Ethernet cable This simplifies installation of the Ethernet device since a separate power supply is not needed The EtherCAT OEM F T system is PoE compatible Service Data Object a protocol for reading and writing configuration information acyclically Strain Gage Tool Adapter Plate TAP is the transducer surface that attaches to the load to be measured Transducer is the component that converts the sensed load into electrical signals A data type representing an unsigned integer with 32 bits A data type representing an unsigned integer with 16 bits A data type representing an unsigned integer with 8 bits Pinnacle Park 1031 Goodworth Drive
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