SCHUNK FTD Schulungshandbuch
Translation of original commissioning instructions
Commissioning instructions
FTD
Force-torque sensor system
Imprint
2 01.00 | FTD | Commissioning instructions | en | 389627
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: 389627
Version: 01.00|07/04/2021|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. +49-7133-103-2503
Fax +49-7133-103-2189
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
1.1.3 Variants.....................................................................................................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
3.3 Calculating the forces and moments.................................................................. 10
4 Design and description............................................................................................12
4.1 Design ................................................................................................................. 12
4.2 Description ......................................................................................................... 17
5 Assembly and installation .......................................................................................18
5.1 Installing and connecting.................................................................................... 18
5.2 Electrical connection .......................................................................................... 19
5.2.1 Force-torque sensor ...............................................................................26
5.2.2 PS / IFPS box ...........................................................................................28
5.2.3 IFPSMC box.............................................................................................34
5.3 Installing the software........................................................................................ 39
6 Operation ...............................................................................................................41
6.1 Available software interfaces and demo programs............................................ 41
6.2 Manual calculations............................................................................................ 42
6.3 Creating your own application ........................................................................... 42
7 Troubleshooting .....................................................................................................43
7.1 Saturation ........................................................................................................... 43
7.2 Signal noise......................................................................................................... 43
7.3 Measurement data deviation / drift................................................................... 43
7.4 Hysteresis ........................................................................................................... 43
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Table of Contents
8 Maintenance ..........................................................................................................44
9 EU Declaration of Conformity .................................................................................45
10 Appendix ................................................................................................................46
10.1 ............................................................................................................................ 46
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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 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
• Assembly and operating manual of the sensor*
• Help files for FTD DAQ software (ATI DAQ F/T software)**
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
The documents labeled with an asterisk (**) can be downloaded
from schunk.com/ft-downloads.
1.1.3 Variants
This operating manual applies to the following variations:
• Force-torque sensor system FTD with USB data acquisition card
for one force-torque sensor
• Force-torque sensor system FTD with USB data acquisition card
for up to six force-torque sensors
• Force-torque sensor system FTD with PCI data acquisition card
for one force-torque sensor
• Force-torque sensor system FTD with PCI data acquisition card
for up to six force-torque sensors
• Force-torque sensor system FTD with terminal block with BNC
inputs for up to six force-torque sensors
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
• Force-torque sensor system FTD in the ordered model
• Force-torque sensor FT with sensor cable
• DAQ cable
• PS box, IFPS box or IFPSMC box
• Commissioning instructions
• Assembly and operating manual force-torque sensor FT
• Commissioning CD with calibration certificates
• Accessory pack
Basic safety notes
2 Basic safety notes
2.1 Intended use
The product is used to record, convert and evaluate analog output
signals into electrical signals using a data acquisition card.
• Appropriate use of the product includes compliance with all
instructions in this manual.
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.
Technical data
3 Technical data
3.1 Ambient conditions and operating conditions
Ambient conditions and operating conditions for PS box and IFPS box
Designation PS box / IFPS box
Ambient temperature [°C]
during storage
min.
max.
during operation
min.
max.
-30
75
0
60
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, Applicable documents [}6].
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Technical data
10 01.00 | FTD | Commissioning instructions | en | 389627
3.3 Calculating the forces and moments
Force-
torque
sensor
Amplifier
DAQ data
acquisition card
Signals of
the strain
gauges
Open
calibration file
FTxxx.cal
Forces and
moments
Offset correction *
6 analog
output
signals
Calibration matrix
Copy UserAxis calibration matrix
from FTxxx.cal and copy it to the
runtime matrix
Open FTxxx.cal and copy the
working matrix into the area
highlighted in blue.
Temperature compensation is
normally not required.
Runtime matrix
is executed for
each
measurement
is only executed
at the beginning
of a
measurement
(if available)
As an alternative to the specified procedure, the file
"DAQ F/T Manual Calculations.xml" can also be used to
generate the current matrix.
Calculating the forces and moments
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